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WO2021087750A1 - Procédé et dispositif de planification d'itinéraire de véhicule aérien sans pilote - Google Patents

Procédé et dispositif de planification d'itinéraire de véhicule aérien sans pilote Download PDF

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Publication number
WO2021087750A1
WO2021087750A1 PCT/CN2019/115739 CN2019115739W WO2021087750A1 WO 2021087750 A1 WO2021087750 A1 WO 2021087750A1 CN 2019115739 W CN2019115739 W CN 2019115739W WO 2021087750 A1 WO2021087750 A1 WO 2021087750A1
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Prior art keywords
sub
area
route
starting
unmanned aerial
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PCT/CN2019/115739
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English (en)
Chinese (zh)
Inventor
邹亭
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Priority to CN201980039851.8A priority Critical patent/CN112313476A/zh
Priority to PCT/CN2019/115739 priority patent/WO2021087750A1/fr
Publication of WO2021087750A1 publication Critical patent/WO2021087750A1/fr
Anticipated expiration legal-status Critical
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/0202—Control of position or course in two dimensions specially adapted to aircraft

Definitions

  • the invention relates to the field of route planning, and in particular to a route planning method and device of an unmanned aerial vehicle.
  • Coverage path planning technology has a wide range of applications in the field of unmanned aerial vehicles. At the same time, obstacle avoidance technology in cover path planning tasks is also an important technology. Good obstacle avoidance technology can greatly improve the efficiency of mission execution.
  • the route planning method of circumventing obstacles on each route segment is adopted.
  • the route planning process includes the following steps: first, generate a reciprocating coverage operation route segment according to the area delineated by the user; then, identify the area Finally, check whether there are obstacles in the current operating route segment. If there is, perform obstacle bypassing and continue to execute the current route segment.
  • the existing route planning method has good application for smaller obstacles, but for large no-fly zones, such as buildings, because the no-fly zone spans multiple route segments, if the existing route planning method is adopted, no one Aircraft often need to perform multiple obstacle circumventions, and sometimes the obstacle circumvention route is longer than the operation route, which has an extremely negative impact on the efficiency of the unmanned aerial vehicle's execution of tasks.
  • the invention provides a route planning method and device for an unmanned aerial vehicle.
  • the present invention is implemented through the following technical solutions:
  • a route planning method for an unmanned aerial vehicle comprising:
  • the preset route planning information generate multiple route reference lines in the target area
  • the target area is divided into a plurality of sub-areas, so that the sub-area does not overlap with the no-fly zone, wherein the route reference line in each sub-area is the same as that of the sub-area.
  • the number of intersections is less than or equal to 2;
  • the operation route of the unmanned aerial vehicle is determined according to the route reference line of the sub-area, the operation sequence of the multiple sub-areas, and the connecting route.
  • a route planning device for an unmanned aerial vehicle comprising:
  • Storage device for storing program instructions
  • One or more processors call program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations:
  • the preset route planning information generate multiple route reference lines in the target area
  • the target area is divided into a plurality of sub-areas, so that the sub-area does not overlap with the no-fly zone, wherein the route reference line in each sub-area is the same as that of the sub-area.
  • the number of intersections is less than or equal to 2;
  • the operation route of the unmanned aerial vehicle is determined according to the route reference line of the sub-area, the operation sequence of the multiple sub-areas, and the connecting route.
  • the present invention divides the target area into a plurality of sub-areas that do not overlap with the no-fly zone according to the geometric characteristics of the no-fly zone, and then determines the sub-area of each sub-area according to the route reference line of the multiple sub-zones.
  • the operating sequence and the connecting route between the two adjacent sub-regions in the operating sequence are determined according to the operating sequence of the route reference line and the connecting route in the sub-region, and the operation task is performed around the no-fly zone by area division.
  • the existing method of circumventing obstacles on each route causes the problem of low execution efficiency in the large no-fly zone, avoids the multiple obstacle avoidance of the no-fly zone by the unmanned aerial vehicle, reduces the length of the non-operating route, and improves
  • the operation efficiency of the unmanned aerial vehicle is improved; at the same time, the time for the unmanned aerial vehicle to be in close contact with the no-fly zone during the operation process is shortened, and the flight safety of the unmanned aerial vehicle is improved.
  • Fig. 1 is a method flowchart of an unmanned aerial vehicle route planning method in an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a planning method of a route reference line in an embodiment of the present invention
  • 3 is a schematic diagram of the intersection of the two outermost reference lines of the route in the sub-region and the boundary of the sub-region in an embodiment of the present invention
  • FIG. 4 is a schematic diagram of determining the operation sequence of multiple sub-regions and the connecting route between two sub-regions adjacent to the operation sequence according to the route reference lines of multiple sub-regions according to an embodiment of the present invention
  • FIG. 5 is a schematic diagram of determining the end point of the route of the starting operation area provided by an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of determining the end point of the route of the sub-area except the initial operation area according to an embodiment of the present invention
  • FIG. 7 is a schematic diagram of determining a connecting route between two sub-regions adjacent in the operation sequence according to the location information of the intersection and the operation sequence of multiple sub-regions according to an embodiment of the present invention
  • FIG. 8 is a schematic diagram of determining the operation route of the unmanned aerial vehicle according to the route reference line of the sub-area, the operation sequence of the multiple sub-areas, and the connecting route according to an embodiment of the present invention
  • Fig. 9 is a structural block diagram of a route planning device for an unmanned aerial vehicle in an embodiment of the present invention.
  • the existing route planning method for circumventing obstacles on each route segment requires multiple obstacle circumventions.
  • the obstacle circumvention route is longer than the operation route, which is very difficult for unmanned people.
  • the efficiency of the aircraft's operational tasks has brought extremely negative effects.
  • the unmanned aerial vehicle completes all obstacle circumventions, which doubles the flight path.
  • the unmanned aerial vehicle can spray a piece of farmland with a single charge on the original route.
  • the power after the obstacle is not enough to support the total route that increases the route around the obstacle, causing the UAV to interrupt the spraying and return to charging, or it may happen that another UAV needs to be replaced for operation when the pesticide is not sprayed.
  • the present invention divides the target area into multiple sub-areas that do not coincide with the no-fly zone according to the geometric characteristics of the no-fly zone, and then determines the operation sequence of each sub-area and the adjacent operation sequence according to the route reference line of the multiple sub-regions.
  • the connecting route between the two sub-areas of the sub-area is determined according to the operation sequence of the route reference line in the sub-area and the connecting route, and the operation task is performed around the no-fly zone by the division of the area, which solves the existing problems in each route.
  • the method of circumventing obstacles above leads to the problem of low execution efficiency in large no-fly zones, avoiding multiple obstacle avoidance by unmanned aerial vehicles in the no-fly zone, reducing the length of non-operating routes, and improving the operating efficiency of unmanned aerial vehicles ; At the same time, it shortens the time of close contact between the UAV and the no-fly zone during the operation, and improves the flight safety of the UAV.
  • the unmanned aerial vehicle of the present invention can be an unmanned aerial vehicle or other types of unmanned aerial vehicles.
  • the embodiment of the present invention provides a route planning method for an unmanned aerial vehicle.
  • the route planning method for an unmanned aerial vehicle may include steps S101 to S105.
  • step S101 according to preset route planning information, multiple route reference lines are generated in the target area.
  • the target area is the operation area of the unmanned aerial vehicle designated by the user.
  • the operation of the unmanned aerial vehicle may include one or more of the following: spraying, seeding, surveying and mapping, and line patrol (power line patrol); it should be understood that,
  • the operation type of the unmanned aerial vehicle is not limited to the above-listed operation types, and may also be other operation types.
  • the route planning information may include the positional relationship between multiple route reference lines and the direction of the route reference line; of course, the route planning information may also include other information indicating the characteristics of the route reference line, such as those close to the no-fly zone. The minimum distance between the route reference line and the border of the no-fly zone, the route reference line does not intersect with the no-fly zone, and so on.
  • the positional relationship between the multiple route reference lines is determined by the operation requirements of the unmanned aerial vehicle. For example, during spraying or seeding operations, in order to prevent repeated spraying or seeding, the multiple route reference lines can be designed to be approximately parallel. Further optionally, the positional relationship between the multiple flight route reference lines may include the distance between two adjacent flight route reference lines.
  • the target area 10 includes a plurality of no-fly zones 20, a plurality of substantially parallel route reference lines are generated in the target area, and the distance between two adjacent route reference lines is a preset distance threshold.
  • the generated route reference line is the dashed line in Figure 2.
  • the route reference line does not intersect the no-fly zone; further, for the extension line and the no-fly zone intersecting the route reference line, the distance from the end of the no-fly zone to the border of the no-fly zone is the first The preset distance threshold; in addition, the minimum distance from the route reference line adjacent to the no-fly zone to the boundary of the no-fly zone is greater than the second preset distance threshold.
  • the size of the preset distance threshold, the first distance threshold, and the second distance threshold can be set according to needs.
  • route reference lines In surveying and mapping or line patrol operations, there may be overlapping and crossing route reference lines to ensure the coverage of the unmanned aerial vehicle during surveying and mapping or line patrol operations. It is understandable that in other operations, the positional relationship between multiple route reference lines can also be set to other.
  • the direction of the route reference line refers to the positional relationship between the route reference line and the reference line, such as the angle between the route reference line and the reference line.
  • the reference line can be a horizontal line or a vertical line.
  • Fig. 2 Exemplarily, please refer to Fig. 2.
  • the route reference line is a vertical line segment.
  • step S102 the position information of the no-fly zone in the target area is acquired.
  • the position information of the no-fly zone is the relative position information of the no-fly zone in the target area.
  • the position information of the no-fly zone can include the border position information of the no-fly zone; of course, the position information of the no-fly zone is not limited to the border position information of the no-fly zone, and can also include the position information of special points in the no-fly zone, such as no-fly zone.
  • Location information of the center of the district Exemplarily, for a regular-shaped no-fly zone, the location information of the center of the no-fly zone may be obtained, and then the location information of the border of the no-fly zone can be determined according to the location information of the center of the no-fly zone.
  • the no-fly zone may include at least one of the following: a preset no-fly zone, an area where an obstacle in the target area is located, and a non-operation area with an area greater than a preset area threshold in the target area.
  • the preset no-fly zone may include a preset zone where aircraft is prohibited from flying.
  • the preset area threshold can be set as needed .
  • the manner of obtaining the position information of the no-fly zone may be determined by the type of the no-fly zone. For example, in some embodiments, the no-fly zone in the target area is identified, and the position information of the no-fly zone is obtained. In this embodiment, the no-fly zone in the target area is identified based on an image recognition algorithm. Since the preset no-fly zone is predetermined, all the preset no-fly zones will be identified after sampling the above-mentioned method of obtaining the position information of the no-fly zone. However, factors such as the accuracy of the image recognition algorithm may cause obstacles in the target area and non-operating areas with an area larger than the preset area threshold in the target area to be unrecognized. Therefore, the above method of obtaining the position information of the no-fly zone More suitable for the preset no-fly zone.
  • the position information of the no-fly zone is determined according to the acquired no-fly zone indication input to the target area, wherein the no-fly zone indication includes the border trajectory of the no-fly zone and/or the no-fly zone position.
  • the user directly inputs the boundary trajectory of the no-fly zone and/or the position of the no-fly zone on the image of the target area.
  • the user can directly input the boundary track of the no-fly zone and/or the position of the no-fly zone on the image of the target area to determine the position information of the no-fly zone .
  • step S103 the target area is divided into multiple sub-areas according to the position information of the no-fly zone, so that the sub-area does not overlap with the no-fly zone, wherein the number of intersections between the route reference line in each sub-area and the sub-area Less than or equal to 2.
  • the target area 10 is divided into a sub-area 11, a sub-area 12, a sub-area 13, a sub-area 14, a sub-area 15, a sub-area 16, a sub-area 17, a sub-area 18, and a sub-area 19.
  • the number of intersections between each route reference line and the sub-area is 1 or 2. As shown in Figure 3, the number of intersections of one of the route reference lines of the sub-region 16 and the sub-region 16 is 1, and the number of intersections of the remaining route reference lines of the sub-region 16 and the sub-region 14 are all 2; The number of intersections of the route reference lines of the other sub-areas outside the area 16 and the corresponding sub-areas is 2.
  • each route reference line in each sub-area there are one or two intersection points between each route reference line and the boundary of the sub-area, that is, the outermost in each sub-area
  • the number of intersections between the two reference lines of the route and the boundary of the sub-area is 2 (not shown), 3 (e.g., sub-area 16), or 4 (e.g., sub-area 11-15 and sub-area 17-19); and
  • For the route reference line between the two outermost route reference lines in each sub-area there are two intersection points between each route reference line and the boundary of the sub-area.
  • the sub-region of this embodiment may include at least one of convex polygon, circle, and ellipse; of course, the sub-region may also have other shapes, as long as the number of intersections between the route reference line and the sub-region in the sub-region of the shape is less than Or equal to 2.
  • step S104 according to the route reference lines of the multiple sub-regions, the operation sequence of the multiple sub-regions and the connecting route between the two adjacent sub-regions in the operation sequence are determined.
  • Fig. 4 is a schematic diagram of determining the operation sequence of multiple sub-regions and the connecting route between two sub-regions adjacent to the operation sequence according to the route reference lines of multiple sub-regions according to an embodiment of the present invention. Please refer to Fig. 4, The method may include:
  • S401 Acquire position information of the intersection of the two outermost flight route reference lines in each sub-region and the boundary of the sub-region.
  • the number of intersections between the two outermost route reference lines in each subregion and the boundary of the subregion is 2, 3, or 4.
  • S402 Determine the operation sequence of the multiple sub-regions according to the position information of the intersection of the two outermost flight route reference lines in the multiple sub-regions and the boundary of the sub-region.
  • step S402 when step S402 is implemented, it may include but not limited to the following two steps:
  • the current position information of the unmanned aerial vehicle is first obtained;
  • the position information and current position information of the intersection of the boundary determine the intersection of the two outermost route reference lines in the multiple sub-regions and the boundary of the sub-region that is closest to the current position of the UAV;
  • the sub-region where the intersection closest to the current position of the unmanned aerial vehicle is located is determined as the initial operation area of the unmanned aerial vehicle.
  • This method of determining the starting operating area can reduce the length of the unmanned aerial vehicle's non-operating route and improve the operating efficiency of the unmanned aerial vehicle.
  • the starting work area is determined according to user instructions to meet different user requirements.
  • the first user instruction is acquired; according to the first user instruction, the designated sub-area is determined as the initial operation area of the unmanned aerial vehicle.
  • the first user instruction is used to instruct a designated sub-area among the plurality of sub-areas as the initial operation area of the unmanned aerial vehicle.
  • the first user instruction is input by the user. For example, an image in which the target area is divided into multiple sub-areas can be presented through an interactive interface.
  • the user can directly click on one of the multiple sub-areas on the image, and the user can click
  • the sub-area of is regarded as the designated area, that is, the initial operating area of the UAV; multiple sub-areas can also be numbered separately, and the user can enter the number of the designated area.
  • the manner in which the user inputs the first user instruction includes but is not limited to the above content, as long as the initial operation area of the unmanned aerial vehicle can be determined through the input of the first user instruction.
  • the way for the user to input the first user instruction may also include other ways, such as voice, which is not specifically limited here.
  • the starting point of the route of the starting operation area first determines the starting point of the route of the starting operation area; then, according to the starting point of the route of the starting operation area and the route reference line of the starting operation area, determine the starting point of the route of the starting operation area. End point; then according to the position information of the end point of the starting operation area and the intersection of the sub-areas except the starting operation area (that is, the two outermost route reference lines in the sub-area except the starting operation area and the sub-area The position information of the intersection of the boundary of the) determines the operation sequence of the sub-regions except the initial operation area.
  • the starting point of the route of the starting operation area can also be determined in different ways.
  • the current position information of the unmanned aerial vehicle is obtained; according to the intersection of the current position information and the starting operation area (that is, the starting operation).
  • the location information of the intersection of the two outermost route reference lines and the boundary of the starting operation area in the area determines the starting point of the route of the starting operation area.
  • the distance from the current position of the UAV to the intersection of the starting operation area can be calculated.
  • the starting point of the route of the starting operation area is the intersection point of the starting area that is closest to the current position of the UAV to reduce the The length of the non-operating route of the human aircraft improves the operating efficiency of the unmanned aircraft.
  • the starting point of the route of the starting operation area may also be another intersection point among the intersections of the two outermost route reference lines in the starting operation area and the boundary of the starting operation area.
  • the starting point of the route of the starting operation area is determined according to user instructions to meet different user requirements. Specifically, a second user instruction is acquired; according to the second user instruction, the designated intersection is determined as the starting point of the initial work area. Wherein, the second user instruction is used to instruct the designated intersection of the two outermost route reference lines in the initial operation area and the boundary of the initial operation area as the starting point of the initial operation area. In this embodiment, the user inputs the second user instruction.
  • an image of the initial work area can be presented through the interactive interface, and the user can directly click on the intersection of the boundary of the initial work area on the image
  • the intersection clicked by the user is used as the designated intersection, that is, the starting point of the route of the starting operation area; the intersection of the boundary of the starting operation area can also be numbered separately, and the user can input the number of the designated intersection.
  • the way for the user to input the second user instruction includes but is not limited to the above content, as long as the starting point of the route of the initial operation area can be determined through the input of the second user instruction.
  • the way for the user to input the second user instruction may also include other ways, such as voice, which is not specifically limited here.
  • the starting operation is firstly determined according to the starting point of the route of the starting operation area.
  • the end points on one side of the two adjacent route reference lines in the area are connected to form a route; then the end of the route in the starting operation area that is far from the starting point of the route in the starting operation area is determined as the starting operation area end.
  • the current position of the unmanned aerial vehicle is A
  • the intersection of the two outermost route reference lines in the starting operation area 11 and the boundary of the starting operation area 11 includes 4 points, namely A1 , A2, A3, and A4.
  • A1 is taken as the starting point of the route of the starting operation area 11.
  • A2 A3, and A4
  • A3 Connect the end points on one side of the two adjacent route reference lines in the starting operation area 11 to form a route, that is, the thick line in the starting operation area 11, and the end point of the route in the starting operation area 11 is A3 .
  • the implementation method of determining the operation sequence of the sub-areas other than the starting operation area can also be selected according to needs.
  • the operation sequence of the sub-areas other than the initial operation area according to the position information of the end point of the initial operation area and the position information of the intersection of the sub-areas except the initial operation area, first according to the current sub-area
  • the location information of the end point and the intersection of the sub-area where the work order is not determined ie the intersection of the two outermost route reference lines in the sub-area where the work order is not determined and the boundary of the sub-area
  • position information to determine the work not determined
  • one of the sub-regions adjacent to the current sub-region among the sub-regions in which the job sequence is not determined is determined as the next job sub-region of
  • the implementation of determining one of the sub-areas adjacent to the current sub-area in the sub-areas of the undetermined operation sequence as the next operation sub-area of the current sub-area may include multiple implementations.
  • the sub-region adjacent to the current sub-region in the region and the sub-region located in the specified direction is determined as the next job sub-region. For example, when determining the next job sub-area of the current sub-area, follow the order of right->down->up->left to search for the sub-areas of undetermined job order, and first search in the sub-areas of undetermined job order.
  • the sub-area adjacent to the current sub-area and located to the right of the current sub-area may include multiple implementations.
  • the sub-area located to the right of the current sub-area in the sub-area whose work order is not determined search for the sub-area adjacent to the current sub-area in the sub-area where the work order is not determined
  • search for the sub-area adjacent to the current sub-area in the sub-area where the work order is not determined search for the sub-area adjacent to the current sub-area in the sub-area where the work order is not determined
  • the sub-area located below the current sub-area if there is a sub-area below the current sub-area in the sub-area whose work order is not determined, the sub-area located below the current sub-area will be regarded as the next work sub-area of the current sub-area ; If there is no sub-area below the current sub-area in the sub-area where the work order is not determined, search for the sub-area adjacent to the current sub-area and above the current sub-area in the sub-area where the work order is not determined.
  • the starting operation area is the sub-area 11
  • A1 is the starting point of the route of the sub-area 11
  • A3 is the end point of the route of the sub-area 11
  • the sub-area whose operation sequence is not determined includes the sub-area 12- 19.
  • the search method of this embodiment since there is a sub-area 12 to the right of the sub-area 11 in the sub-area where the work order is not determined, the sub-area 12 is determined as the next work sub-area of the sub-area 11.
  • the current sub-region is adjacent to the current sub-region.
  • the position information of the intersection of the two outermost route reference lines and the boundary of the sub-area in the sub-area of determine the end point of the current sub-area and the sub-area adjacent to the current sub-area in the sub-area whose operation sequence is not determined.
  • the distance of the intersection point; the sub-area where the intersection point with the smallest distance is located is determined as the next work area.
  • the sub-region where the intersection closest to the end of the current sub-region is located is determined as the next sub-region of the current sub-region.
  • the operating area reduces the flight path of the unmanned aerial vehicle from the current sub-area to the next operating sub-area, thereby improving the operating efficiency of the unmanned aerial vehicle.
  • the starting operation area is the sub-area 11
  • A1 is the starting point of the route of the sub-area 11
  • A3 is the end point of the route of the sub-area 11
  • the sub-area whose operation sequence is not determined includes the sub-area 12- 19.
  • the sub-regions adjacent to the sub-region 11 in the sub-regions for which the work order is not determined include the sub-region 12 and the sub-region 18, wherein, in the intersection of the sub-region 12 and the sub-region 18, the sub-region The intersection A13 and A3 of 18 are the closest, so the subarea 18 is taken as the next work subarea of the subarea 11.
  • S403 According to the location information of the intersection and the operation sequence of the multiple sub-areas, determine a connection route between two sub-areas adjacent to the operation sequence.
  • step S403 when step S403 is implemented, the following steps may be included but not limited to:
  • step (1) and step (2) For the implementation of step (1) and step (2), reference can be made to the corresponding part of the foregoing embodiment, which will not be repeated here.
  • the end point of the current subarea is determined according to the position information of the end point of the route of the current subarea and the position information of the intersection of the next work subarea adjacent to the work sequence of the current subarea.
  • the distance between the intersection with the next sub-area; the intersection with the smallest distance is determined as the starting point of the route of the next operating area, which reduces the length of the connecting route between two adjacent sub-areas in the operating sequence, thereby improving the unmanned aerial vehicle
  • the efficiency of the operation includes the initial work area.
  • the implementation of step (3) is not limited to this, and other implementations can also be selected.
  • step (4) optionally, according to the starting point of the route of the sub-area other than the starting operation area, the sub-area except the starting operation area on one side of the two adjacent reference lines of the route
  • the end points are connected to form a route; the end point of the route in the sub-area other than the starting operation area, which is far from the starting point of the route, is determined as the end point of the sub-area.
  • the sub-region 12 the intersection of the two outermost route reference lines and the boundary of the sub-region includes 4 points, namely A5, A6, A7, and A8, and A6 is the sub-region 12 The starting point of the route.
  • the end points on one side of the two adjacent route reference lines in the sub-region 12 are connected to form a route, that is, the thick line in the sub-region 12 in the figure, and the end point of the route in the sub-region is A7.
  • the operation sequence of M1 is before M2. If there is no no-fly zone between M1 and M2, the connecting route between M1 and M2 is the end of the route of M1 The connection with the starting point of the route of M2; if there is a no-fly zone between M1 and M2, the position of the connection between the end of the route of M1 and the starting point of the route of M2 needs to be adjusted to make the connection between M1 and M2 Routes avoid no-fly zones to ensure the safety of unmanned aerial vehicles.
  • the route planning method of the drone further includes: adjusting the position of the connecting route according to the position information of the no-fly zone, so that the connecting route and the forbidden flight The flying zones do not intersect.
  • the position of the connecting route can be adjusted according to the existing obstacle avoidance algorithm, so that the connecting route does not intersect with the no-fly zone, and the obstacle avoidance between the two adjacent sub-regions in the operation sequence is realized.
  • the sub-region 11 and the sub-region 12 are adjacent to each other in the operation sequence, wherein the operation sequence of the sub-region 11 is located before the sub-region 12.
  • the intersection of the two outermost route reference lines of the sub-area 11 and the boundary of the sub-area 11 includes four points, namely A1, A2, A3, and A4.
  • A1 is the starting point of the route of the sub-area 11
  • A3 is the sub-area.
  • the intersection of the two outermost route reference lines of the sub-area 12 and the boundary of the sub-area 12 also includes four points, namely A5, A6, A7, and A8.
  • A6 is the starting point of the route of the sub-area 12, and A7 is the sub-area 12.
  • the adjusted line between A3 and A6 is the connecting route between sub-area 11 and sub-area 12.
  • the sub-region 12 and the sub-region 13 are adjacent in sequence, wherein the operation sequence of the sub-region 12 is located before the sub-region 13.
  • the intersection of the two outermost route reference lines of the sub-area 12 and the boundary of the sub-area 12 includes four points, namely A5, A6, A7, and A8, A6 is the starting point of the route of the sub-area 12, and A7 is the sub-area The end of the route of 12.
  • the intersection of the two outermost route reference lines of the sub-area 13 and the boundary of the sub-area 13 also includes four points, namely A9, A10, A11 and A12.
  • A9 is the starting point of the route of the sub-area 13
  • A11 is the sub-area 13. The end of the route. Since the straight line connecting A7 and A11 does not pass through the no-fly zone 20, the connecting route between the sub-area 12 and the sub-area 13 is a straight line connecting A7 and A11.
  • step S105 the operation route of the unmanned aerial vehicle is determined according to the route reference line of the sub-region, the operation sequence of the multiple sub-regions, and the connecting route.
  • step S105 When step S105 is implemented, specifically, according to the operation sequence of the multiple sub-regions, the route reference line and the connecting route of the sub-regions are connected to form a route to generate the operation route of the unmanned aerial vehicle.
  • the route of each sub-region is generated based on the starting point of the sub-region and the route reference line of the sub-region.
  • the thick lines in each sub-region as shown in 8 are the routes of the corresponding sub-regions.
  • the operation sequence is: sub-area 11->sub-area 12->sub-area 13->sub-area 14->sub-area 15->sub-area 16->sub-area 17->sub-area 19->Sub-region 18, according to the route of each sub-region and the connecting route of the sub-regions of the adjacent operation sequence, generate an aircraft operation route.
  • the execution subject of the route planning method of the unmanned aerial vehicle in the embodiment of the present invention may be a device capable of communicating with the unmanned aerial vehicle, or may be an unmanned aerial vehicle.
  • the execution subject of the route planning method of the unmanned aerial vehicle is a device capable of communicating with the unmanned aerial vehicle, wherein the device capable of communicating with the unmanned aerial vehicle includes at least one of the following: a server of the unmanned aerial vehicle , Unmanned aerial vehicle control equipment, control equipment can include terminal equipment (such as mobile phones, tablet computers, etc.) that can communicate with the unmanned aerial vehicle, the remote control of the unmanned aerial vehicle, smart bracelets, etc.; of course, it can communicate with the unmanned aerial vehicle The equipment can also be other.
  • the route planning method of the unmanned aerial vehicle may further include: sending the operating route of the unmanned aerial vehicle to the unmanned aerial vehicle , So that the unmanned aerial vehicle operates in accordance with the operating route. Separating the process of route planning from unmanned aerial vehicles reduces the requirements for the data processing capabilities of unmanned aerial vehicles.
  • the execution subject of the route planning method of the unmanned aerial vehicle is an unmanned aerial vehicle
  • the route planning method of the human aerial vehicle further includes: performing operations according to the operating route. That is, unmanned aerial vehicles not only perform route planning, but also perform operations, which is suitable for unmanned aerial vehicles with strong data processing capabilities.
  • the embodiment of the present invention also provides a route planning device for the unmanned aerial vehicle.
  • the route planning device of the unmanned aerial vehicle may include a storage device and a processing device.
  • the processor wherein the processor includes one or more.
  • the storage device is used to store program instructions; one or more processors call the program instructions stored in the storage device.
  • the one or more processors are individually or collectively configured for Implement the following operations: generate multiple route reference lines in the target area according to the preset route planning information; obtain the position information of the no-fly zone in the target area; divide the target area into multiple sub-lines according to the position information of the no-fly zone Area, so that the sub-area does not overlap with the no-fly zone; according to the route reference line of multiple sub-regions, determine the operation sequence of multiple sub-regions and the connecting route between two adjacent sub-regions in the operation sequence; according to the route reference line of the sub-region , The operation sequence of multiple sub-regions and the connecting route determine the operation route of the unmanned aerial vehicle; wherein the number of intersections of the route reference line in each sub-region and the sub-region is less than or equal to 2.
  • the processor can implement the route planning method of the unmanned aerial vehicle in the foregoing embodiment, and reference may be made to the route planning method of the unmanned aerial vehicle in the foregoing embodiment to describe the route planning apparatus of the unmanned aerial vehicle in this embodiment.
  • the processor in the embodiment of the present invention may be a central processing unit (CPU).
  • the processor can also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA) ) Or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.
  • DSP Digital Signal Processor
  • ASIC application-specific integrated circuit
  • FPGA field-programmable gate array
  • the general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.
  • an embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the route planning method of the unmanned aerial vehicle in the foregoing embodiment are implemented.
  • the computer-readable storage medium may be a device capable of communicating with an unmanned aerial vehicle described in any of the foregoing embodiments or an internal storage unit of an unmanned aerial vehicle, such as a hard disk or a memory.
  • the computer-readable storage medium may also be a device capable of communicating with an unmanned aerial vehicle or an external storage device of an unmanned aerial vehicle, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), SD card, Flash Card, etc.
  • the computer-readable storage medium may also include a device capable of communicating with an unmanned aerial vehicle or an internal storage unit of an unmanned aerial vehicle as well as an external storage device.
  • the computer-readable storage medium is used to store the computer program and the equipment that communicates with the unmanned aerial vehicle or other programs and data required by the unmanned aerial vehicle, and can also be used to temporarily store data that has been output or will be output .
  • the program can be stored in a computer readable storage medium, and the program can be stored in a computer readable storage medium. During execution, it may include the procedures of the above-mentioned method embodiments.
  • the storage medium may be a magnetic disk, an optical disc, 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)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un procédé et un dispositif de planification d'itinéraire d'un véhicule aérien sans pilote, le procédé consistant à : conformément à des informations de planification d'itinéraire prédéfinies, générer une pluralité de lignes de référence d'itinéraire dans une zone cible (S101) ; acquérir des informations de position d'une zone d'interdiction aérienne dans la zone cible (S102) ; conformément aux informations de position de la zone d'interdiction aérienne, segmenter la zone cible en une pluralité de sous-zones, de sorte que les sous-zones ne chevauchent pas la zone d'interdiction aérienne (S103) ; conformément aux lignes de référence d'itinéraire de la pluralité de sous-zones, déterminer l'ordre d'opération dans les sous-zones de la pluralité de sous-zones et un itinéraire de liaison entre chaque paire de sous-zones adjacentes de l'ordre d'opération (S104) ; et déterminer un itinéraire d'opération du véhicule aérien sans pilote conformément aux lignes de référence d'itinéraire des sous-zones, à l'ordre d'opération dans les sous-zones de la pluralité de sous-zones et aux itinéraires de liaison (S105), le nombre d'intersections de la ligne de référence d'itinéraire de chaque sous-zone avec la présente sous-zone étant inférieur ou égal à 2. De cette manière, le véhicule aérien sans pilote n'a pas besoin d'effectuer plusieurs évitements d'obstacle dans une zone d'interdiction aérienne, ce qui réduit la longueur de l'itinéraire sans opération, et améliore l'efficacité d'opération du véhicule aérien sans pilote.
PCT/CN2019/115739 2019-11-05 2019-11-05 Procédé et dispositif de planification d'itinéraire de véhicule aérien sans pilote Ceased WO2021087750A1 (fr)

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