WO2022236562A1 - Dispositif de commande ainsi que procédé et dispositif de planification d'itinéraires pour véhicule aérien sans pilote - Google Patents

Dispositif de commande ainsi que procédé et dispositif de planification d'itinéraires pour véhicule aérien sans pilote Download PDF

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Publication number
WO2022236562A1
WO2022236562A1 PCT/CN2021/092720 CN2021092720W WO2022236562A1 WO 2022236562 A1 WO2022236562 A1 WO 2022236562A1 CN 2021092720 W CN2021092720 W CN 2021092720W WO 2022236562 A1 WO2022236562 A1 WO 2022236562A1
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Prior art keywords
routes
route
unmanned aerial
aerial vehicle
area
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PCT/CN2021/092720
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English (en)
Chinese (zh)
Inventor
黄振昊
方朝晖
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 PCT/CN2021/092720 priority Critical patent/WO2022236562A1/fr
Publication of WO2022236562A1 publication Critical patent/WO2022236562A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • 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

Definitions

  • the present application relates to the field of unmanned aerial vehicles, in particular to a control device and route planning method and device for unmanned aerial vehicles.
  • the UAV can also use a shooting device with only one lens for multi-angle shooting. Specifically, plan multiple routes in the operation area , each route corresponds to a shooting angle, so as to realize multi-angle shooting. How to connect routes with different shooting angles is a problem that must be considered in efficient operations.
  • the present application provides a control device for an unmanned aerial vehicle and a route planning method and device.
  • the embodiment of the present application provides a route planning method for an unmanned aerial vehicle, the method comprising:
  • each route includes a start position and a termination position
  • the unmanned aerial vehicle is controlled to sequentially execute the operation tasks of the at least two routes according to the first operation sequence.
  • an embodiment of the present application provides a route planning device for an unmanned aerial vehicle, the device comprising:
  • a storage device for storing program instructions
  • One or more processors calling the program instructions stored in the storage device, when the program instructions are executed, the one or more processors are individually or jointly configured to implement the first aspect described method.
  • control device for an unmanned aerial vehicle, the control device comprising:
  • the route planning device is arranged in the housing.
  • an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the method described in the first aspect is implemented.
  • the embodiment of the present application provides a route planning method for an unmanned aerial vehicle, the method comprising:
  • the location information includes at least latitude and longitude information
  • the unmanned aerial vehicle is controlled to sequentially execute the operation tasks of the plurality of operation areas according to the operation sequence.
  • an embodiment of the present application provides a route planning device for an unmanned aerial vehicle, the device comprising:
  • a storage device for storing program instructions
  • One or more processors invoke program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or jointly configured to implement the fifth aspect described method.
  • control device for an unmanned aerial vehicle, the control device includes:
  • the route planning device is arranged in the housing.
  • the embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the method described in the fifth aspect is implemented.
  • the application plans the mitering paths between different routes in the operation area or the mitering paths between different operation areas of the same operation task, and the optimal connection path can be selected, Improved operational efficiency of unmanned aerial vehicles.
  • Fig. 1 is a schematic flow chart of a route planning method for an unmanned aerial vehicle in an embodiment of the present application
  • FIG. 2A is a schematic diagram of the composition of the route in an embodiment of the present application.
  • Fig. 2B is a schematic diagram of routes from different angles in an embodiment of the present application.
  • Fig. 3 is a schematic flow chart of a route planning method for an unmanned aerial vehicle in another embodiment of the present application
  • Fig. 4A is a top view of multiple working areas in an embodiment of the present application.
  • Fig. 4B is a schematic diagram of one of the operation sequences of multiple operation areas shown in 4A;
  • Fig. 5 is a flowchart of an implementation of determining the second operation sequence of each operation area based on the first position information and the second position information of each operation area in an embodiment of the present application;
  • Figure 6A is a schematic diagram of multiple operation areas shown in 4A in the side view direction, and reveals that the operation sequence is take-off point -> survey area 2 -> survey area 1 -> survey area 3 -> survey area 4 -> take-off point Euclidean distance between adjacent points in the scheme;
  • Figure 6B is a schematic diagram of the multiple operation areas shown in 4A in the side view direction, and reveals that the operation sequence is takeoff point -> survey area 2 -> survey area 1 -> survey area 3 -> survey area 4 -> takeoff point the Manhattan distance between adjacent points in the scheme;
  • Fig. 7 is a schematic flow chart of a route planning method for an unmanned aerial vehicle in another embodiment of the present application.
  • Fig. 8 is a schematic diagram of planning of an alternate take-off and landing point for an unmanned aerial vehicle in another embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of a route planning device for an unmanned aerial vehicle in an embodiment of the present application.
  • the application determines the operation sequence of at least two routes in the operation area based on the starting position and termination position of some or all of the routes planned in the operation area of the unmanned aerial vehicle, so that it can be selected.
  • the optimal connection route between at least two routes in the same operation area improves the operation efficiency of the unmanned aerial vehicle.
  • this application puts the operation tasks of multiple operation areas into a single operation task, and based on the first position information of the take-off point of the unmanned aerial vehicle and the multiple positions of the unmanned aerial vehicle in the same operation task
  • the second position information of each operation area in the operation area determines the operation sequence of multiple operation areas, so that the optimal connection route between multiple operation areas of the same operation task can be selected, and the operation efficiency of the unmanned aerial vehicle is improved.
  • At least one means one or more, and “multiple” means two or more.
  • “And/or” describes the association relationship of associated objects, indicating that there can be three types of relationships, for example, A and/or B, which can mean: A exists alone, A and B exist at the same time, and B exists alone, where A, B can be singular or plural.
  • the character “/” generally indicates that the contextual objects are an “or” relationship.
  • “At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items.
  • At least one (unit) of a, b, or c can represent: a, b, c, a and b, a and c, b and c, or a and b and c, wherein a, b, c can be single or multiple.
  • the unmanned aerial vehicle in the embodiment of the present application may be an unmanned aerial vehicle, or other types of unmanned aerial vehicles.
  • the unmanned aerial vehicle can be used in the field of surveying and mapping.
  • the ground image is collected by the unmanned aerial vehicle equipped with a shooting device, and then the ground image is reconstructed by software in 3D or 2D.
  • the map obtained through surveying and mapping can be applied to In different industries, such as in the field of power inspection, the reconstructed map can be used to check line faults; in the field of road planning, the reconstructed map can be used to select the location of the road; Poppy cultivation, etc.
  • the unmanned aerial vehicle is not limited to the field of surveying and mapping, and can also be used in other fields that need to obtain multi-directional feature information of photographed objects.
  • the photographed object is not limited to the ground, and may also be a large building, a mountain, or the like.
  • Fig. 1 is a schematic flow chart of a route planning method for an unmanned aerial vehicle in an embodiment of the present application; wherein, the execution subject of the route planning method for an unmanned aerial vehicle in an embodiment of the present application may include a control device of an unmanned aerial vehicle, such as an unmanned aerial vehicle
  • the remote control of the aircraft, ground-side equipment, intelligent terminals (such as mobile phones) or computers, etc., may also include unmanned aerial vehicles.
  • the route planning method for an unmanned aerial vehicle may include steps S11-S13.
  • each route planned in the operation area of the unmanned aerial vehicle is obtained, wherein each route includes a start position and an end position.
  • the remote controller can pre-store the data information of at least two routes planned in the operation area, or import the data information of the at least two routes planned in the operation area into the remote controller before the route needs to be planned.
  • the data information of at least two routes planned in the operation area may include the position information of the start position and the end position of each route, the position information includes at least the latitude and longitude, and of course, the position information may also include others, such as altitude information.
  • the data information of at least two routes in the operation area A is written, and a separator identifier may be added between the data information of different routes.
  • the remote control displays the map of the operation area A, and determines the boundary position of the operation area A by selecting points.
  • the remote control can plan at least two routes of the operation area A through the existing algorithm, so as to obtain at least Data information of two routes. It is also possible to set parameters such as the flight height, shooting overlap rate, and flight speed of the UAV corresponding to the operation area through the remote control.
  • the shooting directions of the unmanned aerial vehicles are different when executing different routes; it should be understood that other ways may also be used to distinguish different routes.
  • the shooting direction at least includes: the vertical shooting direction facing downwards and the oblique shooting direction inclined relative to the vertical direction; in some other embodiments, the shooting direction may include: The oblique shooting direction.
  • the oblique shot direction may include at least two of the following: a forward shot direction that is inclined relative to the vertical direction and toward the front of the drone, a back shot direction that is inclined relative to the vertical direction and toward the rear of the drone, and a relative vertical direction.
  • the left shooting direction is tilted and facing the left direction of the drone
  • the right shooting direction is tilted relative to the vertical direction and facing the right direction of the drone.
  • the angle of inclination of the shooting direction relative to the vertical direction can be set as required.
  • the angle of inclination of the shooting direction relative to the vertical direction is greater than 0° and less than 90°, such as 10°, 20°, 30° °, 45°, etc.
  • the shooting direction includes a forward shooting direction, a forward shooting direction, a rear shooting direction, a rear shooting direction and a right shooting direction, and the routes corresponding to the above shooting directions are A, B, C, D and E respectively.
  • the flying heights of the UAVs corresponding to different shooting directions can be designed according to needs, wherein the flying heights of the UAVs corresponding to different oblique shooting directions are equal.
  • the flying height of the unmanned aerial vehicle corresponding to the forward shooting direction is equal to the flying height of the unmanned aerial vehicle corresponding to the oblique shooting direction, which is suitable for operation scenarios that do not require the same ground resolution.
  • the flying height of the unmanned aerial vehicle corresponding to the forward shooting direction is greater than the flying height of the unmanned aerial vehicle corresponding to the oblique shooting direction, so as to ensure that the ground resolution is approximate.
  • each route includes multiple sub-routes in the same direction, and the start position and end position included in each route are determined based on the two endpoint positions of the outermost two sub-routes among the multiple sub-routes in the route, which can be
  • the sub-route of each route can be parallel to one of the edges of the operation area, such as the sub-route parallel to the short side or the long side of the operation area; optionally, the sub-route of each route is relatively to the edge of the operation area Inclined, such as inclined 45 °, 135 ° or other angles.
  • the sub-routes of at least two routes in the same operation area are parallel to each other, or at least partly different.
  • the route is several parallel route segments (ie sub-routes); the starting position of the route can be It is any one of the two end positions of the two outermost sub-routes. If one of the end points is selected as the starting position of the route, then the end position of the route is also determined.
  • the route in the orthographic direction of survey area 1 includes a plurality of sub-routes parallel to the short side of survey area 1, and the starting position and end position of the route in the orthographic direction of survey area 1 It may include the four cases in FIG. 2A , where "S" represents the starting position of the route, and "E” represents the end position of the route.
  • each route includes multiple preset routes, each preset route includes multiple sub-routes in the same direction, and the sub-routes of the multiple preset routes in each route have different directions.
  • the starting position and the ending position included in each route are determined based on the two endpoint positions of the outermost two sub-routes in each preset route of the route.
  • each route of survey area 2 includes preset route 1 (as shown in Fig. 2B (1)), preset route 2 (as shown in Fig.
  • the directions of the sub-routes of the multiple preset routes include at least one of the following: a direction parallel to the edge of the corresponding operation area and a direction inclined relative to the edge of the operation area.
  • the preset route includes the sub-routes shown in FIG. 2B(1) and FIG. 2B(3), or the preset route includes the sub-routes shown in FIG. 2B(3) and FIG. 2B(4).
  • composition of the route is not limited to the composition methods listed above, and may be other.
  • each route includes multiple sub-routes parallel to each other, and at least two sub-routes of the route are parallel to each other as an example for illustration.
  • the first operation sequence of the at least two routes is determined.
  • the first operation sequence is based on at least two routes, the flight required by the unmanned aerial vehicle between the end position of the previous route and the start position of the next route in each adjacent two routes Depends on distance or flight time.
  • the operation area includes route A, route B and route C
  • possible operation sequences include operation sequences 1, 2, 3, 4, 5, and 6, where operation sequence 1 is route A -> route B -> route C, operation sequence 2 is route A->route C->route B, operation sequence 3 is route B->route A->route C, operation sequence 4 is route B->route C->route A, operation sequence 5 Route C->route A->route B, operation sequence 6 is route C->route B->route A.
  • the first operation sequence is based on the flight distance or flight distance that the unmanned aerial vehicle needs to consume between the end position of the previous route and the starting position of the next route in each of the two adjacent routes in the operation sequence 1-6.
  • the duration is determined; optionally, the route A is the starting route of the operation area, and the first operation sequence is based on the termination position of the previous route to the starting position of the next route in each adjacent two routes in the operation sequence 1 and 2.
  • the flight distance or flight time required to be consumed by the unmanned aerial vehicle between the starting positions is determined; optionally, the route A is the termination route of the operation area, and the first operation sequence is based on each adjacent two of the operation sequences 4 and 6.
  • the flight distance or flight time required by the unmanned aerial vehicle between the end position of the previous route and the start position of the next route in the route is determined.
  • the total flight distance is positively correlated with the total flight time. That is, at the same flight speed of the UAV, the greater the total flight distance, the greater the total flight time. If the altitudes of multiple routes in the same operation area are at least partly different, at this time, the movement speed of the UAV in the horizontal direction is different from the movement speed of the UAV in the vertical direction. Therefore, the total flight distance and the total flight time are not necessarily the same. Positive correlation. In the following embodiments, the relationship between the total flight distance and the total flight time during the second operation sequence planning in different operation areas is similar.
  • the first operation sequence is based on the total flight distance consumed by the unmanned aerial vehicle between the end position of the previous route and the starting position of the next route in all adjacent two routes among at least two routes.
  • the shortest or the shortest total flight time is determined to improve operational efficiency.
  • the first operation sequence is that among at least two routes, the total flight distance required by the unmanned aerial vehicle between the end position of the previous route and the starting position of the next route among all adjacent two routes is the shortest Or the sequence of operations with the shortest total flight time.
  • the route A is the starting route of the operation area
  • the total flight distance corresponding to the operation sequence 1 is greater than the total flight distance corresponding to the operation sequence 2
  • the first operation sequence is the operation sequence 1.
  • the first operation sequence is based on at least two routes, and the required consumption of the unmanned aerial vehicle between the end position of the previous route and the start position of the next route in each adjacent two routes
  • the flight distance or flight duration is determined, and the starting point of the unmanned aerial vehicle is also considered.
  • the starting position of the starting route and/or the ending position of the terminating route and the starting point of the unmanned aerial vehicle in each possible operation sequence need to be considered.
  • the starting operation route or the termination operation route of the operation area is a designated route among at least two routes, such as route A in the above embodiment.
  • the first operation sequence of at least two routes is determined, that is, based on the start position and end position of some routes in the at least two routes, at least two routes are determined first job sequence.
  • the shooting direction of the unmanned aerial vehicle corresponding to the specified route is the vertically downward orthographic direction, such as the flying height of the unmanned aerial vehicle corresponding to the forward shooting direction is greater than the flying height of the unmanned aerial vehicle corresponding to the oblique shooting direction, because
  • the up and down flight adjustment of the UAV takes a lot of time.
  • the UAV first or last executes the route corresponding to the forward direction. In this way, the number of up and down flight adjustments of the UAV is only one time.
  • the UAV flies up and down. Adjustment takes the least amount of time.
  • the specified route may be any one of at least two routes.
  • the process of determining the first operation sequence is described by taking each route including multiple sub-routes in the same direction as an example.
  • the starting position and the ending position of the specified route include: taking the two end positions of the two outermost sub-routes of the designated route as the starting position or the ending position of the designated route respectively, sequentially connecting the adjacent sub-routes of the designated route When the end points on the same side of the route form a route, the start position and the end position of the specified route are respectively obtained, wherein each route includes a plurality of sub-routes parallel to each other.
  • the shooting direction includes the forward shooting direction, the front shooting direction, the rear shooting direction, the rear shooting direction and the right shooting direction.
  • the routes corresponding to the above shooting directions are A, B, C, D and E respectively. are ⁇ Ai ⁇ , ⁇ Bi ⁇ , ⁇ Ci ⁇ , ⁇ Di ⁇ and ⁇ Ei ⁇ , i is the sequence number, and i is 1, 2, 3 and 4.
  • the designated route is route A, and the determination process of the first operation sequence may include the following steps:
  • the items in l i1 are the flight distances selected after the end of each route to the nearest endpoint of the next route, and the items in S i1 are the route lengths of each route.
  • the total flight time T1 in route operation sequence 1 is:
  • v is the flight speed of UAV.
  • each preset route includes multiple sub-routes in the same direction, and the directions of the sub-routes of the multiple preset routes of each route are different, when determining the first operation sequence , if the specified route is still route A, assuming that route A includes four preset routes as shown in Figure 2B, each preset route of route A includes 4 endpoint positions, and route A includes 16 endpoint positions, based on the above steps (1) ⁇ (3) 16 kinds of operation sequences can be determined, and the operation sequence with the shortest total flight distance or the shortest flight duration among these 16 kinds of operation sequences is selected as the first operation sequence.
  • the speed and acceleration of the UAV in the horizontal direction and the vertical direction are different and cannot be confused. However, considering that the flying heights of UAVs corresponding to different oblique shooting directions are equal, they can be ignored.
  • the total flight distance may only consider the horizontal distance; of course, the total flight distance may consider both the horizontal distance and the vertical distance.
  • the initial operation route of the operation area is determined based on the start position and end position of all routes, and based on the start position and end position of some or all of the at least two routes, determine at least two
  • the first operation sequence of the routes includes: determining the first operation sequences of at least two routes based on the start positions and end positions of all routes.
  • the shooting direction includes the forward shooting direction, the front shooting direction, the rear shooting direction, the rear shooting direction and the right shooting direction.
  • the routes corresponding to the above shooting directions are A, B, C, D and E respectively.
  • i is the serial number, i is 1, 2, 3 and 4, starting with routes A, B, C, D and E respectively
  • a plurality of operation sequences are determined based on the above steps (1) to (3), and the operation sequence with the shortest total flight distance or the shortest total flight time among the multiple operation sequences is selected as the first operation sequence.
  • the unmanned aerial vehicle is controlled to sequentially execute the operation tasks of at least two routes according to the first operation sequence.
  • the first operation order is sent to the unmanned aerial vehicle, which is applicable to the scene where the unmanned aerial vehicle pre-stores the route information of at least two routes planned by the operation area; in other implementations, route information of at least two routes planned by the first operation sequence and the operation area are sent to the unmanned aerial vehicle.
  • route planning may also consider path planning between multiple operating areas, especially the case where a single operating area is small but close to each other.
  • Fig. 3 is a schematic flowchart of a route planning method for an unmanned aerial vehicle in another embodiment of the present application; please refer to Fig. 3 , the method may further include steps S31-S33.
  • the first position information of the take-off point of the unmanned aerial vehicle and the second position information of each operation area in a plurality of operation areas of the same operation task of the unmanned aerial vehicle are acquired, the first position information, the second position information include at least latitude and longitude information.
  • the second position information may include center position information of each work area and/or position information of a start position and an end position of each work area, but is not limited thereto.
  • the remote controller can be pre-stored with the first position information and the second position information, or before the route needs to be planned, the first position information and the second position information can be imported into the remote controller, or the user can use the display device (such as the display screen of the remote controller) ) to select the displayed map to determine the first location information and the second location information.
  • the second location information is determined by an externally imported file; or, the second location information is determined by a user's selection on a map displayed on the display device.
  • the first location information and the second location information, or the first location information, the second location information and at least two items planned in each work area are written.
  • Route data information Between the two separated work areas, a split identifier can be added, such as the beginning "AreaBegin" and the end "AreaEnd".
  • the import file recognizes the split identifier, the data information between the two split identifiers is considered It is the data information of the same work area. If there are less than three dots between the two split identifiers, an error will be prompted.
  • the height information is relative height (such as the height of the point relative to the ground) and absolute height (such as the height of the point in the world coordinate system).
  • the remote control After the remote controller imports the KML file, assuming that there are 4 work areas in the KML file, the remote control recognizes the position information of each point in the KML file, and determines the range of each work area according to the segmentation identifier.
  • the remote controller can also set operation parameters, such as overlap rate, flying height (need to be set if the height of each operation area is not set in the operation area) and so on.
  • the map displayed by the remote controller determines the first position information and the boundary position of each operation area by means of point selection, and the remote controller can plan at least two routes of each operation area and the second route of each operation area through the existing algorithm. and second position information, so as to obtain the data information of at least two routes in each operation area and the second position information of each operation area.
  • the first location information and the second location information only include latitude and longitude information; in some other embodiments, the first location information and the second location information include both latitude and longitude information and altitude information.
  • the second location information is the center location information of each work area as an example for illustration.
  • the determined second operation order of the multiple operation areas is determined based on the total flight time or the total flight distance consumed by the unmanned aerial vehicle to complete the operation tasks of the multiple operation areas.
  • the flight time or flight distance consumed by the unmanned aerial vehicle between the starting operation area and/or the terminating operation area and the take-off point in various possible operation sequences can be considered.
  • the starting point of the unmanned aerial vehicle may not be considered.
  • the possible operation sequence includes: operation sequence 21 (takeoff point -> survey area 1 -> survey area 2 -> survey area 3 -> survey area 4 -> takeoff point), operation sequence 22 (takeoff point -> survey area 1 ->survey area 2->survey area 4->survey area 3->take-off point), operation sequence 23 (take-off point->survey area 1->survey area 4->survey area 2->survey area 3->take-off point), ... etc., the second operation sequence in the embodiment of the present application is determined based on the total flight time or total flight distance consumed by the unmanned aerial vehicle to complete the operation tasks of the above possible operation sequence.
  • one operation sequence is takeoff point -> survey area 2 -> survey area 1 -> survey area 3 -> survey area 4 -> takeoff point.
  • the determined second operation sequence of the plurality of operation areas is a plurality of operation sequences (that is, the multiple possible operation sequences determined by arranging and combining the above-mentioned multiple operation areas according to different operation sequences)
  • at least one operation area has a different operation sequence to improve operation efficiency.
  • an implementation manner of determining the second operation sequence of each operation area based on the first location information and the second location information of each operation area includes steps S51 - S53 .
  • a plurality of work areas are arranged and combined according to different operation sequences to form a plurality of permutations and combinations, wherein each arrangement and combination includes the operation sequence of each operation area, and the operations of at least one operation area in different arrangements and combinations The order is different.
  • an optimal arrangement and combination is determined to determine the second operation order of multiple operation areas.
  • Exemplary the collection of central positions of multiple work areas Permutation and combination of each point in, get Group possible operation sequence schemes, and then calculate the flight time or flight distance consumed by the unmanned aerial vehicle between two adjacent points in each group of operation sequence schemes, and select the operation sequence scheme with the shortest total flight time or the shortest total flight distance as the first Two job order.
  • N is the number of center positions
  • P is position information of the center positions.
  • the total flight time or total flight distance consumed by the UAV corresponding to each arrangement combination is determined based on the distance between each adjacent two operation areas in the arrangement combination.
  • the total flight time or total flight distance consumed by the unmanned aerial vehicle corresponding to each arrangement combination in some embodiments, only the distance between each adjacent two operating areas in the arrangement combination is considered; in other implementations In this example, not only the distance between each adjacent two operation areas in the arrangement and combination is considered, but also the consumption of the unmanned aerial vehicle between the start operation area and/or the end operation area and the take-off point in various possible operation sequences is considered. flight duration or flight distance.
  • the distance may include one of horizontal distance, Euclidean distance and Manhattan distance.
  • the second location information is taken as an example to describe the central location of each work area.
  • the unmanned aerial vehicle corresponding to the scheme of taking off point -> measuring area 2 -> measuring area 1 -> measuring area 3 -> measuring area 4 -> taking off point is determined based on the Euclidean distance
  • the total flight distance D always consumed is:
  • i is the serial number between two adjacent points.
  • the total flight time T always consumed by the unmanned aerial vehicle corresponding to the scheme of take-off point->survey area 2->survey area 1->survey area 3->survey area 4->take-off point is:
  • T total ⁇ D i /v (4)
  • v is the flight speed of the UAV
  • i is the serial number between two adjacent points.
  • L is the vertical distance
  • H is the horizontal distance
  • i is the serial number between two adjacent points.
  • the total flight time T always consumed by the unmanned aerial vehicle corresponding to the scheme of take-off point->survey area 2->survey area 1->survey area 3->survey area 4->take-off point is:
  • T total ( ⁇ L i + ⁇ H i )/v (6);
  • H is the vertical distance
  • L is the horizontal distance
  • i is the serial number between two adjacent points
  • v is the flight speed of the UAV.
  • the flying speed of the UAV in the vertical direction and the horizontal direction can be equal, and the total flight time is calculated using formula (6). If the flying speed of the UAV in the vertical direction and the horizontal direction are not equal, the following formula is used to calculate the flight time:
  • H is the vertical distance
  • L is the horizontal distance
  • i is the serial number between two adjacent points
  • v is the flight speed of the UAV
  • v1 is the horizontal flight speed
  • v2 is the vertical flight speed.
  • the flight time or flight distance consumed by the unmanned aerial vehicle between each adjacent two operating areas is based on It is determined by the distance between the center position of the current work area and the center position of the next work area.
  • the second position information is the position information of the start position and the end position of each work area.
  • each route includes multiple sub-routes in the same direction, and the start position and end position included in each route are determined based on the two endpoint positions of the outermost two sub-routes among the multiple sub-routes in the route, which can be
  • the sub-route of each route can be parallel to one of the edges of the operation area, such as the sub-route parallel to the short side or the long side of the operation area; optionally, the sub-route of each route is relatively to the edge of the operation area Inclined, such as inclined 45 °, 135 ° or other angles.
  • the distance between the multiple operation areas when the above-mentioned second position information is the center position of each operation area is determined.
  • the first operation sequence of each operation area has not been determined, that is, the start position and end position of each operation area have not been determined, then when determining the second sequence, some or all of the above-mentioned routes based on at least two routes.
  • the various operation sequences between at least two routes in the operation area determined by the starting position and the end position of the operation area and the various operation sequences of the multiple operation areas determined based on the first position information and the second position information of each operation area The operation sequence is arranged and combined, and the operation plan of the operation sequence in which the unmanned aerial vehicle consumes the shortest flight time or the shortest flight distance is selected in the arrangement and combination.
  • each route includes multiple preset routes
  • each preset route includes multiple sub-routes in the same direction
  • the sub-routes of the multiple preset routes in each route have different directions.
  • the starting position and the ending position included in each route are determined based on the two endpoint positions of the outermost two sub-routes in each preset route of the route.
  • one of a plurality of routes of the route may be selected as the route. Specifically, when planning paths between multiple operating areas, the influence of sub-routes at different angles on the paths is considered.
  • each route includes multiple sub-routes in the same direction.
  • this embodiment is planning multiple sub-routes.
  • it is necessary to consider the operation order in which the flight time of the UAV determined by the preset route in each direction is the shortest or the flight distance is the shortest, and then select the route determined by the preset route in each direction.
  • the end position of the work area is also confirmed accordingly (based on the above steps (1) ⁇ (4)), then when the work area 1 and the work area 2 are calculated independently, the work area
  • a certain end point position in work area 1 is selected as the initial work position, and the corresponding work area 1
  • the unmanned aerial vehicle is controlled to sequentially execute the operation tasks of multiple operation areas according to the second operation sequence.
  • the second order is sent to the unmanned aerial vehicle, which is applicable to the scene where the unmanned aerial vehicle pre-stores the data information of each operation area; After finishing, send the data information of the second sequence and each operation area to the unmanned aerial vehicle.
  • the routes between multiple operation areas and the routes between different routes in a single operation area are planned at the same time, it is also necessary to send the route information of the first operation sequence or at least two routes planned by the first operation sequence and the operation area to unmanned aerial vehicle.
  • the application can try to set a backup take-off and landing point on the route of the UAV by setting a backup take-off and landing point. In this way, considering the impact of battery replacement and repeated take-off and landing, the take-off and landing point of the UAV can be dynamically switched. Improve work efficiency and save power.
  • FIG. 7 is a schematic flowchart of a route planning method for an unmanned aerial vehicle in another embodiment of the present application; please refer to FIG. 7 , the route planning method for an unmanned aerial vehicle in the embodiment of the present application further includes steps S71-S72.
  • the remote controller can be pre-stored with the first location information and the third location information, or before the route needs to be planned, the first location information and the third location information are imported into the remote controller, or the user bases the display device (such as the display screen of the remote controller) on the remote controller. ) to select the displayed map to determine the first location information and the third location information.
  • the third location information is determined by an externally imported file; or, the third location information is determined by a user's selection on a map displayed on the display device.
  • the return position is determined based on the flight distance or flight time or the return power consumed by the unmanned aerial vehicle between the current position and the take-off point and the backup take-off and landing point respectively. Specifically, the return position is determined based on the shortest flight distance or the shortest flight time or the minimum return power required by the unmanned aerial vehicle between the current position and the take-off point and the backup take-off and landing point.
  • At least one of the multiple operation areas has a backup take-off and landing point.
  • each operation area in the same operation task has a backup take-off and landing point.
  • the flight distance or flight time or return power consumed by the unmanned aerial vehicle between the current position of the unmanned aerial vehicle and the take-off point and each alternate take-off and landing point can be determined , and select the point between the current position of the take-off point and each backup take-off and landing point to the take-off point and the backup take-off and landing point, which takes the shortest flight distance or the shortest flight time or the smallest return power point as the point of the UAV. Home position.
  • the power of the unmanned aerial vehicle is insufficient at the current position, and the nearest rechargeable or battery replacement point from the unmanned aerial vehicle is the backup take-off and landing point of the survey area 3, then the return position of the unmanned aerial vehicle It is an alternate take-off and landing point for survey area 3.
  • the on-duty airport of the UAV can be used as an alternate take-off and landing point.
  • An embodiment of the present application also provides a route planning method for an unmanned aerial vehicle, the method including: acquiring the first position information of the take-off point of the unmanned aerial vehicle and the operation areas of the multiple operation areas of the unmanned aerial vehicle in the same operation task
  • the second position information of the first position information and the second position information include at least longitude and latitude information; based on the first position information and the second position information of each work area, determine the operation sequence of multiple work areas (that is, the above-mentioned embodiment) The second operation sequence); controlling the unmanned aerial vehicle to execute the operation tasks of multiple operation areas in sequence according to the operation sequence.
  • the determined operation sequence of the multiple operation areas is determined based on the total flight time or total flight distance consumed by the unmanned aerial vehicle to complete the operation tasks of the multiple operation areas.
  • the determined operation sequence of multiple operation areas is the operation sequence in which the total flight time consumed by the unmanned aerial vehicle is the shortest or the total flight distance is the shortest, and the operation sequence of at least one operation area in different operation sequences is different.
  • determining the operation sequence of each operation area includes:
  • the optimal arrangement and combination is determined to determine the operation sequence of multiple operation areas.
  • the total flight time or total flight distance consumed by the UAV corresponding to each arrangement combination is determined based on the distance between each adjacent two operation areas in the arrangement combination.
  • the distance includes one of a horizontal distance, a Euclidean distance, and a Manhattan distance.
  • the embodiment of the present application provides a route planning device of the unmanned aerial vehicle, please refer to FIG. 9 , the device includes:
  • a storage device for storing program instructions
  • One or more processors call the program instructions stored in the storage device.
  • the one or more processors are individually or jointly configured to implement the route of the UAV in the above-mentioned embodiments planning method.
  • the storage device stores the executable instruction computer program of the route planning method of the unmanned aerial vehicle
  • the storage device may include at least one type of storage medium, and the storage medium includes a flash memory, a hard disk, a multimedia card, and a memory card.
  • the storage medium includes a flash memory, a hard disk, a multimedia card, and a memory card.
  • RAM Random Access Memory
  • SRAM Static Random Access Memory
  • ROM Read Only Memory
  • EEPROM Electrically Erasable Programmable Read Only Memory
  • PROM Programmable Read Only Memory
  • magnetic memory magnetic disk, optical disk, etc.
  • the route planning device of the UAV may cooperate with a network storage device performing a storage function of the memory through a network connection.
  • the memory may be an internal storage unit of the route planning device of the UAV, such as a hard disk or memory of the route planning device of the UAV.
  • Memory also can be the external storage device of the route planning device of unmanned aerial vehicle, for example the plug-in hard disk equipped on the route planning device of unmanned aerial vehicle, smart memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD ) card, flash memory card (Flash Card), etc.
  • the memory may also include both an internal storage unit of the route planning device of the UAV and an external storage device. Memory is used to store computer programs and other programs and data needed by the device. The memory can also be used to temporarily store data that has been output or will be output.
  • the processor can be a central processing unit (Central Processing Unit, CPU), and can also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), on-site Programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.
  • An embodiment of the present application also provides a control device for an unmanned aerial vehicle.
  • the control device may include a housing and the route planning device of the above embodiment, and the route planning device is disposed on the housing.
  • control device may include a remote control or an intelligent terminal of an unmanned aerial vehicle, or may be other, such as a ground terminal device, a computer, and the like.
  • the embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the route planning method for the unmanned aerial vehicle in the above-mentioned embodiment is implemented.
  • the computer-readable storage medium may be an internal storage unit of the route planning device for the unmanned aerial vehicle described in any of the foregoing embodiments, such as a hard disk or a memory.
  • the computer-readable storage medium can also be an external storage device of the route planning device of the unmanned aerial vehicle, such as a plug-in hard disk equipped on the device, a smart memory card (Smart Media Card, SMC), an SD card, a flash memory card (Flash Card) etc.
  • the computer-readable storage medium may also include both an internal storage unit of the route planning device of the UAV and an external storage device.
  • the computer-readable storage medium is used to store the computer program and other programs and data required by the route planning device of the UAV, and can also be used to temporarily store the data that has been output or will be output.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM) or a random access memory (Random Access Memory, RAM), etc.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Multimedia (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un dispositif de commande ainsi qu'un procédé et un dispositif de planification d'itinéraires pour un véhicule aérien sans pilote. Le procédé consiste à : acquérir au moins deux itinéraires planifiés dans une zone de fonctionnement d'un véhicule aérien sans pilote, chaque itinéraire comprenant une position de départ et une position de fin (S11) ; déterminer une première séquence de fonctionnement des au moins deux itinéraires sur la base des positions de départ et des positions de fin de certains ou de la totalité des au moins deux itinéraires (S12) ; et commander le véhicule aérien sans pilote pour exécuter séquentiellement des tâches de fonctionnement des au moins deux itinéraires selon la première séquence de fonctionnement (S13). En utilisant le procédé de planification d'itinéraires pour un véhicule aérien sans pilote, des trajets de connexion entre différents itinéraires dans la zone de fonctionnement ou des trajets de connexion entre différentes zones de fonctionnement de la même tâche de fonctionnement sont planifiés et un trajet de connexion optimal peut être sélectionné, ce qui permet d'améliorer l'efficacité de fonctionnement du véhicule aérien sans pilote.
PCT/CN2021/092720 2021-05-10 2021-05-10 Dispositif de commande ainsi que procédé et dispositif de planification d'itinéraires pour véhicule aérien sans pilote WO2022236562A1 (fr)

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CN112313476A (zh) * 2019-11-05 2021-02-02 深圳市大疆创新科技有限公司 无人飞行器的航线规划方法和装置

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US20160202695A1 (en) * 2014-09-12 2016-07-14 4D Tech Solutions, Inc. Unmanned aerial vehicle 3d mapping system
CN108344397A (zh) * 2017-12-28 2018-07-31 中国公路工程咨询集团有限公司 基于倾斜摄影技术的自动化建模方法、***及其辅助装置
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