WO2020113394A1 - Procede et dispositif de planification d'itineraire pour aéronef, console, système d'aéronef et support de stockage d'informations - Google Patents

Procede et dispositif de planification d'itineraire pour aéronef, console, système d'aéronef et support de stockage d'informations Download PDF

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Publication number
WO2020113394A1
WO2020113394A1 PCT/CN2018/119021 CN2018119021W WO2020113394A1 WO 2020113394 A1 WO2020113394 A1 WO 2020113394A1 CN 2018119021 W CN2018119021 W CN 2018119021W WO 2020113394 A1 WO2020113394 A1 WO 2020113394A1
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WIPO (PCT)
Prior art keywords
route
zone
sub
flight
aircraft
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PCT/CN2018/119021
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English (en)
Chinese (zh)
Inventor
黄振昊
石仁利
徐富
何纲
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深圳市大疆创新科技有限公司
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Priority to CN201880039894.1A priority Critical patent/CN111033419B/zh
Priority to PCT/CN2018/119021 priority patent/WO2020113394A1/fr
Publication of WO2020113394A1 publication Critical patent/WO2020113394A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network

Definitions

  • the present application relates to the field of aircraft technology, and in particular, to an aircraft route planning method, console, aircraft system, and storage medium.
  • one type of scene is the mapping and inspection of narrow and long strip terrain features.
  • the characteristic of this kind of operation is that the planned flight zone area is long in the route direction and narrow in the lateral direction.
  • the existing ground station planning method is often to generate a central route by importing routes (central route 1 in Figure 1), and then add routes through the central route in order to form multiple routes as shown in the center of Figure 1.
  • Route 2 and route 3 are added at a time around route 1.
  • the time of one flight is not enough to complete all the route tasks at one time, and it is necessary to turn off the power and return to the battery for many times.
  • the planned ribbon zone is several kilometers long, and several of the planned ribbons are implemented in a "bow" shape similar to Figure 1, the aircraft's operating efficiency will be very low, and a lot of power will be wasted ineffective On the round trip route.
  • the present application provides an aircraft route planning method, a console, an aircraft system, and a storage medium.
  • this application proposes an aircraft route planning method, including the following steps:
  • the present application also provides an aircraft console, including:
  • the memory is used to store computer programs
  • the processor is configured to execute the computer program and when the computer program is executed, implement:
  • the present application also provides an aircraft system, including: including a console and at least one aircraft, the console including a memory and a processor;
  • the memory is used to store a computer program; the processor is used to execute the computer program and when the computer program is executed, it implements:
  • the present application also provides a computer-readable storage medium that stores a computer program, and when the computer program is executed by a processor, the processor realizes:
  • the present application discloses a route planning method for an aircraft, an aircraft console, an aircraft system, and a computer storage medium, which realizes the zoned planning of a ribbon route task and improves work efficiency.
  • the adjacent sub-aviation zone areas have overlapping areas, effectively avoiding the occurrence of missed shots.
  • the width of the flight coverage on the left and right sides of the guidance route is separately defined to avoid operations on the invalid area.
  • Figure 1 is a schematic diagram of the route planning of the strip zone in the prior art
  • Figure 2 is a schematic diagram of a ribbon river and its banks
  • FIG. 3 is a flowchart of a route planning method for an aircraft according to an embodiment of the present application.
  • FIG. 4 is a schematic diagram of a guide route provided by an embodiment of the present application.
  • FIG. 5 is a schematic diagram of a flight zone area provided by an embodiment of the present application.
  • FIG. 6 is a schematic diagram of a sub-aviation area divided by a navigation area provided by an embodiment of the present application.
  • FIG. 7 is a schematic diagram of a route in a flight zone area provided by an embodiment of the present application.
  • FIG. 8 is a schematic diagram of another flight zone regional route provided by an embodiment of the present application.
  • FIG. 9 is a schematic diagram of another route in a flight zone area provided by an embodiment of the present application.
  • FIG. 10 is a schematic diagram of selecting a starting point of a sub-band zone provided by an embodiment of the present application.
  • FIG. 11 is a schematic diagram of a trajectory of a sub-air zone area provided by an embodiment of the present application.
  • FIG. 12 is a schematic diagram of another sub-zone flight path trajectory provided by an embodiment of the present application.
  • FIG. 13 is a flowchart of another aircraft route planning method provided by an embodiment of the present application.
  • FIG. 14 is a structural block diagram of an aircraft console provided by an embodiment of the present application.
  • 15 is a structural block diagram of an aircraft system provided by an embodiment of the present application.
  • FIG. 3 is a flowchart of an aircraft route planning method according to an embodiment of the present invention. As shown in FIG. 3, the method in this embodiment may include:
  • Step S101 Acquire route data.
  • acquiring route data includes: acquiring a position and a setting order corresponding to a waypoint set by a user, and generating the route data according to the waypoint position and the setting order.
  • the user can click on the map as needed to set the waypoint, and the coordinates corresponding to the waypoint is the position corresponding to the waypoint.
  • waypoints exist in the form of coordinates.
  • the waypoint coordinates can be position coordinates measured by positioning measurement methods such as GPS (Global Positioning System) or RTK (Carrier Phase Differential Technology).
  • the acquiring route data may also be obtained by acquiring externally imported map information in formats such as KML, KMZ, or SHP.
  • the map information includes linear features (such as acquiring river banks during river bank inspections) Line), the route data is generated according to the linear feature, specifically, the route data includes the coordinates of the starting point, the coordinates of the end point corresponding to the linear feature and the position coordinates and arrangement of each other waypoint on the linear feature order.
  • Step S102 Determine a route direction according to the route data, and determine a flight zone area based on the route direction.
  • the route direction is determined according to the route data. Specifically, when a user sets a waypoint by hitting a spot, according to the location of the start point and end point determined by the hitting point and other waypoints and the corresponding setting order, The connection of the start point, the end point and other waypoints constitutes a guided route, and at the same time, the direction from the start point and the middle waypoints to the end point is the route direction of the trajectory route.
  • route data is generated by acquiring linear features in map information imported from external sources such as KML, KMZ, or SHP, the corresponding start point, end point, and other waypoints on the linear feature The connection between the positions is the guide route.
  • the starting point, end point and the order of the other waypoints on the linear feature can determine the direction of the guide route, that is, the route direction of the trajectory route.
  • Fig. 4 is a schematic diagram of a guiding route. As shown in Fig. 4, the starting point A, the ending point B and the intermediate waypoints are connected to form a guiding route AB, and the direction from the starting point A to the ending point B is the direction of the guiding route AB.
  • the starting point A and the ending point B can be interchanged, corresponding to the direction from the starting point B to the ending point A is the course direction of the guiding course BA.
  • the flight zone area is determined based on the route direction.
  • the flight zone area can be determined based on the actual needs based on the route direction. For example, the same or different distance can be extended to the two sides with the route direction as the center to determine the flight zone area, or the flight route area can be determined on the side of the route direction as needed based on the flight route direction. limited.
  • determining the flight zone area according to the route data includes obtaining the left flight bandwidth and the right flight bandwidth corresponding to the guidance route.
  • the left-hand bandwidth and right-hand bandwidth can be set separately, and the left-hand bandwidth and right-hand bandwidth can be different or the same.
  • the guide route may be displayed before setting the left flight bandwidth and the right flight bandwidth, so that the user can set the left flight bandwidth and the right flight bandwidth corresponding to the guide flight route.
  • the flight zone is determined according to the left flight bandwidth and the right flight bandwidth based on the guidance route.
  • FIG. 5 is a schematic diagram of a zone of a flight zone determined according to the guidance route of FIG. 4 according to the left flight bandwidth and the right flight bandwidth.
  • the method further includes: deleting the guide route in the flight zone area.
  • the flight zone area shown in Fig. 5 is an area where the guidance route has been deleted.
  • the left-air bandwidth and the right-air bandwidth can be independently defined and set to avoid working on the invalid area.
  • Step S103 Divide the flight zone area into several sub flight zone areas along the route direction.
  • the route direction is the route direction determined in step S102, such as the AB direction or the BA direction in FIG. 4.
  • the dividing the flight zone area into a plurality of sub flight zone regions along the route direction includes: dividing the flight zone region into a plurality of sub flight zone regions along the route direction according to the flight zone advance distance.
  • the user can set the propulsion distance of the flight zone, for example, the propulsion distance is 5 kilometers, and the flight zone area is divided into several sub flight zones according to the travel distance of 5 kilometers per sub flight zone. Assuming that the flight zone area travels 20 kilometers, the flight zone area is divided into four sub-zone zones.
  • FIG. 6 is a schematic diagram of dividing the flight zone area of FIG.
  • the flight zone area in Fig. 5 is divided into four flight zone sub-regions along the route direction, and the dividing line of the four child flight zone regions is shown in the figure The solid line.
  • the rate is defined as the overlapping rate of the sub-aviation zone.
  • the overlapping area of two adjacent sub-aviation zones is calculated according to the overlapping rate of the sub-aviation zone.
  • the sub-navigation zone area overlap ratio is expressed as a percentage of the ratio of the length of the overlapping portion of the adjacent sub-aviation zone to the sub-air zone length.
  • the length of the overlapping rate of the two adjacent sub-zones is X
  • the length of the sub-zone is Y
  • the overlap rate of the sub-zone is X/Y%.
  • the user can set the overlap ratio of the sub-zones by themselves, which can be set currently or pre-set.
  • the system will automatically calculate the overlap rate of the sub-air zone area according to the surrounding environment, such as the surrounding terrain (such as flat ground, mountain).
  • the system will divide the zone into several sub-zones that meet the requirements based on the overlap rate of the sub-zone zone set by the user or calculated and the propulsion distance of the zone. As shown in Fig.
  • the dotted line is the dividing line of the sub-aviation zone after considering the overlapping rate of the sub-aviation zone.
  • the adjacent sub-zones have overlapping areas.
  • the area between the dividing line 2 and the dividing line 2" in Fig. 6 is the second sub-zone zone, and the overlapping area between the dividing line 2 and the dividing line 1 It is the overlapping area of the first sub-zone zone and the second sub-zone zone; the zone between the dividing line 3 to the dividing line 3" is the third sub-zone zone, and the dividing line 3 and the dividing line 2"
  • the area is the overlapping area of the second sub-zone zone and the third sub-zone zone, and so on, and several sub-zone zones with overlapping zones are formed.
  • the division of the flight zone area also needs to consider the aircraft parameters and/or the sub-air zone area overlap rate.
  • the parameter of the flight signal is, for example, the endurance of the aircraft.
  • the flight zone area may be divided into several sub flight zone areas along the route direction according to the flight zone propulsion distance and aircraft parameters.
  • the dividing the flight zone area into several sub flight zone regions along the route direction includes: according to the flight zone propulsion distance, aircraft parameters and sub flight zone region overlap ratio, Divide the flight zone area into several sub flight zone areas along the route direction.
  • Step S104 Plan the flight path of the aircraft in the several sub-airband areas.
  • the planning of the route path of the aircraft in the plurality of sub-aviation zone areas includes: determining route information; planning the route according to the route information and a plurality of the sub-air zone regions The route path of the aircraft in the several sub-zones.
  • the route information includes a route number and a plurality of route segments corresponding to the route number;
  • the determined route information includes: calculating the route number, wherein the route number includes the airstrip area The number of routes or the number of routes in each sub-zone zone. Calculating the number of routes can calculate the number of routes in the entire flight zone area, or calculate the number of routes in each sub-zone zone separately for each sub-zone zone.
  • the calculating the number of routes includes: acquiring flight parameters of the aircraft; calculating the number of routes in the flight zone area or the number of routes in each sub-zone zone according to the flight parameters .
  • the flight parameters include the altitude of the aircraft and the lateral overlap rate.
  • the user can set the altitude of the aircraft and the lateral overlap rate.
  • the number of parallel routes covering the flight zone area is calculated according to the flight height and the lateral overlap rate.
  • the user can set the altitude and lateral overlap rate for each sub-navigation zone, and calculate the number of routes corresponding to each sub-aviation zone according to the altitude and lateral overlap rate of each sub-navigation zone.
  • the number of routes in each sub-zone may be different.
  • the calculating the number of routes includes: calculating the number of routes in the flight zone area or calculating the number of routes in each sub-zone zone through a preset navigation planning algorithm.
  • the preset navigation planning algorithm can be divided into efficient coverage mode and full coverage mode. Efficient coverage mode is to add some optimization constraints under the condition of satisfying the altitude and lateral overlap rate, such as minimizing the length of the non-operating path of the aircraft, the shortest route path between the two route segments, and the non-operating path. Some waypoints cannot form sub-loops and so on. Thus, the optimal coverage of the airstrip area is achieved.
  • the full coverage mode algorithm refers to ensuring that the aircraft can be completely covered at any angle in the aerial zone when the aircraft is aerial photography under the condition of satisfying the altitude and lateral overlap rate.
  • the number of routes calculated in full coverage mode may be one to two more than the number of routes calculated in efficient coverage mode.
  • FIG. 7 is the number of routes in the flight zone area of FIG. 5 calculated in the efficient coverage mode in the embodiment of the present application.
  • FIG. 8 is the number of routes in the flight zone area of FIG. 5 calculated in the full coverage mode in the embodiment of the present application.
  • Figure 7 has two more routes than in Figure 8, as shown by the dotted line in Figure 8.
  • the calculating the number of routes includes: calculating the number of routes in the flight zone area or calculating the route in each sub-zone zone through a preset navigation planning algorithm and a preset number of route attributes Number, the attribute of the number of routes includes that the number of routes is odd or the number of routes is even.
  • a constraint condition-route number attribute is added to the previous embodiment, for example, the user presets the number of routes to be odd or even. As shown in Figures 7 and 8, the number of routes is 6 and 8, respectively, that is, the number of routes is an even number. The number of routes in Figure 9 is 7 and the number of routes is an odd number.
  • the takeoff point and end point of the route are on different sides of the route; when the number of routes is even, the takeoff point and end point of the route are on the same side of the route, so that the user can Actually, you need to set the attribute of the number of routes.
  • each sub-route zone after calculating the number of routes in the flight zone or each sub-route zone, multiple route segments in each sub-route zone are determined according to the number of routes. If the number of routes in the entire flight zone is calculated, divide the flight zone in parallel with the route corresponding to the number of flights. The part of the route corresponding to the flight zone area in each sub-zone zone is the route segment of each sub-zone zone. At this time, the number of routes in each sub-zone zone is also the same. The number of routes in each sub-zone zone is the same as that of the entire zone The number of routes in the region is the same, as shown in Figure 7-9.
  • the route segments of each sub-zone zone corresponding to the number of routes in each sub-zone zone are divided in parallel according to the number of routes in each sub-zone zone.
  • the number of routes in the zone can be the same as the number of routes in the entire zone, or it can be different, which is not limited here.
  • the planning of the flight path of the aircraft in the several sub-aviation zones according to the route information and the plurality of sub-aviation zones includes: : Select the start point and end point of each sub-air zone area according to the route segment of each sub-zone zone; according to the start point, end point and multiple routes of each sub-zone zone
  • the segment determines the route path of each of the sub-zone zones.
  • Said determining the route path of each sub-zone zone according to the start point, end point of each of the sub-zone zones and the plurality of route segments includes: separately dividing the start point of each sub-zone zone, The route segment and the end point are connected to form a route route for each of the sub-route zones.
  • the starting point, the route segment and the end point of each sub-aviation zone are respectively connected to form the route path of each of the sub-aviation zone is in the shape of a "bow", and the connection line between adjacent route segments is roughly Vertically, refer to FIG. 11, that is, the aircraft directly crosses the flight to the adjacent route segment after flying along the current route segment to continue operation.
  • the starting point and the ending point are selected at the positions of the end points on the two outermost route segments of the plurality of route segments. As shown in the circle shown in FIG. 10, the endpoint positions of the outermost route segments of each sub-zone zone.
  • FIG. 11 is the route path of each sub-band zone planned according to the above method.
  • the neutron zone in FIG. 11 is also the sub-aviation zone in the shape of a “bow” in this embodiment.
  • FIG. 11 is only one of the route routes obtained during the implementation of the foregoing method. In practice, a variety of route routes can be obtained according to the foregoing embodiment. For example, the starting point can be selected at the other three endpoints of the outermost route segment , The corresponding route path will change.
  • the two outermost route segments are defined as the first route segment and the second route segment; when the number of multiple route segments in the sub-airway zone is an odd number, the starting point is selected at all An end point position of the first flight path segment, the end point is selected at an end point position of the second flight path segment opposite to the first flight path segment.
  • the number of routes in the sub-zone is seven, corresponding to the starting point and take-off point on the opposite side.
  • the start point is selected at an end position of the first route segment, and the end point is selected at the second route segment and The location of an endpoint on the same side of the first route segment.
  • the number of routes in the sub-zone is 8 and the corresponding starting point and take-off point are selected on the same side.
  • the starting point and the ending point are selected, and the nearest end points of the adjacent route segments are connected, so that the path of the non-operating area of each sub-air zone area is minimized, reducing the flying distance and Time saves the power of the drone and improves the operating efficiency of the drone.
  • the route paths of each sub-airband area can be displayed, so that the user can understand the aircraft route path in real time for the user's reference and subsequent route path Changes and corrections.
  • the route path of each sub-airband area may be displayed on a smart device such as a smartphone, tablet computer, or aircraft ground control station to facilitate user settings.
  • the working efficiency is improved, such as the low efficiency caused by the battery replacement caused by the lack of battery life of the multi-rotor drone in the user's route planning. problem.
  • the adjacent sub-aviation zone areas have overlapping areas, effectively avoiding the occurrence of missed shots.
  • separately define and set the left flight bandwidth and right flight bandwidth and determine the flight zone area according to the left flight bandwidth and right flight bandwidth on the basis of the guidance route to avoid operations in the invalid area.
  • the route planning method of the aircraft provided in this embodiment is different from the foregoing embodiment in that after planning the aircraft route route in the several sub-zone zones, the route route is sent to one or more at least one aircraft and/or at least A terminal device.
  • the method in this embodiment may include:
  • Step S201 Acquire route data.
  • Step S202 Determine a route direction based on the route data, and determine a flight zone area based on the route direction.
  • Step S203 Divide the flight zone area into a number of sub flight zone areas along the route direction.
  • Step S204 Plan the flight path of the aircraft in the several sub-airband areas.
  • Step S205 Send the route path to one or more at least one aircraft and/or at least one terminal device.
  • the route path of each sub-airway zone is sent to one or more aircrafts.
  • the aircraft performs flight and operation tasks according to the received route path.
  • one of the aircraft will successively sail along the route path of each sub-zone area to complete the operation of the entire zone, as shown in Figure 11, one aircraft will complete the navigation of sub-zones 1-4 of the sub-zone in sequence .
  • the heading paths of the four sub-zones can be sent to four aircrafts to perform the corresponding four sub-zones' flight and operation tasks, that is, each aircraft performs a sub-zone's navigation.
  • Four aircraft can complete the task in parallel, reducing the operation time. It can also be sent to two aircrafts, and each aircraft performs the flight and operation tasks in the two adjacent sub-zones. The specific sending to several aircraft is not limited here.
  • the route path is sent to one or more of the terminal devices, and at the same time, the terminal device displays the Route path. In this way, the user can understand the flight path of the aircraft in real time for the user's reference and subsequent change and correction of the flight path.
  • terminal devices may be smart devices such as smart phones, tablet computers, computers, remote controls of aircrafts, and ground control stations of aircrafts.
  • the console 10 is a structural block diagram of a console of an aircraft according to an embodiment of the present application.
  • the console 10 may be a smart phone, a tablet computer, an aircraft remote control, an aircraft ground control station and other smart devices.
  • the console 10 includes a processor 111 (for example, a microprocessor, a digital signal processor, etc.), a memory 112 and a processor connected via a bus 113.
  • the processor may be a single processing unit or multiple processing units for performing different actions of the processes described herein.
  • the processor may be a single CPU (Central Processing Unit), but may also include two or more processing units.
  • CPU Central Processing Unit
  • the processor may include a general-purpose microprocessor, an instruction set processor, and/or related chipsets, and/or a dedicated microprocessor (eg, application specific integrated circuit (ASIC)).
  • the memory may be a non-volatile or volatile storage medium, such as an electrically erasable programmable read-only memory (EEPROM), flash memory, and/or hard drive.
  • EEPROM electrically erasable programmable read-only memory
  • the readable storage medium includes a computer program including code/computer readable instructions, which when executed by the processor, enables the hardware structure and/or the console including the hardware structure to execute, for example, as described above in conjunction with FIG. 3 Aircraft route planning method and any variants.
  • the processor is configured to execute the computer program and when the computer program is executed, implement:
  • the processor when the processor implements the planning of the route path of the aircraft in the several sub-airway zones, it is used to: determine route information; according to the route information and several of the sub-airway zones The region plans the flight path of the aircraft in the several sub-airband regions.
  • the route information includes a route number and a plurality of route segments corresponding to the route number; when the processor implements the determined route information, the processor is used to implement: calculate a route number, wherein the route number Including the number of routes in the flight zone area or the number of routes in each of the sub-route zone areas; determining a plurality of route segments for each of the sub-route zone areas according to the number of route routes.
  • the processor when the processor implements the planning of the flight path of the aircraft in the plurality of sub-aviation zones according to the route information and the plurality of sub-aviation zones, it is used to implement:
  • the plurality of route segments of the sub-aviation zone area selects the start point and end point of each of the sub-air zone zones; it is determined according to the start point, end point of each sub-zone zone and the plurality of route segments The route path of each of the sub-zone zones.
  • the processor when the processor implements the process of determining the route path of each sub-aviation zone according to the start point, end point of each sub-zone zone and the multiple route segments, it is used to Implementation:
  • the starting point, the route segment and the end point of each of the sub-aviation zone areas are connected to form the route path of each of the sub-aviation zone areas.
  • the track trajectory is in the shape of a "bow”.
  • the processor selects the start point and the end point of each sub-aviation zone according to the route segment of each sub-zone zone respectively, it is used to implement: the start point and the end point selection Endpoint positions on the two outermost route segments of the plurality of route segments.
  • the processor when the processor realizes that the starting point selects the endpoint positions on the two outermost route segments of the plurality of route segments, it is used to implement: define the outermost two route segments as the first A route segment and a second route segment; when the number of multiple route segments in the sub-airway zone is an odd number, the starting point is selected at an end position of the first route segment, and the end point is selected at An end position of the second route segment and the side opposite to the first route segment; when the number of multiple route segments in the sub-aviation zone area is an even number, the starting point is selected on the first route An end position of the segment, the end point is selected at an end position of the second route segment and on the same side as the first route segment.
  • the processor realizes the calculation of the number of routes, it is used to: obtain flight parameters of the aircraft; according to the flight parameters, calculate the number of routes in the flight zone area or calculate each The number of routes in the sub-zone.
  • the flight parameters include an altitude of the aircraft and a lateral overlap rate.
  • the processor realizes the calculation of the number of flight routes, it is used to realize: calculate the number of flight routes of the flight zone area or calculate the number of flight routes of each of the sub flight zone regions through a preset navigation planning algorithm.
  • the processor realizes the calculation of the number of routes, it is used to realize: calculate the number of routes in the flight zone or calculate each of the sub-zones through a preset navigation planning algorithm and a preset number of routes attributes
  • the number of routes, the attribute of the number of routes includes an odd number of routes or an even number of routes.
  • the processor when the processor realizes the division of the flight zone area into several sub flight zone areas along the route direction, it is used to realize that adjacent sub flight zone regions have overlapping regions.
  • the overlapping area is calculated according to the overlapping rate of the sub-airband area.
  • the processor when the processor realizes the division of the flight zone area into several sub flight zone areas along the route direction, it is used to realize: according to the flight zone advance distance, the processor The flight zone is divided into several sub flight zones.
  • the processor when the processor implements the division of the flight zone area into several sub-air zone zones along the route, it is also used to implement: according to aircraft parameters and/or sub-zone zone overlap rates, Divide the flight zone area into several sub flight zone areas along the route direction.
  • the aircraft parameters include: aircraft endurance.
  • the processor is further used to implement: obtain the currently set sub flight zone area overlap Rate, or obtain the pre-set sub-zone overlap rate or calculate the sub-zone overlap rate based on the surrounding terrain of the zone.
  • the processor when the processor implements the acquiring route data, the processor is configured to: obtain a waypoint position and setting order corresponding to a waypoint set by a user; generate a location based on the waypoint position and setting order Describe route data.
  • the processor when the processor implements the acquiring route data, the processor is configured to: obtain externally imported map information, the map information includes linear features; and generate the location based on the linear features Describe route data.
  • the processor when the processor implements the determination of the route direction based on the route data and the flight zone area based on the route direction as a reference, the processor is used to: determine the guidance route and the corresponding route according to the route data The direction of the route; obtaining the left-air bandwidth and the right-air bandwidth corresponding to the guide route; using the guide air route as a reference, determining the air-band area according to the left-air bandwidth and the right-air bandwidth.
  • the console 10 of the aircraft further includes a display unit 114, and the display unit 114 is connected to the processor 111 through a data cable.
  • the processor is further used to: display the guidance route through the display unit 114, so that the user can set the The left-hand bandwidth and right-hand bandwidth corresponding to the guidance route.
  • the processor After the processor implements the guidance route as a reference and determines the flight zone area according to the left flight bandwidth and the right flight bandwidth, the processor is further used to realize: display by the display unit 114 The zonal zone.
  • the processor realizes the display of the flight zone area, it is also used to realize: delete the guidance route in the flight zone area.
  • the processor implements the planning of the route path of the aircraft in the several sub-aviation zone areas, it is also used to implement: sending the route path to at least one aircraft, and/or at least one terminal device.
  • the processor realizes that the route path is sent to an aircraft, it is also used to implement: control one of the aircraft to sequentially navigate along the route path of the several sub-zone zones.
  • the processor realizes that the route path is sent to a plurality of aircrafts, it is also used to realize: control the plurality of aircrafts to respectively navigate along the route path of the corresponding sub-airstrip area.
  • the processor realizes that the route route is sent to at least one terminal device, it is also used to implement: triggering the terminal device to display the route route of each of the sub-zone zones.
  • the processor realizes the planning of the flight path of the aircraft in the several sub-aviation zone areas, it is also used to realize: displaying the flight path of each of the sub-aviation zone areas through the display unit 114.
  • FIG. 15 is a schematic diagram of an aircraft system provided in an embodiment of the present application, including the aircraft 20 and the console 10 of the aircraft of the foregoing embodiment.
  • the aircraft 20 may be a drone.
  • the aircraft 20 performs the flight of the sub-airband area according to the route trajectory of each sub-airband area implemented by the foregoing embodiment sent by the console 10 of the aircraft to complete the operation task.
  • the console 10 includes a processor 111 and a memory 112.
  • the memory 112 is used to store a computer program; the processor 111 is used to execute the computer program and when the computer program is executed, to achieve: acquiring route data; determining the route direction according to the route data, using the The flight path direction is used as a reference to determine the flight zone area; the flight route area is divided into several sub flight zone regions along the flight route direction; and the flight path of the aircraft in the several child flight zone regions is planned.
  • the processor realizes the planning of the flight path of the aircraft in the several sub-airband areas, it is used to realize: determine route information; plan the flight path according to the route information and several sub-airband areas The route path of the aircraft in the several sub-zones.
  • the route information includes a route number and a plurality of route segments corresponding to the route number; when the processor implements the determined route information, the processor is used to implement: calculate a route number, wherein the route number Including the number of routes in the flight zone area or the number of routes in each of the sub-route zone areas; determining a plurality of route segments for each of the sub-route zone areas according to the number of route routes.
  • the processor when the processor implements the planning of the flight path of the aircraft in the plurality of sub-aviation zones according to the route information and the plurality of sub-aviation zones, it is used to implement: Selecting the starting point and the ending point of each of the sub-aviation zone regions for the route segment of the sub-air zone region; determining each location according to the starting point, the ending point of each of the sub-satellite zone regions and the multiple route segments The route path of the sub-zone zone.
  • the processor implements the process of determining the route path of each sub-aviation zone according to the start point, end point of each sub-zone zone and the multiple route segments, respectively.
  • the processor implements the process of determining the route path of each sub-aviation zone according to the start point, end point of each sub-zone zone and the multiple route segments, respectively.
  • the route path has a "bow" shape.
  • the processor selects the start point and the end point of each sub-aviation zone according to the route segment of each sub-zone zone respectively, it is used to implement: the start point and the end point selection Endpoint positions on the two outermost route segments of the plurality of route segments.
  • the processor when the processor realizes that the start point and the end point select the endpoint positions on the two outermost route segments of the plurality of route segments, it is used to implement: define the two outermost route segments The first route segment and the second route segment respectively; when the number of multiple route segments in the sub-zone is an odd number, the starting point is selected at an end position of the first route segment, and the end The point is selected at an end position on the second route segment opposite to the first route segment; when the number of multiple route segments in the sub-airway zone is an even number, the starting point is selected at the An end position of the first route segment, the end point is selected at an end position of the second route segment and on the same side as the first route segment.
  • the processor realizes the calculation of the number of routes, it is used to: obtain flight parameters of the aircraft; according to the flight parameters, calculate the number of routes in the flight zone area or calculate each The number of routes in the sub-zone.
  • the flight parameters include the altitude of the aircraft and the lateral overlap rate.
  • the processor realizes the calculation of the number of routes, it is used to realize: calculate the number of routes in the flight zone area or calculate the number of routes in each sub-zone zone through a preset navigation planning algorithm.
  • the processor when it realizes the calculation of the number of routes, it is used to calculate the number of routes in the flight zone area or calculate each of the routes through a preset navigation planning algorithm and a preset number of routes attributes The number of routes in the sub-airband area.
  • the attribute of the number of routes includes that the number of routes is odd or the number of routes is even.
  • the processor when the processor realizes the division of the flight zone area into several sub flight zone areas along the route direction, it is used to realize that adjacent sub flight zone regions have overlapping regions.
  • the overlapping area is calculated according to the overlapping rate of the sub-aviation area.
  • the processor when the processor realizes the division of the flight zone area into several sub flight zone areas along the route direction, it is used to realize: according to the flight zone advance distance, the processor The zone is divided into several sub-zones.
  • the processor when the processor realizes the division of the flight zone area into several sub flight zone areas along the route direction, the processor is used to implement: according to aircraft parameters and/or sub flight zone area overlap rates, along The route direction divides the flight zone area into several sub flight zone areas.
  • the aircraft parameters include: aircraft endurance.
  • the processor is further used to implement: obtain the currently set sub flight zone area overlap Rate, or obtain the pre-set sub-zone overlapping rate or calculate the sub-zone overlapping rate according to the surrounding terrain of the zone.
  • the processor when the processor implements the acquiring route data, the processor is configured to: obtain a waypoint position and setting order corresponding to a waypoint set by a user; generate a location based on the waypoint position and setting order Describe route data.
  • the processor when the processor implements the acquiring route data, the processor is configured to: obtain externally imported map information, the map information includes linear features; and generate the location based on the linear features Describe route data.
  • the processor when the processor implements the determination of the route direction based on the route data and the flight zone area based on the route direction as a reference, the processor is used to: determine the guidance route and the corresponding route according to the route data The direction of the route; obtaining the left-air bandwidth and the right-air bandwidth corresponding to the guide route; using the guide air route as a reference, determining the air-band area according to the left-air bandwidth and right-air bandwidth.
  • the console 10 further includes a display unit 114, and before the processor implements the acquisition of the left navigation bandwidth and the right navigation bandwidth corresponding to the guidance route, the processor further It is used to display the guidance route through the display unit, so that the user can set the left flight bandwidth and the right flight bandwidth corresponding to the guidance route.
  • the processor is further used to realize:
  • the display unit displays the flight zone area.
  • the processor realizes the display of the flight zone area, it is also used to realize: delete the guidance route in the flight zone area.
  • the processor implements the planning of the route path of the aircraft in the several sub-aviation zone areas, it is also used to implement: sending the route path to the at least one aircraft.
  • the processor realizes that the route path is sent to an aircraft, it is also used to implement: control one of the aircraft to sequentially navigate along the route path of the several sub-zone zones.
  • the processor realizes that the route path is sent to a plurality of aircrafts, it is also used to realize: control the plurality of aircrafts to respectively navigate along the route path of the corresponding sub-airstrip area.
  • the processor implements the planning of the flight path of the aircraft in the several sub-aviation zone areas, it is also used to implement: displaying the flight path of each of the sub-air zone areas through the display unit.
  • the aircraft system provided in another embodiment of the present application includes the above-mentioned console and at least one aircraft.
  • the aircraft system further includes at least one terminal device 30, and the terminal device 30 may be a smart phone, a tablet computer, a computer, and an intelligent device such as a remote controller of the aircraft, an aircraft ground control station, etc.
  • the terminal The device 30 may be an aircraft console.
  • the processor implements the planning of the flight path of the aircraft in the plurality of sub-aviation zone areas, it is also used to implement: sending the flight path to the at least one terminal device 30.
  • the processor realizes that the route route is sent to at least one terminal device 30, it is also used to implement: triggering the terminal device 30 to display the route route of each of the sub-zone zones.
  • An embodiment of the present application also provides a computer-readable storage medium.
  • the computer-readable storage medium stores a computer program, and the computer program includes program instructions, and the processor executes the program instructions to implement the application.
  • the embodiment provides the route planning method of the aircraft shown in FIG. 3 and its modifications.
  • the computer-readable storage medium may be an internal storage unit of the console of the aircraft according to any one of the foregoing embodiments, such as the hard disk or internal memory of the charger.
  • the computer-readable storage medium may also be an external storage device of the charger, for example, a plug-in hard disk equipped on the charger, a smart memory card (Smart Media (SMC), Secure Digital (SD) ) Card, flash card (Flash Card), etc.
  • SMC Smart Media
  • SD Secure Digital
  • Flash Card flash card

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Abstract

L'invention concerne un procédé de planification d'itinéraire pour un aéronef (20), une console (10), un système d'aéronef et un support de stockage. Le procédé de planification d'itinéraire pour un aéronef consiste à : obtenir des données d'itinéraire ; déterminer la direction d'itinéraire en fonction des données d'itinéraire, et déterminer une zone de piste d'atterrissage sur la base de la direction d'itinéraire ; diviser la zone de piste d'atterrissage le long de la direction d'itinéraire en une pluralité de sous-zones de piste d'atterrissage ; et planifier un trajet d'itinéraire de l'aéronef (20) dans la pluralité de sous-zones de piste d'atterrissage. Un plan de zonage d'une tâche d'itinéraire de piste est effectué, et l'efficacité de travail est améliorée.
PCT/CN2018/119021 2018-12-03 2018-12-03 Procede et dispositif de planification d'itineraire pour aéronef, console, système d'aéronef et support de stockage d'informations WO2020113394A1 (fr)

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CN201880039894.1A CN111033419B (zh) 2018-12-03 2018-12-03 飞行器的航线规划方法、控制台、飞行器***及存储介质
PCT/CN2018/119021 WO2020113394A1 (fr) 2018-12-03 2018-12-03 Procede et dispositif de planification d'itineraire pour aéronef, console, système d'aéronef et support de stockage d'informations

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