CN118068850A - Unmanned aerial vehicle return control method and system - Google Patents
Unmanned aerial vehicle return control method and system Download PDFInfo
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Abstract
The invention is applicable to the technical field of unmanned aerial vehicle flight control, and provides an unmanned aerial vehicle return control method and system, wherein the method comprises the following steps: acquiring base point information of the unmanned aerial vehicle, and establishing a virtual space coordinate system according to the base point information as a reference, wherein the base point information is a position corresponding to the unmanned aerial vehicle when the unmanned aerial vehicle takes off; acquiring image data transmitted by taking a control end as a transfer, and establishing an obstacle model in a virtual space coordinate system according to the image data; acquiring return point information of the unmanned aerial vehicle; a return route is generated based on the base point information, the return point information, and a virtual space coordinate system having a plurality of obstacle models. The invention can enable the unmanned aerial vehicle to avoid obstacles during the return voyage and reduce the flying height, even if crash occurs, the loss can be further reduced because of the reduced flying height.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle flight control, in particular to a method and a system for controlling unmanned aerial vehicle return.
Background
The unmanned aerial vehicle is an unmanned aerial vehicle operated by using radio remote control equipment and a self-provided program control device, and compared with a conventional piloted aerial vehicle, the unmanned aerial vehicle has wider corresponding scenes, and currently, the unmanned aerial vehicle plays an important role in the industries of military industry, agriculture, transportation and the like.
In general, unmanned aerial vehicles fly by being powered by batteries, and because the unmanned aerial vehicles have the characteristic of portability, the continuous voyage of the unmanned aerial vehicles is always insufficient, and particularly, civil unmanned aerial vehicles are difficult to realize long-time operation, so that in order to reduce the occurrence of the crash caused by insufficient electric energy, the existing unmanned aerial vehicles have the function of automatic voyage.
The automatic return function of the unmanned aerial vehicle is that the unmanned aerial vehicle can automatically return when the electric quantity is low, but in the actual use process, the automatic return of the unmanned aerial vehicle is frequent because of the condition of falling due to insufficient electric energy, especially in open terrain, the user is allowed by environmental conditions, so that the flight range of the unmanned aerial vehicle is larger, the unmanned aerial vehicle can return in a form of approaching a straight line during return, if the falling condition occurs at the moment, the loss of falling can be larger because of higher height, and therefore, the unmanned aerial vehicle return control method and system are provided, and the aim of solving the problems is achieved.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a method and a system for controlling the return of an unmanned aerial vehicle so as to solve the problems in the background art.
The invention discloses a method for controlling the return voyage of an unmanned aerial vehicle, which comprises the following steps:
Acquiring base point information of the unmanned aerial vehicle, and establishing a virtual space coordinate system according to the base point information as a reference, wherein the base point information is a position corresponding to the unmanned aerial vehicle when the unmanned aerial vehicle takes off;
Acquiring image data transmitted by taking control terminal equipment as transfer, and establishing an obstacle model in a virtual space coordinate system according to the image data so that the virtual space coordinate system is provided with a plurality of obstacle models and corresponds to a real scene;
When the unmanned aerial vehicle performs return, acquiring return point information of the unmanned aerial vehicle, wherein the return point information is a position corresponding to the return time of the unmanned aerial vehicle;
Generating a return route based on the base point information, the return point information and a virtual space coordinate system with a plurality of obstacle models, so that the unmanned aerial vehicle can return on the basis of avoiding obstacles according to the return route, wherein the return route is provided with two turning points which have the same height and are used for adjusting the return direction of the unmanned aerial vehicle, one turning point is positioned right above a departure point, and the other turning point is positioned right below the return point.
As a further scheme of the invention: the step of acquiring the base point information of the unmanned aerial vehicle specifically comprises the following steps:
Monitoring the state of unmanned aerial vehicle control terminal equipment through a background system;
When the unmanned aerial vehicle control end equipment is in an open state, checking the unmanned aerial vehicle state through a background system;
when the unmanned aerial vehicle and the control end equipment are in an open state, positioning information of the unmanned aerial vehicle and the control end equipment is obtained, and the unmanned aerial vehicle and the control end equipment have positioning functions;
Checking the positioning information of the unmanned aerial vehicle and the control terminal equipment, and detecting the real-time positioning information of the unmanned aerial vehicle when the unmanned aerial vehicle and the control terminal equipment are positioned at the same position, so as to detect whether the unmanned aerial vehicle is displaced;
when the real-time positioning information of the unmanned aerial vehicle changes, calibrating the real-time positioning information of the unmanned aerial vehicle to obtain the base point information.
As a further scheme of the invention: the step of establishing an obstacle model in a virtual space coordinate system according to the image data specifically comprises the following steps:
When the image data is acquired, acquiring a flight track of the unmanned aerial vehicle through a background system;
Mapping the flight track into a virtual space coordinate system according to the base point information, and simultaneously establishing an association relation between the flight track and image data;
performing point marking on the flight track to obtain a flight track route with a plurality of anchor points;
extracting a picture image in the image data according to the anchor point and identifying and selecting an obstacle in the picture image;
And calculating the obstacle according to the positions, shooting angles and picture images of the unmanned aerial vehicle corresponding to the plurality of points to obtain an obstacle model, and putting the obstacle model into a virtual space coordinate system.
As a further scheme of the invention: the step of calculating the obstacle according to the positions, shooting angles and picture images of the unmanned aerial vehicle corresponding to the plurality of points to obtain an obstacle model specifically comprises the following steps:
selecting a picture image corresponding to the first anchor point, and identifying and selecting an obstacle in the picture image;
Calculating the obstacle based on the identification and selection result and according to the position and shooting angle of the unmanned aerial vehicle corresponding to the first anchor point to obtain first reference data;
selecting a picture image corresponding to the second anchor point, and identifying the picture image corresponding to the second anchor point again according to the obstacle identification result of the picture image corresponding to the first anchor point;
When the picture image corresponding to the second anchor point contains an obstacle in the picture image corresponding to the first anchor point, calculating the obstacle based on the position and shooting angle of the unmanned aerial vehicle corresponding to the second anchor point to obtain second reference data, and integrating the first reference data and the second reference data to obtain an obstacle model;
When the picture image corresponding to the second anchor point does not contain the obstacle in the picture image corresponding to the first anchor point, the picture image corresponding to the subsequent anchor point is identified and the measuring and calculating process is repeated, and the obstacle model is obtained by combining the picture images of the plurality of anchor points.
As a further scheme of the invention: the step of generating a return route based on the base point information, the return point information and a virtual space coordinate system with a plurality of obstacle models specifically comprises the following steps:
Screening an obstacle model in the virtual space coordinate system according to the base point information and the return point information to obtain a specified obstacle model, wherein the specified obstacle model is an obstacle with the largest height between the flying point and the return point of the unmanned aerial vehicle;
According to the base point information and the return point information, making vertical reference lines at corresponding positions in a virtual space coordinate system to obtain two vertical landing lines;
Obtaining a path reference line of the unmanned aerial vehicle for returning flat flight according to the specified obstacle model, wherein the path reference line is horizontal in a virtual space coordinate system, and the height corresponding to the path reference line is greater than the height of the established obstacle model;
And generating a return route based on the path reference line and the landing line, wherein the turning point is an intersection point of the path reference line and the landing line.
Another object of the present invention is to provide a return control system for an unmanned aerial vehicle, the system comprising:
the virtual coordinate building module is used for obtaining base point information of the unmanned aerial vehicle and building a virtual space coordinate system according to the base point information as a reference, wherein the base point information is a corresponding position of the unmanned aerial vehicle during take-off;
The image processing module is used for acquiring image data transmitted by taking control terminal equipment as transfer, and establishing an obstacle model in a virtual space coordinate system according to the image data so that the virtual space coordinate system is provided with a plurality of obstacle models and corresponds to a real scene;
the system comprises a return information acquisition module, a return information acquisition module and a return information processing module, wherein the return information acquisition module acquires return point information of the unmanned aerial vehicle when the unmanned aerial vehicle is in return, and the return point information is a corresponding position of the unmanned aerial vehicle during return;
The unmanned aerial vehicle is enabled to return on the basis of avoiding obstacles according to the return route, the return route is provided with two turning points which are the same in height and are used for adjusting the return direction of the unmanned aerial vehicle, one turning point is located right above a departure point, and the other turning point is located right below the return point.
As a further scheme of the invention: the virtual coordinate building module comprises:
The control end equipment monitoring unit monitors the state of the unmanned aerial vehicle control end equipment through a background system;
The state checking unit is used for checking the state of the unmanned aerial vehicle through the background system when the unmanned aerial vehicle control terminal equipment is in an open state;
The position acquisition unit is used for acquiring positioning information of the unmanned aerial vehicle and the control end equipment when the unmanned aerial vehicle and the control end equipment are in an open state, wherein the unmanned aerial vehicle and the control end equipment have positioning functions;
The position checking unit is used for checking the positioning information of the unmanned aerial vehicle and the control terminal equipment, and detecting the real-time positioning information of the unmanned aerial vehicle when the unmanned aerial vehicle and the control terminal equipment are positioned at the same position, so as to detect whether the unmanned aerial vehicle is displaced;
and the position calibration unit is used for calibrating the real-time positioning information of the unmanned aerial vehicle to obtain the base point information when the real-time positioning information of the unmanned aerial vehicle changes.
As a further scheme of the invention: the image processing module comprises:
the flight track acquisition unit acquires the flight track of the unmanned aerial vehicle through a background system when acquiring the image data;
the track mapping unit maps the flight track into a virtual space coordinate system according to the base point information, and meanwhile, establishes an association relation between the flight track and the image data;
The track marking unit is used for marking the points of the flight track to obtain a flight track route with a plurality of anchor points;
the obstacle identification unit extracts a picture image in the image data according to the anchor point and identifies and selects an obstacle in the picture image;
and the obstacle calculation unit is used for calculating the obstacle according to the positions, shooting angles and picture images of the unmanned aerial vehicle corresponding to the plurality of points to obtain an obstacle model and putting the obstacle model into a virtual space coordinate system.
As a further scheme of the invention: the return planning module comprises:
the obstacle selecting unit screens the obstacle model in the virtual space coordinate system according to the base point information and the return point information to obtain a specified obstacle model, wherein the specified obstacle model is an obstacle with the largest height between the flying point and the return point of the unmanned aerial vehicle;
the auxiliary planning unit is used for making vertical reference lines according to the corresponding positions of the base point information and the return point information in the virtual space coordinate system to obtain two vertical landing lines;
The flying height planning unit obtains a path reference line of the unmanned aerial vehicle for returning to the flat flight according to the specified obstacle model, the path reference line is horizontal in a virtual space coordinate system, and the height corresponding to the path reference line is greater than the height of the established obstacle model;
And the route generation unit is used for generating a return route based on the path reference line and the landing line, and the turning point is an intersection point of the path reference line and the landing line.
Compared with the prior art, the invention has the beneficial effects that:
According to the invention, the take-off position and the return position of the unmanned aerial vehicle, namely the base point information and the return point information, can be obtained by utilizing the related equipment of the unmanned aerial vehicle, and can be used for identifying the obstacle according to the image data of the unmanned aerial vehicle during flight so as to establish an obstacle model, so that the planning of a return route can be carried out, and the unmanned aerial vehicle can fly in a descending, flat flight and descending way during return.
Drawings
Fig. 1 is a flowchart of a method for controlling a return journey of an unmanned aerial vehicle.
Fig. 2 is a flowchart for acquiring base point information of an unmanned aerial vehicle in a return control method of the unmanned aerial vehicle.
Fig. 3 is a flowchart of establishing an obstacle model in a virtual space coordinate system according to image data in a method for controlling unmanned aerial vehicle return navigation.
Fig. 4 is a flowchart of an obstacle model obtained by calculating an obstacle according to positions, shooting angles and picture images of an unmanned aerial vehicle corresponding to a plurality of points in the unmanned aerial vehicle return control method.
Fig. 5 is a flowchart of generating a return route based on base point information, return point information, and a virtual space coordinate system having a plurality of obstacle models in a return control method of an unmanned aerial vehicle.
Fig. 6 is a schematic structural diagram of a return control system of an unmanned aerial vehicle.
Fig. 7 is a schematic structural diagram of a virtual coordinate building module in a return control system of an unmanned aerial vehicle.
Fig. 8 is a schematic structural diagram of an image processing module in a return control system of an unmanned aerial vehicle.
Fig. 9 is a schematic structural diagram of a return planning module in a return control system of an unmanned aerial vehicle.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clear, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Specific implementations of the invention are described in detail below in connection with specific embodiments.
As shown in fig. 1, an embodiment of the present invention provides a method for controlling a return voyage of an unmanned aerial vehicle, including the following steps:
S100, acquiring base point information of the unmanned aerial vehicle, and establishing a virtual space coordinate system according to the base point information as a reference, wherein the base point information is a corresponding position of the unmanned aerial vehicle during take-off;
S200, acquiring image data transmitted by taking control terminal equipment as transfer, and establishing an obstacle model in a virtual space coordinate system according to the image data, so that the virtual space coordinate system is provided with a plurality of obstacle models and corresponds to a real scene;
S300, when the unmanned aerial vehicle is in return, acquiring return point information of the unmanned aerial vehicle, wherein the return point information is a position corresponding to the return time of the unmanned aerial vehicle;
S400, generating a return route based on the base point information, the return point information and a virtual space coordinate system with a plurality of obstacle models, so that the unmanned aerial vehicle can return on the basis of avoiding the obstacles according to the return route, wherein the return route is provided with two turning points which have the same height and are used for adjusting the return direction of the unmanned aerial vehicle, one turning point is located right above a departure point, and the other turning point is located right below the return point.
It should be noted that, unmanned vehicles is unmanned aerial vehicle, and control end equipment is generally used for controlling unmanned aerial vehicle, in open topography, the user because environmental condition's permission for unmanned aerial vehicle's flight scope is bigger, and can adopt the form of approaching the straight line to return to the journey when unmanned aerial vehicle returns to the journey, if the crash condition appears at this moment then can be because of the altitude is higher, the loss of crash can be great.
In the embodiment of the invention, the take-off position and the return position of the unmanned aerial vehicle can be obtained by using the related equipment of the unmanned aerial vehicle, namely, the base point information and the return point information, and the obstacle can be identified according to the image data of the unmanned aerial vehicle during the flight so as to establish an obstacle model, so that the planning of the return route can be carried out, and the unmanned aerial vehicle can fly in a descending, flat flight and descending way during the return.
As shown in fig. 2, as a preferred embodiment of the present invention, the step of obtaining the base point information of the unmanned aerial vehicle specifically includes:
S101, monitoring the state of unmanned aerial vehicle control terminal equipment through a background system;
s102, when unmanned aerial vehicle control terminal equipment is in an open state, checking the unmanned aerial vehicle state through a background system;
s103, when the unmanned aerial vehicle and the control end equipment are in an open state, positioning information of the unmanned aerial vehicle and the control end equipment is obtained, and the unmanned aerial vehicle and the control end equipment have positioning functions;
S104, checking the positioning information of the unmanned aerial vehicle and the control terminal equipment, and detecting the real-time positioning information of the unmanned aerial vehicle when the unmanned aerial vehicle and the control terminal equipment are positioned at the same position, so as to detect whether the unmanned aerial vehicle is displaced;
S105, when the real-time positioning information of the unmanned aerial vehicle changes, calibrating the real-time positioning information of the unmanned aerial vehicle to obtain the base point information.
In the embodiment of the invention, generally, the unmanned aerial vehicle is composed of a body and control terminal equipment, a user can control the unmanned aerial vehicle to fly through the control terminal equipment, the state of the control terminal equipment of the unmanned aerial vehicle needs to be detected first, the state of the unmanned aerial vehicle needs to be detected, when the unmanned aerial vehicle and the unmanned aerial vehicle are in an open state, the unmanned aerial vehicle is likely to execute a flying task, but the unmanned aerial vehicle cannot be completely determined, and the positions of the unmanned aerial vehicle and the unmanned aerial vehicle need to be checked at the moment, so that whether the unmanned aerial vehicle and the unmanned aerial vehicle are in the same position is judged, and meanwhile, whether the position of the unmanned aerial vehicle is changed is detected is also required to be detected.
As shown in fig. 3, as a preferred embodiment of the present invention, the step of establishing an obstacle model in a virtual space coordinate system according to image data specifically includes:
S201, when the image data is acquired, acquiring a flight track of the unmanned aerial vehicle through a background system;
S202, mapping the flight track into a virtual space coordinate system according to the base point information, and simultaneously establishing an association relation between the flight track and image data;
S203, performing point marking on the flight track to obtain a flight track route with a plurality of anchor points;
s204, extracting a picture image in the image data according to the anchor point and identifying and selecting an obstacle in the picture image;
s205, calculating an obstacle according to the positions, shooting angles and picture images of the unmanned aerial vehicle corresponding to the plurality of points to obtain an obstacle model, and putting the obstacle model into a virtual space coordinate system.
In the embodiment of the invention, in the prior art, the flight track of the unmanned aerial vehicle is easy to obtain, but the relation between the unmanned aerial vehicle and the virtual space coordinate system is required to be established, so that the unmanned aerial vehicle can be displayed in the virtual space coordinate system, a plurality of anchor points can be obtained after the flight track is marked, meanwhile, the picture images corresponding to the anchor points are obtained according to the image data, the obstacles in the real scene are obtained through the picture images, and the obstacles can be analyzed through the picture images.
As shown in fig. 4, as a preferred embodiment of the present invention, the step of calculating the obstacle according to the positions, shooting angles, and the frame images of the unmanned aerial vehicle corresponding to the plurality of points to obtain the obstacle model specifically includes:
S2051, selecting a picture image corresponding to a first anchor point, and identifying and selecting an obstacle in the picture image;
S2052, calculating the obstacle based on the identification and selection result and according to the position and shooting angle of the unmanned aerial vehicle corresponding to the first anchor point to obtain first reference data;
S2053, selecting a picture image corresponding to the second anchor point, and identifying the picture image corresponding to the second anchor point again according to the obstacle identification result of the picture image corresponding to the first anchor point;
S2054, when the picture image corresponding to the second anchor point contains the obstacle in the picture image corresponding to the first anchor point, calculating the obstacle based on the position and shooting angle of the unmanned aerial vehicle corresponding to the second anchor point to obtain second reference data, and integrating the first reference data and the second reference data to obtain an obstacle model;
S2055, when the picture image corresponding to the second anchor point does not contain the obstacle in the picture image corresponding to the first anchor point, identifying the picture image corresponding to the subsequent anchor point, repeating the measuring and calculating process, and obtaining the obstacle model by combining the picture images of the anchor points.
In the embodiment of the invention, because a plurality of anchor points are arranged on the flight track, all picture images are different due to the change of the positions, according to the flight process of the unmanned aerial vehicle, the picture images of two adjacent anchor points have similarity, but are different at the same time, the content compositions are basically the same, but the shooting positions are different, the related data of the obstacle can be calculated through the difference of the two anchor points, if the obstacle does not appear in the second picture image, the picture image of the third anchor point can be extended backwards, the picture image of the third anchor point can be identified in detail, and the model corresponding to the obstacle in the complete real scene can be established through the method.
As shown in fig. 5, as a preferred embodiment of the present invention, the step of generating a return route based on the base point information, the return point information, and a virtual space coordinate system having a plurality of obstacle models specifically includes:
S401, screening an obstacle model in the virtual space coordinate system according to the base point information and the return point information to obtain a specified obstacle model, wherein the specified obstacle model is an obstacle with the largest height between the flying point and the return point of the unmanned aerial vehicle;
S402, making vertical reference lines according to the corresponding positions of the base point information and the return point information in the virtual space coordinate system to obtain two vertical landing lines;
S403, obtaining a path reference line of the unmanned aerial vehicle for returning to the flat flight according to the specified obstacle model, wherein the path reference line is horizontal in a virtual space coordinate system, and the height corresponding to the path reference line is greater than the height of the established obstacle model;
S404, generating a return route based on the path reference line and the landing line, wherein the turning point is the intersection point of the path reference line and the landing line.
In the embodiment of the invention, firstly, the existence of the obstacles between the base point information and the return point information can be determined according to the base point information and the return point information, and if the middle path of the unmanned aerial vehicle in return is in a flat flight mode, the obstacles in the unmanned aerial vehicle are avoided, and at the moment, the obstacle with the largest height, namely the appointed obstacle model, can be selected, so that the flying height of the unmanned aerial vehicle can be determined according to the height of the appointed obstacle model, and the problem of return collision is avoided.
As shown in fig. 6, the embodiment of the invention further provides a return control system of the unmanned aerial vehicle, which comprises:
The virtual coordinate establishing module 100 acquires base point information of the unmanned aerial vehicle, and establishes a virtual space coordinate system according to the base point information as a reference, wherein the base point information is a corresponding position of the unmanned aerial vehicle during take-off;
The image processing module 200 acquires image data transmitted by taking control terminal equipment as transfer, and establishes an obstacle model in a virtual space coordinate system according to the image data, so that the virtual space coordinate system is provided with a plurality of obstacle models and corresponds to a real scene;
The return information acquisition module 300 is used for acquiring return point information of the unmanned aerial vehicle when the unmanned aerial vehicle is in return, wherein the return point information is a corresponding position of the unmanned aerial vehicle during return;
The return planning module 400 generates a return route based on the base point information, the return point information, and a virtual space coordinate system having a plurality of obstacle models, so that the unmanned aerial vehicle performs a return on the basis of avoiding the obstacles according to the return route, the return route having two turning points which have the same height and are used for adjusting the return direction of the unmanned aerial vehicle, one of the turning points being located directly above the departure point and the other of the turning points being located directly below the return point.
In the embodiment of the invention, the take-off position and the return position of the unmanned aerial vehicle can be obtained by using the related equipment of the unmanned aerial vehicle, namely the base point information and the return point information, and the obstacle can be identified according to the image data of the unmanned aerial vehicle during flight so as to establish an obstacle model, so that the planning of the return route can be carried out, and the unmanned aerial vehicle can fly in a descending, flat flight and descending way during return.
As shown in fig. 7, as a preferred embodiment of the present invention, the virtual coordinate establishing module 100 includes:
A control end device monitoring unit 101 for monitoring the state of the unmanned aerial vehicle control end device through a background system;
A state checking unit 102 for checking the state of the unmanned aerial vehicle through the background system when the unmanned aerial vehicle control terminal equipment is in an open state;
a position obtaining unit 103, configured to obtain positioning information of the unmanned aerial vehicle and the control end device when the unmanned aerial vehicle and the control end device are both in an open state, where the unmanned aerial vehicle and the control end device have positioning functions;
A position checking unit 104, configured to check positioning information of the unmanned aerial vehicle and the control end device, and detect real-time positioning information of the unmanned aerial vehicle when the unmanned aerial vehicle and the control end device are located at the same position, so as to detect whether the unmanned aerial vehicle is displaced;
and the position calibration unit 105 is used for calibrating the real-time positioning information of the unmanned aerial vehicle to obtain the base point information when the real-time positioning information of the unmanned aerial vehicle changes.
As shown in fig. 8, as a preferred embodiment of the present invention, the image processing module 200 includes:
A flight trajectory acquisition unit 201 that acquires a flight trajectory of the unmanned aerial vehicle through a background system when the image data is acquired;
The track mapping unit 202 maps the flight track into a virtual space coordinate system according to the base point information, and establishes an association relation between the flight track and the image data;
The track marking unit 203 performs point marking on the flight track to obtain a flight track route with a plurality of anchor points;
An obstacle recognition unit 204 that extracts a picture image in the image data according to the anchor point and performs recognition selection on an obstacle in the picture image;
The obstacle calculation unit 205 calculates an obstacle from the unmanned aerial vehicle positions, the shooting angles, and the screen images corresponding to the plurality of points, obtains an obstacle model, and puts the obstacle model into the virtual space coordinate system.
As shown in fig. 9, as a preferred embodiment of the present invention, the return planning module 400 includes:
an obstacle selecting unit 401, for screening an obstacle model in the virtual space coordinate system according to the base point information and the return point information to obtain a specified obstacle model, wherein the specified obstacle model is an obstacle with the largest height between the flying point and the return point of the unmanned aerial vehicle;
The auxiliary planning unit 402 is used for obtaining two vertical landing lines by taking vertical reference lines according to the corresponding positions of the base point information and the return point information in the virtual space coordinate system;
The flight height planning unit 403 obtains a path reference line of the unmanned aerial vehicle for returning flat flight according to the specified obstacle model, wherein the path reference line is horizontal in a virtual space coordinate system, and the height corresponding to the path reference line is greater than the height of the established obstacle model;
The route generation unit 404 generates a return route based on the path reference line and the landing line, and the change point is an intersection point of the path reference line and the landing line.
The foregoing description of the preferred embodiments of the present invention should not be taken as limiting the invention, but rather should be understood to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
It should be understood that, although the steps in the flowcharts of the embodiments of the present invention are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in various embodiments may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of the sub-steps or stages of other steps or other steps.
Those skilled in the art will appreciate that all or part of the processes in the methods of the above embodiments may be implemented by a computer program for instructing relevant hardware, where the program may be stored in a non-volatile computer readable storage medium, and where the program, when executed, may include processes in the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (SYNCHLINK) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
Claims (9)
1. The unmanned aerial vehicle return control method is characterized by comprising the following steps of:
Acquiring base point information of the unmanned aerial vehicle, and establishing a virtual space coordinate system according to the base point information as a reference, wherein the base point information is a position corresponding to the unmanned aerial vehicle when the unmanned aerial vehicle takes off;
Acquiring image data transmitted by taking control terminal equipment as transfer, and establishing an obstacle model in a virtual space coordinate system according to the image data so that the virtual space coordinate system is provided with a plurality of obstacle models and corresponds to a real scene;
When the unmanned aerial vehicle performs return, acquiring return point information of the unmanned aerial vehicle, wherein the return point information is a position corresponding to the return time of the unmanned aerial vehicle;
Generating a return route based on the base point information, the return point information and a virtual space coordinate system with a plurality of obstacle models, so that the unmanned aerial vehicle can return on the basis of avoiding obstacles according to the return route, wherein the return route is provided with two turning points which have the same height and are used for adjusting the return direction of the unmanned aerial vehicle, one turning point is positioned right above a departure point, and the other turning point is positioned right below the return point.
2. The unmanned aerial vehicle return control method according to claim 1, wherein the step of acquiring the base point information of the unmanned aerial vehicle specifically comprises:
Monitoring the state of unmanned aerial vehicle control terminal equipment through a background system;
When the unmanned aerial vehicle control end equipment is in an open state, checking the unmanned aerial vehicle state through a background system;
when the unmanned aerial vehicle and the control end equipment are in an open state, positioning information of the unmanned aerial vehicle and the control end equipment is obtained, and the unmanned aerial vehicle and the control end equipment have positioning functions;
Checking the positioning information of the unmanned aerial vehicle and the control terminal equipment, and detecting the real-time positioning information of the unmanned aerial vehicle when the unmanned aerial vehicle and the control terminal equipment are positioned at the same position, so as to detect whether the unmanned aerial vehicle is displaced;
when the real-time positioning information of the unmanned aerial vehicle changes, calibrating the real-time positioning information of the unmanned aerial vehicle to obtain the base point information.
3. The unmanned aerial vehicle return control method according to claim 1, wherein the step of establishing the obstacle model in the virtual space coordinate system according to the image data specifically comprises:
When the image data is acquired, acquiring a flight track of the unmanned aerial vehicle through a background system;
Mapping the flight track into a virtual space coordinate system according to the base point information, and simultaneously establishing an association relation between the flight track and image data;
performing point marking on the flight track to obtain a flight track route with a plurality of anchor points;
extracting a picture image in the image data according to the anchor point and identifying and selecting an obstacle in the picture image;
And calculating the obstacle according to the positions, shooting angles and picture images of the unmanned aerial vehicle corresponding to the plurality of points to obtain an obstacle model, and putting the obstacle model into a virtual space coordinate system.
4. The unmanned aerial vehicle return journey control method according to claim 3, wherein the step of calculating the obstacle according to the unmanned aerial vehicle positions, shooting angles and picture images corresponding to the plurality of points, comprises the following steps:
selecting a picture image corresponding to the first anchor point, and identifying and selecting an obstacle in the picture image;
Calculating the obstacle based on the identification and selection result and according to the position and shooting angle of the unmanned aerial vehicle corresponding to the first anchor point to obtain first reference data;
selecting a picture image corresponding to the second anchor point, and identifying the picture image corresponding to the second anchor point again according to the obstacle identification result of the picture image corresponding to the first anchor point;
When the picture image corresponding to the second anchor point contains an obstacle in the picture image corresponding to the first anchor point, calculating the obstacle based on the position and shooting angle of the unmanned aerial vehicle corresponding to the second anchor point to obtain second reference data, and integrating the first reference data and the second reference data to obtain an obstacle model;
When the picture image corresponding to the second anchor point does not contain the obstacle in the picture image corresponding to the first anchor point, the picture image corresponding to the subsequent anchor point is identified and the measuring and calculating process is repeated, and the obstacle model is obtained by combining the picture images of the plurality of anchor points.
5. The unmanned aerial vehicle return control method according to claim 1, wherein the step of generating a return route based on the base point information, the return point information, and a virtual space coordinate system having a plurality of obstacle models, specifically comprises:
Screening an obstacle model in the virtual space coordinate system according to the base point information and the return point information to obtain a specified obstacle model, wherein the specified obstacle model is an obstacle with the largest height between the flying point and the return point of the unmanned aerial vehicle;
According to the base point information and the return point information, making vertical reference lines at corresponding positions in a virtual space coordinate system to obtain two vertical landing lines;
Obtaining a path reference line of the unmanned aerial vehicle for returning flat flight according to the specified obstacle model, wherein the path reference line is horizontal in a virtual space coordinate system, and the height corresponding to the path reference line is greater than the height of the established obstacle model;
And generating a return route based on the path reference line and the landing line, wherein the turning point is an intersection point of the path reference line and the landing line.
6. An unmanned aerial vehicle return control system, the system comprising:
the virtual coordinate building module is used for obtaining base point information of the unmanned aerial vehicle and building a virtual space coordinate system according to the base point information as a reference, wherein the base point information is a corresponding position of the unmanned aerial vehicle during take-off;
The image processing module is used for acquiring image data transmitted by taking control terminal equipment as transfer, and establishing an obstacle model in a virtual space coordinate system according to the image data so that the virtual space coordinate system is provided with a plurality of obstacle models and corresponds to a real scene;
the system comprises a return information acquisition module, a return information acquisition module and a return information processing module, wherein the return information acquisition module acquires return point information of the unmanned aerial vehicle when the unmanned aerial vehicle is in return, and the return point information is a corresponding position of the unmanned aerial vehicle during return;
The unmanned aerial vehicle is enabled to return on the basis of avoiding obstacles according to the return route, the return route is provided with two turning points which are the same in height and are used for adjusting the return direction of the unmanned aerial vehicle, one turning point is located right above a departure point, and the other turning point is located right below the return point.
7. The unmanned aerial vehicle return control system of claim 6, wherein the virtual coordinate establishment module comprises:
The control end equipment monitoring unit monitors the state of the unmanned aerial vehicle control end equipment through a background system;
The state checking unit is used for checking the state of the unmanned aerial vehicle through the background system when the unmanned aerial vehicle control terminal equipment is in an open state;
The position acquisition unit is used for acquiring positioning information of the unmanned aerial vehicle and the control end equipment when the unmanned aerial vehicle and the control end equipment are in an open state, wherein the unmanned aerial vehicle and the control end equipment have positioning functions;
The position checking unit is used for checking the positioning information of the unmanned aerial vehicle and the control terminal equipment, and detecting the real-time positioning information of the unmanned aerial vehicle when the unmanned aerial vehicle and the control terminal equipment are positioned at the same position, so as to detect whether the unmanned aerial vehicle is displaced;
and the position calibration unit is used for calibrating the real-time positioning information of the unmanned aerial vehicle to obtain the base point information when the real-time positioning information of the unmanned aerial vehicle changes.
8. The unmanned aerial vehicle return control system of claim 6, wherein the image processing module comprises:
the flight track acquisition unit acquires the flight track of the unmanned aerial vehicle through a background system when acquiring the image data;
the track mapping unit maps the flight track into a virtual space coordinate system according to the base point information, and meanwhile, establishes an association relation between the flight track and the image data;
The track marking unit is used for marking the points of the flight track to obtain a flight track route with a plurality of anchor points;
the obstacle identification unit extracts a picture image in the image data according to the anchor point and identifies and selects an obstacle in the picture image;
and the obstacle calculation unit is used for calculating the obstacle according to the positions, shooting angles and picture images of the unmanned aerial vehicle corresponding to the plurality of points to obtain an obstacle model and putting the obstacle model into a virtual space coordinate system.
9. The unmanned aerial vehicle return control system of claim 6, wherein the return planning module comprises:
the obstacle selecting unit screens the obstacle model in the virtual space coordinate system according to the base point information and the return point information to obtain a specified obstacle model, wherein the specified obstacle model is an obstacle with the largest height between the flying point and the return point of the unmanned aerial vehicle;
the auxiliary planning unit is used for making vertical reference lines according to the corresponding positions of the base point information and the return point information in the virtual space coordinate system to obtain two vertical landing lines;
The flying height planning unit obtains a path reference line of the unmanned aerial vehicle for returning to the flat flight according to the specified obstacle model, the path reference line is horizontal in a virtual space coordinate system, and the height corresponding to the path reference line is greater than the height of the established obstacle model;
And the route generation unit is used for generating a return route based on the path reference line and the landing line, and the turning point is an intersection point of the path reference line and the landing line.
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