WO2024067133A1

WO2024067133A1 - 3d-map-based flight control method and system for unmanned aircraft, and medium

Info

Publication number: WO2024067133A1
Application number: PCT/CN2023/118878
Authority: WO
Inventors: 胡华智; 陈皓东; 宋晨晖; 刘畅
Original assignee: 亿航智能设备（广州）有限公司
Priority date: 2022-09-29
Filing date: 2023-09-14
Publication date: 2024-04-04
Also published as: CN115562335A

Abstract

A 3D-map-based flight control method and system for an unmanned aircraft, and a medium. The method comprises: acquiring 3D map data and positioning data of an unmanned aircraft (S102); on the basis of several preset reference points in the 3D map data and in combination with the positioning data, performing identification to obtain location data of the unmanned aircraft in the 3D map data (S104); acquiring panoramic image data of the unmanned aircraft, and correcting a flight path of the unmanned aircraft on the basis of the panoramic image data and in combination with the reference points (S106); and acquiring spatial data of the unmanned aircraft during flight, and performing obstacle avoidance control for the flight of the unmanned aircraft in combination with the 3D map data (S108). By means of the present method and the system, positioning and flight path correction can be performed on an unmanned aircraft on the basis of 3D map data, and obstacle avoidance control can be performed during an automatic flight process of the unmanned aircraft, so as to reduce damage to the unmanned aircraft.

Description

基于3D地图的无人驾驶航空器飞行控制方法、***和介质Unmanned aerial vehicle flight control method, system and medium based on 3D map

技术领域Technical Field

本发明涉及无人驾驶控制技术领域，更具体的，涉及一种基于3D地图的无人驾驶航空器飞行控制方法、***和介质。The present invention relates to the field of unmanned driving control technology, and more specifically, to a 3D map-based unmanned aerial vehicle flight control method, system and medium.

背景技术Background technique

随着科学技术的不断发展，无人驾驶航空器的应用得到了空前的发展，与有人驾驶飞机相比，无人驾驶航空器往往更适合一些重复机械性任务，或者危险性高的任务，民用方面，无人驾驶航空器+行业应用，是无人驾驶航空器真正的刚需；在航拍、农业、植保、微型自拍、快递运输、灾难救援、观察野生动物、监控传染病、测绘、新闻报道、电力巡检、救灾、影视拍摄、制造浪漫等等领域的应用，大大的拓展了无人驾驶航空器本身的用途。With the continuous development of science and technology, the application of unmanned aerial vehicles has achieved unprecedented development. Compared with manned aircraft, unmanned aerial vehicles are often more suitable for some repetitive mechanical tasks or highly dangerous tasks. In the civil field, unmanned aerial vehicles + industry applications are the real rigid demand for unmanned aerial vehicles; their applications in aerial photography, agriculture, plant protection, micro selfies, express delivery, disaster relief, wildlife observation, infectious disease monitoring, surveying and mapping, news reporting, power inspection, disaster relief, film and television shooting, creating romance and other fields have greatly expanded the use of unmanned aerial vehicles themselves.

同时，在无人驾驶航空器飞行过程中，尤其是自动航行时，由于航线的周边环境不断变化，因此需要对无人驾驶航空器飞行的周边环境进行监测，同时传统无人驾驶航空器在进行导航时利用的是GPS定位或者北斗导航定位，不能够很好地利用无人驾驶航空器所处的实际地形，因此上述问题亟待解决。At the same time, during the flight of unmanned aerial vehicles, especially during automatic navigation, the surrounding environment of the route is constantly changing, so it is necessary to monitor the surrounding environment of the unmanned aerial vehicle. At the same time, traditional unmanned aerial vehicles use GPS positioning or Beidou navigation positioning when navigating, which cannot make good use of the actual terrain where the unmanned aerial vehicle is located. Therefore, the above problems need to be solved urgently.

发明内容Summary of the invention

本发明的目的是提供一种基于3D地图的无人驾驶航空器飞行控制方法、***和介质，可以基于3D地图数据对无人驾驶航空器进行定位以及修正飞行路径，并且能够在无人驾驶航空器自动飞行过程中，进行避障控制以减少无人驾驶航空器损毁的情况。The purpose of the present invention is to provide a 3D map-based unmanned aerial vehicle flight control method, system and medium, which can locate the unmanned aerial vehicle and correct the flight path based on 3D map data, and can perform obstacle avoidance control during the automatic flight of the unmanned aerial vehicle to reduce the damage to the unmanned aerial vehicle.

本发明第一方面提供了一种基于3D地图的无人驾驶航空器飞行控制方法，包括以下步骤： A first aspect of the present invention provides a 3D map-based unmanned aerial vehicle flight control method, comprising the following steps:

获取3D地图数据以及所述无人驾驶航空器的定位数据；Acquiring 3D map data and positioning data of the unmanned aerial vehicle;

基于所述3D地图数据中预设的若干个参考点结合所述定位数据，识别得到所述无人驾驶航空器于所述3D地图数据中的位置数据；Based on a plurality of reference points preset in the 3D map data and the positioning data, identifying and obtaining the position data of the unmanned aerial vehicle in the 3D map data;

在所述无人驾驶航空器飞行过程中，获取所述无人驾驶航空器的全景图像数据，基于所述全景图像数据结合所述参考点修正所述无人驾驶航空器的飞行路径；During the flight of the unmanned aerial vehicle, obtaining panoramic image data of the unmanned aerial vehicle, and correcting the flight path of the unmanned aerial vehicle based on the panoramic image data and the reference point;

获取所述无人驾驶航空器飞行时的空间数据，结合所述3D地图数据进行所述无人驾驶航空器飞行的避障控制。The spatial data of the unmanned aerial vehicle during flight is acquired, and obstacle avoidance control of the unmanned aerial vehicle is performed in combination with the 3D map data.

本方案中，所述获取3D地图数据以及所述无人驾驶航空器的定位数据，具体包括：In this solution, the acquisition of 3D map data and positioning data of the unmanned aerial vehicle specifically includes:

建立与预设的通信基站和/或预设的信息收发装置的通信连接以获取所述3D地图数据；Establishing a communication connection with a preset communication base station and/or a preset information transceiver device to obtain the 3D map data;

建立与所述无人驾驶航空器的通信连接以识别所述定位数据，其中，所述定位数据至少包括无人驾驶航空器经度值，无人驾驶航空器纬度值，无人驾驶航空器对地飞行高度值以及无人驾驶航空器飞行角度值。A communication connection is established with the unmanned aerial vehicle to identify the positioning data, wherein the positioning data includes at least a longitude value of the unmanned aerial vehicle, a latitude value of the unmanned aerial vehicle, a flight altitude value of the unmanned aerial vehicle above the ground, and a flight angle value of the unmanned aerial vehicle.

本方案中，所述基于所述3D地图数据中预设的若干个参考点结合所述定位数据，识别得到所述无人驾驶航空器于所述3D地图数据中的位置数据，具体包括：In this solution, the identifying and obtaining the position data of the unmanned aerial vehicle in the 3D map data based on a plurality of reference points preset in the 3D map data in combination with the positioning data specifically includes:

基于所述3D地图数据中预设的关键点云数据匹配当前所述无人驾驶航空器对应的若干个所述参考点，其中，所述参考点数目至少包括三个；Matching a plurality of reference points corresponding to the current unmanned aerial vehicle based on key point cloud data preset in the 3D map data, wherein the number of reference points includes at least three;

基于所述参考点结合所述定位数据得到所述位置数据，其中，所述位置数据至少包括横纵坐标参数值、竖坐标参数值以及偏转角参数值。 The position data is obtained based on the reference point in combination with the positioning data, wherein the position data at least includes horizontal and vertical coordinate parameter values, vertical coordinate parameter values and deflection angle parameter values.

本方案中，所述基于所述参考点结合所述定位数据得到所述位置数据，具体包括：In this solution, obtaining the position data based on the reference point in combination with the positioning data specifically includes:

基于所述参考点结合所述无人驾驶航空器经度值以及所述无人驾驶航空器纬度值得到所述无人驾驶航空器于所述3D地图数据中空间坐标系的所述横纵坐标参数值；Obtain the horizontal and vertical coordinate parameter values of the unmanned aerial vehicle in the spatial coordinate system of the 3D map data based on the reference point combined with the longitude value of the unmanned aerial vehicle and the latitude value of the unmanned aerial vehicle;

基于所述参考点结合所述无人驾驶航空器对地飞行高度值得到所述无人驾驶航空器于所述3D地图数据中空间坐标系的所述竖坐标参数值；Obtaining the vertical coordinate parameter value of the unmanned aerial vehicle in the spatial coordinate system of the 3D map data based on the reference point and the unmanned aerial vehicle's altitude above the ground;

基于所述参考点结合所述无人驾驶航空器飞行角度值得到所述无人驾驶航空器于3D地图数据中空间坐标系的所述偏转角参数值。The deflection angle parameter value of the unmanned aerial vehicle in the space coordinate system of the 3D map data is obtained based on the reference point and the flight angle value of the unmanned aerial vehicle.

本方案中，所述获取所述无人驾驶航空器的全景图像数据，基于所述全景图像数据结合所述参考点修正所述无人驾驶航空器的飞行路径，具体包括：In this solution, the step of acquiring the panoramic image data of the unmanned aerial vehicle and correcting the flight path of the unmanned aerial vehicle based on the panoramic image data in combination with the reference point specifically includes:

基于所述全景图像数据匹配对应的所述3D地图数据中的所述关键点云数据；Matching the key point cloud data in the corresponding 3D map data based on the panoramic image data;

基于匹配结果识别对应的所述参考点并进行标记，其中，标记的所述参考点的数目至少包括三个；Based on the matching result, the corresponding reference points are identified and marked, wherein the number of the marked reference points includes at least three;

计算各所述参考点与所述无人驾驶航空器的直线距离，基于至少三个所述直线距离得到当前所述无人驾驶航空器于所述空间坐标系的点位数据；Calculating the straight-line distance between each reference point and the unmanned aerial vehicle, and obtaining the current position data of the unmanned aerial vehicle in the spatial coordinate system based on at least three of the straight-line distances;

基于所述点位数据判断与预设轨迹的偏差值，当所述偏差值超过极限阈值时，基于所述点位数据对所述无人驾驶航空器的飞行路径进行修正。The deviation value from the preset trajectory is determined based on the point data, and when the deviation value exceeds a limit threshold, the flight path of the unmanned aerial vehicle is corrected based on the point data.

本方案中，所述获取所述无人驾驶航空器飞行时的空间数据，结合所述3D地图数据进行所述无人驾驶航空器飞行的避障控制，具体包括：In this solution, the spatial data of the unmanned aerial vehicle during flight is obtained, and obstacle avoidance control of the unmanned aerial vehicle is performed in combination with the 3D map data. include:

基于所述无人驾驶航空器于所述空间坐标系的点位数据获取所述空间数据，其中，所述空间数据包括所述点位数据以及所述点位数据形成的轨迹数据；Acquiring the spatial data based on the point data of the unmanned aerial vehicle in the spatial coordinate system, wherein the spatial data includes the point data and trajectory data formed by the point data;

基于所述空间数据识别所述无人驾驶航空器与所述3D地图数据中的障碍物相对关系数据，基于所述相对关系数据进行避障控制。Relative relationship data between the unmanned aerial vehicle and obstacles in the 3D map data are identified based on the spatial data, and obstacle avoidance control is performed based on the relative relationship data.

本发明第二方面还提供一种基于3D地图的无人驾驶航空器飞行控制***，包括存储器和处理器，所述存储器中包括基于3D地图的无人驾驶航空器飞行控制方法程序，所述基于3D地图的无人驾驶航空器飞行控制方法程序被所述处理器执行时实现如下步骤：The second aspect of the present invention further provides an unmanned aircraft flight control system based on a 3D map, comprising a memory and a processor, wherein the memory comprises an unmanned aircraft flight control method program based on a 3D map, and when the unmanned aircraft flight control method program based on a 3D map is executed by the processor, the following steps are implemented:

建立与所述无人驾驶航空器的通信连接以识别所述定位数据，其中，所述定位数据至少包括无人驾驶航空器经度值，无人驾驶航空器纬度值，无人驾驶航空器对地飞行高度值以及无人驾驶航空器飞行角度值。Establishing a communication connection with the unmanned aerial vehicle to identify the positioning data, wherein the positioning data at least includes a longitude value of the unmanned aerial vehicle, a latitude value of the unmanned aerial vehicle, a flight altitude value of the unmanned aerial vehicle above the ground, and a flight angle value of the unmanned aerial vehicle. Degree value.

基于所述参考点结合所述定位数据得到所述位置数据，其中，所述位置数据至少包括横纵坐标参数值、竖坐标参数值以及偏转角参数值。The position data is obtained based on the reference point in combination with the positioning data, wherein the position data at least includes horizontal and vertical coordinate parameter values, vertical coordinate parameter values and deflection angle parameter values.

基于所述全景图像数据匹配对应的所述3D地图数据中的所述关键点云数据； Matching the key point cloud data in the corresponding 3D map data based on the panoramic image data;

本方案中，所述获取所述无人驾驶航空器飞行时的空间数据，结合所述3D地图数据进行所述无人驾驶航空器飞行的避障控制，具体包括：In this solution, the acquisition of the spatial data of the unmanned aerial vehicle during flight and the obstacle avoidance control of the unmanned aerial vehicle in combination with the 3D map data specifically include:

本发明第三方面提供了一种计算机可读存储介质，所述计算机可读存储介质中包括机器的一种基于3D地图的无人驾驶航空器飞行控制方法程序，所述基于3D地图的无人驾驶航空器飞行控制方法程序被处理器执行时，实现如上述任一项所述的一种基于3D地图的无人驾驶航空器飞行控制方法的步骤。The third aspect of the present invention provides a computer-readable storage medium, which includes a machine's unmanned aerial vehicle flight control method program based on a 3D map. When the unmanned aerial vehicle flight control method program based on a 3D map is executed by a processor, the steps of the unmanned aerial vehicle flight control method based on a 3D map as described in any one of the above items are implemented.

本发明公开的一种基于3D地图的无人驾驶航空器飞行控制方法、***和介质，可以基于3D地图数据对无人驾驶航空器进行定位以及修正飞行路径，并且能够在无人驾驶航空器自动飞行过程中，进行避障控制以减少无人驾驶航空器损毁的情况。 The present invention discloses a 3D map-based unmanned aerial vehicle flight control method, system and medium, which can locate the unmanned aerial vehicle and correct the flight path based on 3D map data, and can perform obstacle avoidance control to reduce damage to the unmanned aerial vehicle during the automatic flight of the unmanned aerial vehicle.

附图说明BRIEF DESCRIPTION OF THE DRAWINGS

图1示出了本发明一种基于3D地图的无人驾驶航空器飞行控制方法的流程图；FIG1 shows a flow chart of a 3D map-based unmanned aerial vehicle flight control method according to the present invention;

图2示出了本发明一种基于3D地图的无人驾驶航空器飞行控制方法的空间坐标系示意图；FIG2 is a schematic diagram showing a spatial coordinate system of a 3D map-based unmanned aerial vehicle flight control method according to the present invention;

图3示出了本发明一种基于3D地图的无人驾驶航空器飞行控制方法的无人驾驶航空器定位示意图；FIG3 shows a schematic diagram of unmanned aerial vehicle positioning in an unmanned aerial vehicle flight control method based on a 3D map according to the present invention;

图4示出了本发明一种基于3D地图的无人驾驶航空器飞行控制***的框图。FIG. 4 shows a block diagram of a 3D map-based unmanned aerial vehicle flight control system according to the present invention.

具体实施方式Detailed ways

为了能够更清楚地理解本发明的上述目的、特征和优点，下面结合附图和具体实施方式对本发明进行进一步的详细描述。需要说明的是，在不冲突的情况下，本申请的实施例及实施例中的特征可以相互组合。In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

在下面的描述中阐述了很多具体细节以便于充分理解本发明，但是，本发明还可以采用其他不同于在此描述的其他方式来实施，因此，本发明的保护范围并不受下面公开的具体实施例的限制。In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

图1示出了本申请一种基于3D地图的无人驾驶航空器飞行控制方法的流程图。FIG1 shows a flow chart of a 3D map-based unmanned aerial vehicle flight control method of the present application.

如图1所示，本申请公开了一种基于3D地图的无人驾驶航空器飞行控制方法，包括以下步骤：As shown in FIG1 , the present application discloses a 3D map-based unmanned aerial vehicle flight control method, comprising the following steps:

S102，获取3D地图数据以及所述无人驾驶航空器的定位数据；S102, acquiring 3D map data and positioning data of the unmanned aerial vehicle;

S104，基于所述3D地图数据中预设的若干个参考点结合所述定位数据，识别得到所述无人驾驶航空器于所述3D地图数据中的位置数据； S104, identifying and obtaining position data of the unmanned aerial vehicle in the 3D map data based on a plurality of reference points preset in the 3D map data in combination with the positioning data;

S106，在所述无人驾驶航空器飞行过程中，获取所述无人驾驶航空器的全景图像数据，基于所述全景图像数据结合所述参考点修正所述无人驾驶航空器的飞行路径；S106, during the flight of the unmanned aerial vehicle, obtaining panoramic image data of the unmanned aerial vehicle, and correcting the flight path of the unmanned aerial vehicle based on the panoramic image data and the reference point;

S108，获取所述无人驾驶航空器飞行时的空间数据，结合所述3D地图数据进行所述无人驾驶航空器飞行的避障控制。S108, acquiring the spatial data of the unmanned aerial vehicle during flight, and performing obstacle avoidance control of the unmanned aerial vehicle in combination with the 3D map data.

需要说明的是，于本实施例中，首先获取所述3D地图数据以及所述定位数据，其中，所述3D地图数据为事先输入的或者人为输入的数据，而所述定位数据是基于GPS和/或北斗导航得到的，具体地，所述定位数据至少包括无人驾驶航空器经度值，无人驾驶航空器纬度值，无人驾驶航空器对地飞行高度值以及无人驾驶航空器飞行角度值，在获取到所述3D地图数据以及所述定位数据后，基于所述3D地图数据上预设的若干个所述参考点结合所述定位数据可以得到所述无人驾驶航空器于所述3D地图数据中的所述位置数据，以此可以基于所述3D地图数据对所述无人驾驶航空器的位置进行识别，而后在所述无人驾驶航空器飞行过程中，获取所述无人驾驶航空器对应的所述全景图像数据，以基于所述全景图像数据结合所述参考点对所述无人驾驶航空器的飞行路径进行修正，以减小所述无人驾驶航空器依照定位导航数据飞行的误差，同时，在所述无人驾驶航空器飞行的过程中，获取对应的所述空间数据，结合所述3D地图数据进行避障，以减少所述无人驾驶航空器撞机等行为导致的无人驾驶航空器毁坏的问题。It should be noted that, in this embodiment, the 3D map data and the positioning data are first obtained, wherein the 3D map data is data input in advance or manually input, and the positioning data is obtained based on GPS and/or Beidou navigation. Specifically, the positioning data at least includes the longitude value of the unmanned aerial vehicle, the latitude value of the unmanned aerial vehicle, the flight altitude value of the unmanned aerial vehicle above the ground, and the flight angle value of the unmanned aerial vehicle. After the 3D map data and the positioning data are obtained, the location of the unmanned aerial vehicle in the 3D map data can be obtained based on the several reference points preset on the 3D map data combined with the positioning data. The position data in the image can be used to identify the position of the unmanned aerial vehicle based on the 3D map data, and then the panoramic image data corresponding to the unmanned aerial vehicle is obtained during the flight of the unmanned aerial vehicle, so as to correct the flight path of the unmanned aerial vehicle based on the panoramic image data combined with the reference point, so as to reduce the error of the unmanned aerial vehicle flying according to the positioning and navigation data. At the same time, during the flight of the unmanned aerial vehicle, the corresponding spatial data is obtained and obstacle avoidance is performed in combination with the 3D map data, so as to reduce the problem of damage to the unmanned aerial vehicle caused by the unmanned aerial vehicle collision and other behaviors.

根据本发明实施例，所述获取3D地图数据以及所述无人驾驶航空器的定位数据，具体包括：According to an embodiment of the present invention, the acquiring of 3D map data and positioning data of the unmanned aerial vehicle specifically includes:

建立与所述无人驾驶航空器的通信连接以识别所述定位数据，其中，所述定位数据至少包括无人驾驶航空器经度值，无人驾驶航空器纬度值，无人驾驶航空器对地飞行高度值以及无人驾驶航空器飞行角度值。establishing a communication connection with the unmanned aerial vehicle to identify the positioning data, wherein In the above, the positioning data at least includes the longitude value of the unmanned aerial vehicle, the latitude value of the unmanned aerial vehicle, the flight altitude value of the unmanned aerial vehicle above the ground and the flight angle value of the unmanned aerial vehicle.

需要说明的是，于本实施例中，通过建立与所述通信基站和/或所述信息收发装置的通信连接来得到所述3D地图数据，其中，所述信息收发装置例如路由器，而所述3D地图数据可由所述通信基站或者所述信息收发装置事先储存好，或者可以经由所述通信基站或者所述信息收发装置转发而得到；通过建立与所述无人驾驶航空器的通信连接以识别所述无人驾驶航空器对应的所述定位数据，建立通信连接的方式包括无线蓝牙和/或WiFi连接，或者有线连接，识别到的所述定位数据至少包括无人驾驶航空器经度值，无人驾驶航空器纬度值，无人驾驶航空器对地飞行高度值以及无人驾驶航空器飞行角度值，优选地，还可以包括无人驾驶航空器的航向值等等。It should be noted that, in this embodiment, the 3D map data is obtained by establishing a communication connection with the communication base station and/or the information transceiver device, wherein the information transceiver device is, for example, a router, and the 3D map data can be stored in advance by the communication base station or the information transceiver device, or can be obtained by forwarding via the communication base station or the information transceiver device; by establishing a communication connection with the unmanned aerial vehicle to identify the positioning data corresponding to the unmanned aerial vehicle, the communication connection is established in a manner including a wireless Bluetooth and/or WiFi connection, or a wired connection, and the identified positioning data includes at least the longitude value of the unmanned aerial vehicle, the latitude value of the unmanned aerial vehicle, the flight altitude value of the unmanned aerial vehicle above the ground, and the flight angle value of the unmanned aerial vehicle, and preferably, may also include the heading value of the unmanned aerial vehicle, etc.

根据本发明实施例，所述基于所述3D地图数据中预设的若干个参考点结合所述定位数据，识别得到所述无人驾驶航空器于所述3D地图数据中的位置数据，具体包括：According to an embodiment of the present invention, the identifying and obtaining the position data of the unmanned aerial vehicle in the 3D map data based on a plurality of reference points preset in the 3D map data in combination with the positioning data specifically includes:

需要说明的是，于本实施例中，所述无人驾驶航空器在实际场景中飞行时，获取到的所述3D地图数据中是实际场景的电子化地图，通过所述3D地图数据中预设的所述关键点云数据匹配当前所述无人驾驶航空器对应的所述参考点，所述参考点的数目至少包括三个，原因在于三个参考点可以确定一个点云，而后基于所述参考点结合所述定位数据可以得到所述无人驾驶航空器于所述3D地图数据中的位置数据，其中，所述位置数据至少包括横纵坐标参数值、竖坐标参数值以及偏转角参数值，其中，所述横纵坐标参数值对应所述无人驾驶航空器经度值和所述无人驾驶航空器纬度值，所述竖坐标参数值对应所述无人驾驶航空器对地飞行高度值，所述偏转角参数值对应所述无人驾驶航空器飞行角度值。It should be noted that, in this embodiment, when the unmanned aerial vehicle is flying in an actual scene, the 3D map data obtained is an electronic map of the actual scene, and the key point cloud data preset in the 3D map data is matched to the current unmanned aerial vehicle. The reference points corresponding to the unmanned aerial vehicle, the number of the reference points includes at least three, because three reference points can determine a point cloud, and then based on the reference points combined with the positioning data, the position data of the unmanned aerial vehicle in the 3D map data can be obtained, wherein the position data at least includes horizontal and vertical coordinate parameter values, vertical coordinate parameter values and deflection angle parameter values, wherein the horizontal and vertical coordinate parameter values correspond to the longitude value of the unmanned aerial vehicle and the latitude value of the unmanned aerial vehicle, the vertical coordinate parameter value corresponds to the flight altitude value of the unmanned aerial vehicle above the ground, and the deflection angle parameter value corresponds to the flight angle value of the unmanned aerial vehicle.

根据本发明实施例，所述基于所述参考点结合所述定位数据得到所述位置数据，具体包括：According to an embodiment of the present invention, obtaining the position data based on the reference point in combination with the positioning data specifically includes:

需要说明的是，于本实施例中，如图2所示，所述3D地图数据中存在自己的所述空间坐标系，以用于标注不同物体在当前所述3D地图数据中的空间位置，x为所述空间坐标系的横轴，y为所述空间坐标系的纵轴，z为所述空间坐标系的竖轴，α为所述空间坐标系的水平偏转角，其中，对于所述空间坐标系内的无人驾驶航空器，可以通过所述参考点对结合所述无人驾驶航空器经度值以及所述无人驾驶航空器纬度值得到所述横纵坐标参数值；结合所述无人驾驶航空器对地飞行高度值可以得到所述竖坐标参数值；结合所述无人驾驶航空器飞行角度值可以得到所述偏转角参数值。It should be noted that, in this embodiment, as shown in FIG. 2 , the 3D map data has its own spatial coordinate system for marking the spatial positions of different objects in the current 3D map data, x is the horizontal axis of the spatial coordinate system, y is the vertical axis of the spatial coordinate system, z is the vertical axis of the spatial coordinate system, and α is the horizontal deflection angle of the spatial coordinate system. For an unmanned aerial vehicle in the spatial coordinate system, the horizontal and vertical coordinate parameter values can be obtained by combining the reference point pair with the longitude value of the unmanned aerial vehicle and the latitude value of the unmanned aerial vehicle; combined with the unmanned aerial vehicle pair The vertical coordinate parameter value can be obtained by combining the ground flight altitude value; the deflection angle parameter value can be obtained by combining the unmanned aerial vehicle flight angle value.

根据本发明实施例，所述获取所述无人驾驶航空器的全景图像数据，基于所述全景图像数据结合所述参考点修正所述无人驾驶航空器的飞行路径，具体包括：According to an embodiment of the present invention, acquiring the panoramic image data of the unmanned aerial vehicle, and correcting the flight path of the unmanned aerial vehicle based on the panoramic image data in combination with the reference point specifically includes:

需要说明的是，于本实施例中，所述无人驾驶航空器在预设轨迹行进时，由于依据的是GPS定位或者北斗定位，会存在物理偏差，因此本实施例中，通过3D地图数据中的所述参考点对所述无人驾驶航空器的点位进行限定以修正所述无人驾驶航空器的飞行路径，具体应用到的是多点定位法，具体如图3所示，所述无人驾驶航空器在所述3D地图数据水平面上的参考点位A点和B点，而在另外两个同心球的不同平面上的参考点为C点和D点，通过计算所述无人驾驶航空器与不同所述参考点的距离可以确定当前所述无人驾驶航空器于3D地图数据中的位置数据，进而精确到对应的点位后，可以基于所述点位数据与预设的轨迹的偏差值进行计算，相应地，所述偏差值即为当前所述无人驾驶航空器的点位与所述轨迹上对应点位的距离，由于计算空间中点与点的距离为本领域技术人员熟知的技术内容，在此不做赘述，获取到所述偏差值后，判断所述偏差值与所述极限阈值的大小，若所述偏差值大于所述极限阈值，则基于所述点位数据(通过参考点计算得到的精确的点位)修正所述无人驾驶航空器的位置，进而修正所述飞行路径，其中，所述极限阈值可取“10cm”。It should be noted that, in this embodiment, when the unmanned aerial vehicle is traveling along a preset trajectory, there will be physical deviations due to the use of GPS positioning or Beidou positioning. Therefore, in this embodiment, the position of the unmanned aerial vehicle is limited by the reference points in the 3D map data to correct the flight path of the unmanned aerial vehicle. Specifically, the multi-point positioning method is applied. As shown in FIG3 , the reference points of the unmanned aerial vehicle on the horizontal plane of the 3D map data are point A and point B, and the reference points on different planes of the other two concentric spheres are point C and point D. The current position data of the unmanned aerial vehicle in the 3D map data can be determined by calculating the distance between the unmanned aerial vehicle and the different reference points. After the corresponding position is accurately determined, the calculation can be performed based on the deviation value between the point position data and the preset trajectory. Accordingly, the deviation value is the current The distance between the point position of the unmanned aerial vehicle and the corresponding point position on the trajectory, since the distance between points in the calculation space is a technical content well known to those skilled in the art, it will not be elaborated here. After obtaining the deviation value, the size of the deviation value and the limit threshold is judged. If the deviation value is greater than the limit threshold, the position of the unmanned aerial vehicle is corrected based on the point position data (the precise point position calculated by the reference point), and then the flight path is corrected, wherein the limit threshold can be "10cm".

根据本发明实施例，所述获取所述无人驾驶航空器飞行时的空间数据，结合所述3D地图数据进行所述无人驾驶航空器飞行的避障控制，具体包括：According to an embodiment of the present invention, the acquiring of the spatial data of the unmanned aerial vehicle during flight and performing obstacle avoidance control of the unmanned aerial vehicle in combination with the 3D map data specifically includes:

需要说明的是，于本实施例中，在所述3D地图数据中，存在很多占据空间的物体可能会影响所述无人驾驶航空器飞行，在获取到所述无人驾驶航空器的点位数据和/或所述轨迹数据后，可以判别所述无人驾驶航空器与所述障碍物的相对关系数据，其中，所述相对关系数据即计算所述无人驾驶航空器与所述障碍物的距离，同样计算两个点之间的距离为本领域技术人员的熟知内容，不做赘述，所述障碍物与所述无人驾驶航空器的取点位置为每个物体对应的中心点，计算出来相对距离后，判断所述相对距离与所述安全距离的大小，若所述相对距离小于所述安全距离，则控制所述无人驾驶航空器远离所述障碍物以进行避障控制，其中，所述安全距离可设为“10m”。It should be noted that, in this embodiment, in the 3D map data, there are many objects occupying space that may affect the flight of the unmanned aerial vehicle. After obtaining the point data and/or the trajectory data of the unmanned aerial vehicle, the relative relationship data between the unmanned aerial vehicle and the obstacle can be determined, wherein the relative relationship data is to calculate the distance between the unmanned aerial vehicle and the obstacle. Similarly, calculating the distance between two points is a well-known content for those skilled in the art and will not be elaborated on. The point positions of the obstacle and the unmanned aerial vehicle are the center points corresponding to each object. After calculating the relative distance, the size of the relative distance and the safety distance is determined. If the relative distance is less than the safety distance, the unmanned aerial vehicle is controlled to move away from the obstacle for obstacle avoidance control, wherein the safety distance can be set to "10m".

值得一提的是，所述方法还包括识别所述3D地图数据中的环境数据以对所述无人驾驶航空器进行控制。It is worth mentioning that the method also includes identifying the environment in the 3D map data Data is used to control the unmanned aerial vehicle.

需要说明的是，于本实施例中，通过所述3D地图数据识别对应的所述环境数据，其中，所述环境数据包括天气数据，温度数据以及湿度数据，通过识别所述3D地图数据中的云层变换控制所述无人驾驶航空器对现场环境的天气数据进行采样，通过识别所述3D地图数据中的室外温度类型控制所述无人驾驶航空器对现场环境的温度数据进行采样。It should be noted that, in this embodiment, the corresponding environmental data is identified through the 3D map data, wherein the environmental data includes weather data, temperature data and humidity data. By identifying the cloud layer changes in the 3D map data, the unmanned aerial vehicle is controlled to sample the weather data of the on-site environment. By identifying the outdoor temperature type in the 3D map data, the unmanned aerial vehicle is controlled to sample the temperature data of the on-site environment.

值得一提的是，所述方法还包括识别所述3D地图数据中的标记数据以对所述无人驾驶航空器进行控制。It is worth mentioning that the method also includes identifying marker data in the 3D map data to control the unmanned aerial vehicle.

需要说明的是，于本实施例中，对于所述3D地图数据，会实时进行变换，因此于本实施例中，通过识别所述3D地图数据中的标记数据可对所述无人驾驶航空器进行控制，所述标记数据至少包括：预设的监测点，火情警报点，山洪发生点等等，通过识别到对应的标记数据，可以控制所述无人驾驶航空器前往对应地点进行监测。It should be noted that, in this embodiment, the 3D map data will be transformed in real time. Therefore, in this embodiment, the unmanned aerial vehicle can be controlled by identifying the marking data in the 3D map data. The marking data at least includes: preset monitoring points, fire alarm points, flash flood occurrence points, etc. By identifying the corresponding marking data, the unmanned aerial vehicle can be controlled to go to the corresponding location for monitoring.

值得一提的是，所述方法还包括识别所述3D地图数据中的弹窗信息以对所述无人驾驶航空器进行控制。It is worth mentioning that the method also includes identifying pop-up information in the 3D map data to control the unmanned aerial vehicle.

需要说明的是，于本实施例中，在所述无人驾驶航空器依据所述3D地图数据飞行时，可识别出所述3D地图数据中弹出的所述弹窗信息的内容对所述无人驾驶航空器进行控制，例如所述弹窗信息弹出的内容是“召回至机库”，则控制所述无人驾驶航空器返回至机库。It should be noted that, in this embodiment, when the unmanned aerial vehicle is flying according to the 3D map data, the content of the pop-up information in the 3D map data can be identified to control the unmanned aerial vehicle. For example, if the content of the pop-up information is "recall to hangar", the unmanned aerial vehicle is controlled to return to the hangar.

如图4所示，本发明公开了一种基于3D地图的无人驾驶航空器飞行控制***，包括存储器和处理器，所述存储器中包括基于3D地图的无人驾驶航空器飞行控制方法程序，所述基于3D地图的无人驾驶航空器飞行控制方法程序被所述处理器执行时实现如下步骤：As shown in FIG4 , the present invention discloses a 3D map-based unmanned aircraft flight control system, including a memory and a processor, wherein the memory includes a 3D map-based unmanned aircraft flight control method program, and the 3D map-based unmanned aircraft flight control method program is configured to control the flight of the unmanned aircraft. When the aircraft flight control method program is executed by the processor, the following steps are implemented:

获取所述无人驾驶航空器基于所述飞行路径飞行时的所述位置数据，结合所述3D地图数据进行所述无人驾驶航空器飞行的避障控制。The position data of the unmanned aerial vehicle when flying based on the flight path is obtained, and obstacle avoidance control of the unmanned aerial vehicle is performed in combination with the 3D map data.

需要说明的是，于本实施例中，首先获取所述3D地图数据以及所述定位数据，其中，所述3D地图数据为事先输入的或者人为输入的数据，而所述定位数据是基于GPS和/或北斗导航得到的，具体地，所述定位数据至少包括无人驾驶航空器经度值，无人驾驶航空器纬度值，无人驾驶航空器对地飞行高度值以及无人驾驶航空器飞行角度值，在获取到所述3D地图数据以及所述定位数据后，基于所述3D地图数据上预设的若干个所述参考点结合所述定位数据可以得到所述无人驾驶航空器于所述3D地图数据中的所述位置数据，以此可以基于所述3D地图数据对所述无人驾驶航空器的位置进行识别，而后在所述无人驾驶航空器飞行过程中，获取所述无人驾驶航空器对应的所述全景图像数据，以基于所述全景图像数据结合所述参考点对所述无人驾驶航空器的飞行路径进行修正，以减小所述无人驾驶航空器依照定位导航数据飞行的误差，同时，在所述无人驾驶航空器飞行的过程中，获取对应的所述空间数据，结合所述3D地图数据进行避障，以减少所述无人驾驶航空器撞机等行为导致的无人驾驶航空器毁坏的问题。 It should be noted that, in this embodiment, the 3D map data and the positioning data are first obtained, wherein the 3D map data is data input in advance or manually input, and the positioning data is obtained based on GPS and/or Beidou navigation. Specifically, the positioning data at least includes the longitude value of the unmanned aerial vehicle, the latitude value of the unmanned aerial vehicle, the flight altitude value of the unmanned aerial vehicle above the ground, and the flight angle value of the unmanned aerial vehicle. After the 3D map data and the positioning data are obtained, the location of the unmanned aerial vehicle in the 3D map data can be obtained based on the several reference points preset on the 3D map data combined with the positioning data. The position data in the image can be used to identify the position of the unmanned aerial vehicle based on the 3D map data, and then the panoramic image data corresponding to the unmanned aerial vehicle is obtained during the flight of the unmanned aerial vehicle, so as to correct the flight path of the unmanned aerial vehicle based on the panoramic image data combined with the reference point, so as to reduce the error of the unmanned aerial vehicle flying according to the positioning and navigation data. At the same time, during the flight of the unmanned aerial vehicle, the corresponding spatial data is obtained and obstacle avoidance is performed in combination with the 3D map data, so as to reduce the problem of damage to the unmanned aerial vehicle caused by the unmanned aerial vehicle collision and other behaviors.

建立与所述无人驾驶航空器的通信连接以识别所述定位数据，其中，所述定位数据至少包括无人驾驶航空器经度值，无人驾驶航空器纬度值，无人驾驶航空器对地飞行高度值以及无人驾驶航空器飞行角度值。A communication connection is established with the unmanned aerial vehicle to identify the positioning data, wherein the positioning data at least includes a longitude value of the unmanned aerial vehicle, a latitude value of the unmanned aerial vehicle, a flight altitude value of the unmanned aerial vehicle above the ground, and a flight angle value of the unmanned aerial vehicle.

基于所述参考点结合所述定位数据得到所述位置数据，其中，所述位置数据至少包括横纵坐标参数值、竖坐标参数值以及偏转角参数值。The position data is obtained based on the reference point combined with the positioning data, wherein the The position data at least includes horizontal and vertical coordinate parameter values, vertical coordinate parameter values and deflection angle parameter values.

需要说明的是，于本实施例中，所述无人驾驶航空器在实际场景中飞行时，获取到的所述3D地图数据中是实际场景的电子化地图，通过所述3D地图数据中预设的所述关键点云数据匹配当前所述无人驾驶航空器对应的所述参考点，所述参考点的数目至少包括三个，原因在于三个参考点可以确定一个点云，而后基于所述参考点结合所述定位数据可以得到所述无人驾驶航空器于所述3D地图数据中的位置数据，其中，所述位置数据至少包括横纵坐标参数值、竖坐标参数值以及偏转角参数值，其中，所述横纵坐标参数值对应所述无人驾驶航空器经度值和所述无人驾驶航空器纬度值，所述竖坐标参数值对应所述无人驾驶航空器对地飞行高度值，所述偏转角参数值对应所述无人驾驶航空器飞行角度值。It should be noted that, in this embodiment, when the unmanned aerial vehicle flies in an actual scene, the 3D map data obtained is an electronic map of the actual scene, and the reference points corresponding to the current unmanned aerial vehicle are matched through the key point cloud data preset in the 3D map data. The number of the reference points includes at least three, because three reference points can determine a point cloud, and then based on the reference points combined with the positioning data, the position data of the unmanned aerial vehicle in the 3D map data can be obtained, wherein the position data at least includes horizontal and vertical coordinate parameter values, vertical coordinate parameter values and deflection angle parameter values, wherein the horizontal and vertical coordinate parameter values correspond to the longitude value and the latitude value of the unmanned aerial vehicle, the vertical coordinate parameter value corresponds to the flight altitude value of the unmanned aerial vehicle above the ground, and the deflection angle parameter value corresponds to the flight angle value of the unmanned aerial vehicle.

需要说明的是，于本实施例中，如图2所示，所述3D地图数据中存在自己的所述空间坐标系，以用于标注不同物体在当前所述3D 地图数据中的空间位置，x为所述空间坐标系的横轴，y为所述空间坐标系的纵轴，z为所述空间坐标系的竖轴，α为所述空间坐标系的水平偏转角，其中，对于所述空间坐标系内的无人驾驶航空器，可以通过所述参考点对结合所述无人驾驶航空器经度值以及所述无人驾驶航空器纬度值得到所述横纵坐标参数值；结合所述无人驾驶航空器对地飞行高度值可以得到所述竖坐标参数值；结合所述无人驾驶航空器飞行角度值可以得到所述偏转角参数值。It should be noted that, in this embodiment, as shown in FIG. 2 , the 3D map data has its own spatial coordinate system for marking different objects in the current 3D map data. The spatial position in the map data, x is the horizontal axis of the spatial coordinate system, y is the vertical axis of the spatial coordinate system, z is the vertical axis of the spatial coordinate system, and α is the horizontal deflection angle of the spatial coordinate system, wherein, for the unmanned aerial vehicle in the spatial coordinate system, the horizontal and vertical coordinate parameter values can be obtained by combining the reference point pair with the longitude value of the unmanned aerial vehicle and the latitude value of the unmanned aerial vehicle; the vertical coordinate parameter value can be obtained by combining the flight altitude value of the unmanned aerial vehicle over the ground; and the deflection angle parameter value can be obtained by combining the flight angle value of the unmanned aerial vehicle.

需要说明的是，于本实施例中，所述无人驾驶航空器在预设轨迹行进时，由于依据的是GPS定位或者北斗定位，会存在物理偏差，因此本实施例中，通过3D地图数据中的所述参考点对所述无人驾驶航空器的点位进行限定以修正所述无人驾驶航空器的飞行路径，具体应用到的是多点定位法，具体如图3所示，所述无人驾驶航空器在所述 3D地图数据水平面上的参考点位A点和B点，而在另外两个同心球的不同平面上的参考点为C点和D点，通过计算所述无人驾驶航空器与不同所述参考点的距离可以确定当前所述无人驾驶航空器于3D地图数据中的位置数据，进而精确到对应的点位后，可以基于所述点位数据与预设的轨迹的偏差值进行计算，相应地，所述偏差值即为当前所述无人驾驶航空器的点位与所述轨迹上对应点位的距离，由于计算空间中点与点的距离为本领域技术人员熟知的技术内容，在此不做赘述，获取到所述偏差值后，判断所述偏差值与所述极限阈值的大小，若所述偏差值大于所述极限阈值，则基于所述点位数据(通过参考点计算得到的精确的点位)修正所述无人驾驶航空器的位置，进而修正所述飞行路径，其中，所述极限阈值可取“10cm”。It should be noted that, in this embodiment, when the unmanned aerial vehicle is traveling along the preset trajectory, there will be physical deviations due to the GPS positioning or Beidou positioning. Therefore, in this embodiment, the position of the unmanned aerial vehicle is limited by the reference points in the 3D map data to correct the flight path of the unmanned aerial vehicle. Specifically, the multi-point positioning method is applied. As shown in FIG. 3, the unmanned aerial vehicle is located in the The reference points on the horizontal plane of the 3D map data are point A and point B, and the reference points on different planes of the other two concentric spheres are point C and point D. The current position data of the unmanned aerial vehicle in the 3D map data can be determined by calculating the distance between the unmanned aerial vehicle and the different reference points. After the position is accurately determined to the corresponding point, the calculation can be performed based on the deviation value between the point data and the preset trajectory. Correspondingly, the deviation value is the distance between the current point of the unmanned aerial vehicle and the corresponding point on the trajectory. Since calculating the distance between points in space is a technical content well known to those skilled in the art, it will not be described in detail here. After obtaining the deviation value, the size of the deviation value and the limit threshold is determined. If the deviation value is greater than the limit threshold, the position of the unmanned aerial vehicle is corrected based on the point data (the precise point calculated by the reference point), and then the flight path is corrected. The limit threshold can be "10 cm".

需要说明的是，于本实施例中，在所述3D地图数据中，存在很多占据空间的物体可能会影响所述无人驾驶航空器飞行，在获取到所述无人驾驶航空器的点位数据和/或所述轨迹数据后，可以判别所述无人驾驶航空器与所述障碍物的相对关系数据，其中，所述相对关系数据即计算所述无人驾驶航空器与所述障碍物的距离，同样计算两个点之间的距离为本领域技术人员的熟知内容，不做赘述，所述障碍物与所述无人驾驶航空器的取点位置为每个物体对应的中心点，计算出来相对距离后，判断所述相对距离与所述安全距离的大小，若所述相对距离小于所述安全距离，则控制所述无人驾驶航空器远离所述障碍物以进行避障控制，其中，所述安全距离可设为“10m”。It should be noted that, in this embodiment, in the 3D map data, there are many objects occupying space that may affect the flight of the unmanned aerial vehicle. After obtaining the point data and/or the trajectory data of the unmanned aerial vehicle, the relative relationship data between the unmanned aerial vehicle and the obstacle can be determined, wherein the relative relationship data is to calculate the distance between the unmanned aerial vehicle and the obstacle. Similarly, calculating the distance between two points is a well-known content for those skilled in the art and will not be repeated. The obstacle The point position of the unmanned aerial vehicle is the center point corresponding to each object. After the relative distance is calculated, the size of the relative distance and the safety distance is judged. If the relative distance is less than the safety distance, the unmanned aerial vehicle is controlled to stay away from the obstacle to perform obstacle avoidance control, wherein the safety distance can be set to "10m".

值得一提的是，所述方法还包括识别所述3D地图数据中的环境数据以对所述无人驾驶航空器进行控制。It is worth mentioning that the method further includes identifying environmental data in the 3D map data to control the unmanned aerial vehicle.

需要说明的是，于本实施例中，在所述无人驾驶航空器依据所述3D地图数据飞行时，可识别出所述3D地图数据中弹出的所述弹窗信息的内容对所述无人驾驶航空器进行控制，例如所述弹窗信息弹出的内容是“召回至机库”，则控制所述无人驾驶航空器返回至机库。 It should be noted that, in this embodiment, when the unmanned aerial vehicle is flying according to the 3D map data, the content of the pop-up information in the 3D map data can be identified to control the unmanned aerial vehicle. For example, if the content of the pop-up information is "recall to hangar", the unmanned aerial vehicle is controlled to return to the hangar.

本发明第三方面提供了一种计算机可读存储介质，所述计算机可读存储介质中包括一种基于3D地图的无人驾驶航空器飞行控制方法程序，所述基于3D地图的无人驾驶航空器飞行控制方法程序被处理器执行时，实现如上述任一项所述的一种基于3D地图的无人驾驶航空器飞行控制方法的步骤。A third aspect of the present invention provides a computer-readable storage medium, which includes a 3D map-based unmanned aircraft flight control method program. When the 3D map-based unmanned aircraft flight control method program is executed by a processor, the steps of the 3D map-based unmanned aircraft flight control method as described in any one of the above items are implemented.

本发明公开的一种基于3D地图的无人驾驶航空器飞行控制方法、***和介质，可以基于3D地图数据对无人驾驶航空器进行定位以及修正飞行路径，并且能够在无人驾驶航空器自动飞行过程中，进行避障控制以减少无人驾驶航空器损毁的情况。The present invention discloses a 3D map-based unmanned aerial vehicle flight control method, system and medium, which can locate the unmanned aerial vehicle and correct the flight path based on 3D map data, and can perform obstacle avoidance control to reduce damage to the unmanned aerial vehicle during the automatic flight of the unmanned aerial vehicle.

在本申请所提供的几个实施例中，应该理解到，所揭露的设备和方法，可以通过其它的方式实现。以上所描述的设备实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，如：多个单元或组件可以结合，或可以集成到另一个***，或一些特征可以忽略，或不执行。另外，所显示或讨论的各组成部分相互之间的耦合、或直接耦合、或通信连接可以是通过一些接口，设备或单元的间接耦合或通信连接，可以是电性的、机械的或其它形式的。In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored, or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

上述作为分离部件说明的单元可以是、或也可以不是物理上分开的，作为单元显示的部件可以是、或也可以不是物理单元；既可以位于一个地方，也可以分布到多个网络单元上；可以根据实际的需要选择其中的部分或全部单元来实现本实施例方案的目的。The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed on multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

另外，在本发明各实施例中的各功能单元可以全部集成在一个处理单元中，也可以是各单元分别单独作为一个单元，也可以两个或两个以上单元集成在一个单元中；上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。 In addition, all functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately used as a unit, or two or more units may be integrated into one unit; the above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

本领域普通技术人员可以理解：实现上述方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成，前述的程序可以存储于计算机可读取存储介质中，该程序在执行时，执行包括上述方法实施例的步骤；而前述的存储介质包括：移动存储设备、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。Those skilled in the art will appreciate that all or part of the steps of implementing the above method embodiments may be accomplished by hardware associated with program instructions, and the aforementioned program may be stored in a computer-readable storage medium. When the program is executed, the program executes the steps of the above method embodiments; and the aforementioned storage medium includes various media that can store program codes, such as mobile storage devices, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

或者，本发明上述集成的单元如果以软件功能模块的形式实现并作为独立的产品销售或使用时，也可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明实施例的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机、服务器、或者网络设备等)执行本发明各个实施例所述方法的全部或部分。而前述的存储介质包括：移动存储设备、ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。 Alternatively, if the above-mentioned integrated unit of the present invention is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present invention can be essentially or partly reflected in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROM, RAM, magnetic disks or optical disks.

Claims

一种基于3D地图的无人驾驶航空器飞行控制方法，其特征在于，包括以下步骤：A 3D map-based unmanned aerial vehicle flight control method, characterized in that it includes the following steps:

获取3D地图数据以及所述无人驾驶航空器的定位数据；Acquiring 3D map data and positioning data of the unmanned aerial vehicle;

基于所述3D地图数据中预设的若干个参考点结合所述定位数据，识别得到所述无人驾驶航空器于所述3D地图数据中的位置数据；Based on a plurality of reference points preset in the 3D map data and the positioning data, identifying and obtaining the position data of the unmanned aerial vehicle in the 3D map data;

在所述无人驾驶航空器飞行过程中，获取所述无人驾驶航空器的全景图像数据，基于所述全景图像数据结合所述参考点修正所述无人驾驶航空器的飞行路径；During the flight of the unmanned aerial vehicle, obtaining panoramic image data of the unmanned aerial vehicle, and correcting the flight path of the unmanned aerial vehicle based on the panoramic image data and the reference point;

获取所述无人驾驶航空器飞行时的空间数据，结合所述3D地图数据进行所述无人驾驶航空器飞行的避障控制。The spatial data of the unmanned aerial vehicle during flight is acquired, and obstacle avoidance control of the unmanned aerial vehicle is performed in combination with the 3D map data.
根据权利要求1所述的一种基于3D地图的无人驾驶航空器飞行控制方法，其特征在于，所述获取3D地图数据以及所述无人驾驶航空器的定位数据，具体包括：The unmanned aerial vehicle flight control method based on a 3D map according to claim 1 is characterized in that the step of acquiring the 3D map data and the positioning data of the unmanned aerial vehicle specifically comprises:

建立与预设的通信基站和/或预设的信息收发装置的通信连接以获取所述3D地图数据；Establishing a communication connection with a preset communication base station and/or a preset information transceiver device to obtain the 3D map data;

建立与所述无人驾驶航空器的通信连接以识别所述定位数据，其中，所述定位数据至少包括无人驾驶航空器经度值，无人驾驶航空器纬度值，无人驾驶航空器对地飞行高度值以及无人驾驶航空器飞行角度值。A communication connection is established with the unmanned aerial vehicle to identify the positioning data, wherein the positioning data at least includes a longitude value of the unmanned aerial vehicle, a latitude value of the unmanned aerial vehicle, a flight altitude value of the unmanned aerial vehicle above the ground, and a flight angle value of the unmanned aerial vehicle.
根据权利要求2所述的一种基于3D地图的无人驾驶航空器飞行控制方法，其特征在于，所述基于所述3D地图数据中预设的若干个参考点结合所述定位数据，识别得到所述无人驾驶航空器于所述3D地图数据中的位置数据，具体包括：The method for controlling an unmanned aerial vehicle flight based on a 3D map according to claim 2 is characterized in that the step of identifying the position data of the unmanned aerial vehicle in the 3D map data based on a plurality of reference points preset in the 3D map data in combination with the positioning data specifically comprises:

基于所述3D地图数据中预设的关键点云数据匹配当前所述无人驾驶航空器对应的若干个所述参考点，其中，所述参考点数目至少包括三个；Matching the currently unmanned A number of the reference points corresponding to the piloted aircraft, wherein the number of the reference points includes at least three;

基于所述参考点结合所述定位数据得到所述位置数据，其中，所述位置数据至少包括横纵坐标参数值、竖坐标参数值以及偏转角参数值。The position data is obtained based on the reference point in combination with the positioning data, wherein the position data at least includes horizontal and vertical coordinate parameter values, vertical coordinate parameter values and deflection angle parameter values.
根据权利要求3所述的一种基于3D地图的无人驾驶航空器飞行控制方法，其特征在于，所述基于所述参考点结合所述定位数据得到所述位置数据，具体包括：The unmanned aerial vehicle flight control method based on a 3D map according to claim 3 is characterized in that the step of obtaining the position data based on the reference point in combination with the positioning data specifically comprises:

基于所述参考点结合所述无人驾驶航空器经度值以及所述无人驾驶航空器纬度值得到所述无人驾驶航空器于所述3D地图数据中空间坐标系的所述横纵坐标参数值；Obtain the horizontal and vertical coordinate parameter values of the unmanned aerial vehicle in the spatial coordinate system of the 3D map data based on the reference point combined with the longitude value of the unmanned aerial vehicle and the latitude value of the unmanned aerial vehicle;

基于所述参考点结合所述无人驾驶航空器对地飞行高度值得到所述无人驾驶航空器于所述3D地图数据中空间坐标系的所述竖坐标参数值；Obtaining the vertical coordinate parameter value of the unmanned aerial vehicle in the spatial coordinate system of the 3D map data based on the reference point and the unmanned aerial vehicle's altitude above the ground;

基于所述参考点结合所述无人驾驶航空器飞行角度值得到所述无人驾驶航空器于3D地图数据中空间坐标系的所述偏转角参数值。The deflection angle parameter value of the unmanned aerial vehicle in the space coordinate system of the 3D map data is obtained based on the reference point and the flight angle value of the unmanned aerial vehicle.
根据权利要求4所述的一种基于3D地图的无人驾驶航空器飞行控制方法，其特征在于，所述获取所述无人驾驶航空器的全景图像数据，基于所述全景图像数据结合所述参考点修正所述无人驾驶航空器的飞行路径，具体包括：The method for controlling an unmanned aerial vehicle flight based on a 3D map according to claim 4 is characterized in that the step of acquiring panoramic image data of the unmanned aerial vehicle and correcting the flight path of the unmanned aerial vehicle based on the panoramic image data in combination with the reference point specifically comprises:

基于所述全景图像数据匹配对应的所述3D地图数据中的所述关键点云数据；Matching the key point cloud data in the corresponding 3D map data based on the panoramic image data;

基于匹配结果识别对应的所述参考点并进行标记，其中，标记的所述参考点的数目至少包括三个；Based on the matching result, the corresponding reference points are identified and marked, wherein the number of the marked reference points includes at least three;

计算各所述参考点与所述无人驾驶航空器的直线距离，基于至少三个所述直线距离得到当前所述无人驾驶航空器于所述空间坐标系的点位数据；Calculate the straight-line distance between each reference point and the unmanned aerial vehicle based on at least The three straight-line distances are used to obtain the current point position data of the unmanned aerial vehicle in the space coordinate system;

基于所述点位数据判断与预设轨迹的偏差值，当所述偏差值超过极限阈值时，基于所述点位数据对所述无人驾驶航空器的飞行路径进行修正。The deviation value from the preset trajectory is determined based on the point data, and when the deviation value exceeds a limit threshold, the flight path of the unmanned aerial vehicle is corrected based on the point data.
根据权利要求5所述的一种基于3D地图的无人驾驶航空器飞行控制方法，其特征在于，所述获取所述无人驾驶航空器飞行时的空间数据，结合所述3D地图数据进行所述无人驾驶航空器飞行的避障控制，具体包括：The method for controlling an unmanned aerial vehicle flight based on a 3D map according to claim 5 is characterized in that the step of acquiring the spatial data of the unmanned aerial vehicle during flight and performing obstacle avoidance control of the unmanned aerial vehicle in combination with the 3D map data specifically comprises:

基于所述无人驾驶航空器于所述空间坐标系的点位数据获取所述空间数据，其中，所述空间数据包括所述点位数据以及所述点位数据形成的轨迹数据；Acquiring the spatial data based on the point data of the unmanned aerial vehicle in the spatial coordinate system, wherein the spatial data includes the point data and trajectory data formed by the point data;

基于所述空间数据识别所述无人驾驶航空器与所述3D地图数据中的障碍物相对关系数据，基于所述相对关系数据进行避障控制。Relative relationship data between the unmanned aerial vehicle and obstacles in the 3D map data are identified based on the spatial data, and obstacle avoidance control is performed based on the relative relationship data.
一种基于3D地图的无人驾驶航空器飞行控制***，其特征在于，包括存储器和处理器，所述存储器中包括基于3D地图的无人驾驶航空器飞行控制方法程序，所述基于3D地图的无人驾驶航空器飞行控制方法程序被所述处理器执行时实现如下步骤：A 3D map-based unmanned aircraft flight control system, characterized in that it includes a memory and a processor, wherein the memory includes a 3D map-based unmanned aircraft flight control method program, and when the 3D map-based unmanned aircraft flight control method program is executed by the processor, the following steps are implemented:

获取3D地图数据以及所述无人驾驶航空器的定位数据；Acquiring 3D map data and positioning data of the unmanned aerial vehicle;

基于所述3D地图数据中预设的若干个参考点结合所述定位数据，识别得到所述无人驾驶航空器于所述3D地图数据中的位置数据；Based on a plurality of reference points preset in the 3D map data and the positioning data, identifying and obtaining the position data of the unmanned aerial vehicle in the 3D map data;

在所述无人驾驶航空器飞行过程中，获取所述无人驾驶航空器的全景图像数据，基于所述全景图像数据结合所述参考点修正所述无人驾驶航空器的飞行路径；During the flight of the unmanned aerial vehicle, obtaining panoramic image data of the unmanned aerial vehicle, and correcting the flight path of the unmanned aerial vehicle based on the panoramic image data and the reference point;

获取所述无人驾驶航空器基于所述飞行路径飞行时的所述位置数据，结合所述3D地图数据进行所述无人驾驶航空器飞行的避障控制。Obtaining the position of the unmanned aerial vehicle when flying based on the flight path Data is combined with the 3D map data to perform obstacle avoidance control of the unmanned aerial vehicle.
根据权利要求7所述的一种基于3D地图的无人驾驶航空器飞行控制***，其特征在于，所述获取3D地图数据以及所述无人驾驶航空器的定位数据，具体包括：The 3D map-based unmanned aerial vehicle flight control system according to claim 7 is characterized in that the step of acquiring the 3D map data and the positioning data of the unmanned aerial vehicle specifically comprises:

建立与预设的通信基站和/或预设的信息收发装置的通信连接以获取所述3D地图数据；Establishing a communication connection with a preset communication base station and/or a preset information transceiver device to obtain the 3D map data;

建立与所述无人驾驶航空器的通信连接以识别所述定位数据，其中，所述定位数据至少包括无人驾驶航空器经度值，无人驾驶航空器纬度值，无人驾驶航空器对地飞行高度值以及无人驾驶航空器飞行角度值。A communication connection is established with the unmanned aerial vehicle to identify the positioning data, wherein the positioning data at least includes a longitude value of the unmanned aerial vehicle, a latitude value of the unmanned aerial vehicle, a flight altitude value of the unmanned aerial vehicle above the ground, and a flight angle value of the unmanned aerial vehicle.
根据权利要求8所述的一种基于3D地图的无人驾驶航空器飞行控制***，其特征在于，所述基于所述3D地图数据中预设的若干个参考点结合所述定位数据，识别得到所述无人驾驶航空器于所述3D地图数据中的位置数据，具体包括：The 3D map-based unmanned aerial vehicle flight control system according to claim 8 is characterized in that the identifying of the position data of the unmanned aerial vehicle in the 3D map data based on a plurality of reference points preset in the 3D map data in combination with the positioning data specifically includes:

基于所述3D地图数据中预设的关键点云数据匹配当前所述无人驾驶航空器对应的若干个所述参考点，其中，所述参考点数目至少包括三个；Matching a plurality of reference points corresponding to the current unmanned aerial vehicle based on key point cloud data preset in the 3D map data, wherein the number of reference points includes at least three;

基于所述参考点结合所述定位数据得到所述位置数据，其中，所述位置数据至少包括经纬度参数值、高度参数值以及偏转角参数值。The position data is obtained based on the reference point in combination with the positioning data, wherein the position data at least includes latitude and longitude parameter values, altitude parameter values, and deflection angle parameter values.
一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中包括一种基于3D地图的无人驾驶航空器飞行控制方法程序，所述基于3D地图的无人驾驶航空器飞行控制方法程序被处理器执行时，实现如权利要求1至6中任一项所述的一种基于3D地图的无人驾驶航空器飞行控制方法的步骤。 A computer-readable storage medium, characterized in that the computer-readable storage medium includes a 3D map-based unmanned aerial vehicle flight control method program, and when the 3D map-based unmanned aerial vehicle flight control method program is executed by a processor, the steps of the 3D map-based unmanned aerial vehicle flight control method as described in any one of claims 1 to 6 are implemented.