WO2021088133A1 - Method and system for constructing flight trajectory of multi-rotor unmanned aerial vehicle - Google Patents

Abstract

A method and system for constructing a flight trajectory of a multi-rotor unmanned aerial vehicle (100). The method comprises: acquiring current attitude information of the unmanned aerial vehicle (100) during flight; acquiring target information within a pre-set range according to the current attitude information; marking the acquired target information, and further acquiring flight parameter information according to the current attitude information and the target information, wherein the flight parameter information comprises the altitude, orientation and speed of flight; establishing a flight trajectory coordinate graph of the unmanned aerial vehicle (100) within a set range according to the target information and information of flight parameters to be used; and controlling the unmanned aerial vehicle (100) to complete a flight operation according to the flight trajectory coordinate graph. According to the flight scenario characteristics of the unmanned aerial vehicle (100), a detector (110) is provided on the unmanned aerial vehicle (100) to convert topographic features and topographic trends in a flight scenario of the unmanned aerial vehicle (100) into a real-time three-dimensional topographic map in real time, thereby realizing the self-adjustment of the altitude of flight and realizing safe flight according to real-time topographic changes.

Description

Method and system for constructing flight trajectory of multi-rotor unmanned aerial vehicle Technical field

The invention relates to the technical field of drilling instruments, in particular to a method and system for constructing a multi-rotor drone flight trajectory.

Background technique

When the drone is operating, it needs to plan the flight operation area and flight route, and then fly and operate in the flight operation area according to the flight route. The realization is that fixed-height flight, identification of obstacles in the surrounding environment and real-time obstacle avoidance have become the inevitable trend of the intelligent development of plant protection UAVs. Due to the uncontrollable weather conditions, especially the difficulty of operating under severe weather such as high temperature, high drought, sand and dust, relatively high requirements are put forward for the intelligentization of UAVs.

At present, how can the UAV intelligently avoid the surrounding obstacles in real time based on the preset height in the operating environment with residential buildings, greening construction, power grid facilities, communication facilities, and obstacles with irregular activities? The current need for drones to face and solve problems, and at the same time how to achieve the operation without dead ends is also a major problem in the current drone operation process;

Based on the above, this application provides technical solutions to solve the above technical problems.

Summary of the invention

The purpose of the present invention is to provide a method and system for constructing a flight trajectory of a multi-rotor UAV. According to the characteristics of the UAV flight scene, detectors are arranged on the UAV, and the terrain characteristics and terrain in the UAV flight scene are real-time The trend is converted into a real-time three-dimensional topographic map, so that the UAV can adjust its flight height and fly safely according to the real-time terrain changes. .

The technical scheme provided by the present invention is as follows:

A method for constructing the flight trajectory of a multi-rotor UAV includes:

Obtain the current attitude information of the drone during flight; acquire target information within a preset range according to the current attitude information; mark the acquired target information, and further based on the current attitude information and the target Information to obtain flight parameter information; the flight parameter information includes flight altitude, flight position, and flight speed; according to the target information and the to-be-flight parameter information to establish the drone’s information within the set range Flight trajectory coordinate map; controlling the UAV to complete flight operations according to the flight trajectory coordinate map.

Further preferably, it includes:

The acquisition of the current attitude information and the target information is based on the fact that multiple detectors are set on the drone, and frequency signals are sent and received through the detectors, and the current attitude is further obtained according to the frequency signals sent and received Information; the installation position of a plurality of the detectors constitutes 360° with respect to the set position of the drone.

Further preferably, obtaining the flying height includes:

Obtain the echo time difference between the transmitted signal and the received signal of each of the detectors in the preset transmitting operating frequency; according to the echo time difference and the current speed of light, obtain the difference between the UAV relative to the ground and the target information的 said flying height.

Further preferably, obtaining the flying speed includes:

Obtain the echo frequency difference between the transmit signal and the received signal of each of the detectors within the preset transmit operating frequency; further based on the echo frequency difference, the current speed of light, and the preset transmit operating frequency Acquire the flying speed reached by the current flying height of the drone.

Further preferably, obtaining the flight direction includes:

Obtain the wavelength parameter corresponding to the preset transmitting operating frequency of each of the detectors and the installation distance between the antennas installed on each of the detectors; obtain the corresponding phase difference according to the installation distance between the antennas Further, according to the wavelength parameter, the installation distance and the phase difference, the relative angle detected by each of the detectors at the current flying height of the UAV is obtained according to the trigonometric function relationship; according to the relative angle detected by each of the detectors The angle calculates the flight orientation of the drone.

Further preferably, it includes:

When it is judged that the target information is obstacle information, mark the obstacle within the set flight range; when the drone flies within the preset range around the obstacle, adjust the unmanned aircraft Flight parameters of the aircraft; when it is determined that the target information is not the obstacle information, the UAV normally flies along the set flight trajectory.

Further preferably, adjusting the flight parameters of the UAV includes:

Adjust the flying height of the drone; adjust the flying position of the drone; adjust the flying speed of the drone; when the obstacle is a dynamic obstacle, further adjust the drone to hover Status, or change the current flight trajectory to avoid obstacles.

A system for constructing a flight trajectory of a multi-rotor UAV, which can execute the above-mentioned method for constructing a flight trajectory of a multi-rotor UAV, includes: a controller, a plurality of detectors, a UAV body, and a wing; The detector is installed on the drone body and the wing, and is communicatively connected with the controller; the installation angle of the multiple detectors constitutes 360° with respect to the flight orientation of the drone; An antenna for signal transmission and reception is installed on the device;

The detector is used to obtain the current attitude information of the UAV during the flight;

The controller includes: a data processing module, which performs data calculation processing on the acquired current attitude information of the drone during flight; an information marking module, and acquires target information within a preset range according to the processed current attitude information Mark the acquired target information, the flight parameter acquisition module acquires flight parameter information according to the current attitude information and the target information; the flight parameter information includes flight altitude, flight position, and flight speed; A coordinate map construction module, which establishes a flight trajectory coordinate map of the drone within a set range according to the target information and the to-be-flyed parameter information; a flight control module, the drone is in the flight trajectory coordinate map Complete flight operations.

Further preferably, the flight parameter acquisition module includes:

The flight height calculation unit obtains the echo time difference between the transmitted signal and the received signal of each of the detectors within the preset transmitting operating frequency; according to the echo time difference and the current speed of light, obtains the UAV relative to the ground And the flying height between the target information.

Further preferably, the flight parameter acquisition module includes:

The flight speed calculation unit obtains the echo frequency difference between the transmitted signal and the received signal of each of the detectors within the preset transmitting operating frequency; further based on the echo frequency difference, the current speed of light and the The preset transmitting operating frequency obtains the flying speed reached by the current flying height of the drone.

Further preferably, the flight parameter acquisition module includes:

The flight azimuth calculation unit obtains the wavelength parameter corresponding to the preset transmitting operating frequency of each of the detectors and the installation distance between the antennas installed on each of the detectors; according to the installation distance between the antennas Obtain the corresponding phase difference; further obtain the relative angle detected by each of the detectors at the current flying height of the drone based on the wavelength parameter, the installation distance, and the phase difference according to the trigonometric function relationship; The relative angle detected by the detector calculates the flight orientation of the drone.

The method and system for constructing a multi-rotor drone flight trajectory provided by the present invention bring at least one of the following beneficial effects as follows:

In the present invention, a plurality of detectors are installed on the fuselage of the drone according to the characteristics of the drone flight scene, and the terrain characteristics and terrain trends in the drone flight scene are marked in real time and converted into real-time flight trajectories. , That is, the three-dimensional topographic map, is the drone to a greater extent to adapt to different flight scenarios.

In the present invention, the real-time terrain trend of the building is controlled by the control system to control the flight parameters. The flight track can not only maintain the same height in the horizontal scene, but also can adjust itself according to the real-time terrain changes when the terrain changes. The flying height is safe to fly, ensuring the need for drone control in complex and special operating scenarios.

Description of the drawings

In the following, in a clear and easy-to-understand manner, the preferred embodiments will be described in conjunction with the accompanying drawings, and the above-mentioned characteristics, technical features, advantages and implementation methods of a method and system for constructing a multi-rotor drone flight trajectory will be further described.

Fig. 1 is a structural diagram of an embodiment of a method for constructing a flight trajectory of a multi-rotor UAV according to the present invention;

2 is a schematic diagram of an embodiment of the installation of the multi-rotor UAV detector of the present invention;

3 is a schematic diagram of an embodiment of the installation of the multi-rotor UAV detector of the present invention;

Fig. 4 is a structural diagram of an embodiment of a system for constructing a flight trajectory of a multi-rotor unmanned aerial vehicle according to the present invention.

Detailed ways

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the specific embodiments of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative work, other drawings can be obtained based on these drawings and obtained Other embodiments.

In order to make the drawings concise, the figures in each figure only schematically show the parts related to the present invention, and they do not represent the actual structure of the product as a product.

Referring to FIG. 1, the present invention provides an embodiment of a method for constructing a flight trajectory of a multi-rotor UAV, including

Step S100 obtains the current attitude information of the UAV during the flight;

Step S200 obtains target information within a preset range according to the current posture information;

Step S300 marks the acquired target information, and further acquires flight parameter information according to the current attitude information and target information; the flight parameter information includes flight altitude, flight position, and flight speed;

Step S400 establishes a flight trajectory coordinate map of the drone within a set range according to the target information and the parameter information to be flighted;

Step S500 controls the drone to complete flight operations according to the flight trajectory coordinate map.

Further preferably, it includes:

Specifically, the current attitude information and the acquisition of target information are based on the fact that multiple detectors are installed on the UAV, and frequency signals are sent and received through the detectors, and the current attitude information is further obtained according to the frequency signals sent and received; the installation positions of the multiple detectors The set position relative to the drone constitutes 360°. Install multiple detectors to obtain real-time information within the flight range. The detectors may include radar detectors. Refer to Figures 2 to 3, and install the radar detectors in different settings of the drone. In the embodiment, the detection angle is 120°, including 1-front ground-like radar detection angle of 120°, 2-back ground-like radar detection angle of 120°, 3-fixed-height ground-like radar detection angle of 120°, so there is no One radar on the bottom of the man-machine and two radars on the left and right. The 76-81GHz millimeter-wave radar can radiate 180° and detect the bottom terrain of the drone without dead angles. The specific installation position and number of radar detectors can be adjusted adaptively according to the needs of use, as long as the UAV can achieve detection without blind spots during the flight; in this embodiment, the detection occurs through the detectors. Signals with a certain frequency and receive return signals, so that the real-time attitude information of the drone during flight can be calculated, the predetermined range can be detected based on the real-time attitude information, and whether the target information is an obstacle can be judged according to the received echo frequency difference , Or the target position to be entered, etc. If the obstacle needs to be marked on the constructed flight trajectory (3D map), so as not to affect the flight plan during the flight, the corresponding information detected during the flight is classified and marked, real-time The flight trajectory is established. Therefore, in this embodiment, the target is marked according to the characteristics of the drone flight scene, and at the same time, the detection information is realized in all directions without dead angles during the flight, and the terrain characteristics and terrain in the drone flight scene are real-time Trends, converted into real-time 3D topographic maps, provide an accurate flight basis for drone operations.

Further preferably, step S300 obtaining the flying height specifically includes:

Obtain the echo time difference between the transmitted signal and the received signal of each detector in the preset transmitting operating frequency; according to the echo time difference and the current speed of light, obtain the flying height of the UAV relative to the ground and the target information.

The calculation of the specific flying height is completed by the following formula: R=(1/2)C*ΔT---(1)

R--the flying height of the UAV; C--the speed of light during the flight of the UAV, ΔT--the echo time difference; according to the specific implementation of formula (1), calculate the current altitude of the UAV during flight , In order to adjust its flying height under different operating scenarios.

Further preferably, step S300 obtaining the flight speed specifically includes:

Obtain the echo frequency difference between the transmitted signal and the received signal of each detector within the preset transmit operating frequency; further obtain the flight reached by the current altitude of the UAV according to the echo frequency difference, the current speed of light and the preset transmit operating frequency speed.

The calculation of the specific flight speed is completed by the following formula:

|f _-- f ₊ |--The difference between the echo frequency of the transmitting and receiving, f _o -the preset transmitting working frequency, C-the speed of light during the flight of the UAV, calculated by formula (2) The real-time flight speed of the aircraft during the flight, and the real-time adjustment of the flight speed when it detects that it reaches the operation area or an obstacle.

Further preferably, step S300 obtaining the flight direction specifically includes:

Obtain the wavelength parameters corresponding to the preset transmitting operating frequency of each detector and the installation distance between the antennas installed on each detector; obtain the corresponding phase difference according to the installation distance between the antennas; further according to the wavelength parameter and the installation distance And the phase difference obtains the relative angle detected by each detector at the current flight altitude of the UAV according to the trigonometric function relationship; calculates the flight position of the UAV according to the relative angle detected by each detector.

The calculation of the specific flight position is completed by the following formula:

λ--the wavelength parameter corresponding to the preset transmitting operating frequency f _o , Δφ--the installation distance between the antennas to obtain the corresponding phase difference; l--the installation distance between the antennas installed on each detector; refer to Figure 4 In designing 4 receiving antennas, when the target returns from antenna 5, the distance to each antenna is different, and the distance between the antennas is designed according to the needs of use, and Δφ can be calculated according to the installation distance. The relationship of (3) calculates the angle of the target. Formula (3) is used to calculate the real-time flight position of the UAV during the flight, and adjust the flight position in real time when it detects the arrival of the operation area or obstacle. If the drone is used in agriculture to spray drugs and adjust the position in time during the operation, the pesticides can be sprayed on the crops more accurately.

Further preferably, step S200 specifically includes:

When it is judged that the target information is obstacle information, mark the obstacle within the set flight range; when the drone flies within the preset range around the obstacle, adjust the flight parameters of the drone; judge that the target information is not When obstacle information, the UAV will fly normally along the set flight trajectory.

Further preferably, adjusting the flight parameters of the UAV includes:

Adjust the flying height of the drone; adjust the flying position of the drone; adjust the flying speed of the drone; when the obstacle is a dynamic obstacle, further adjust the drone to hover or change the current flight trajectory , To avoid obstacles.

The technical solution provided in the present invention realizes that the UAV can conduct all-round testing under the complex terrain state by setting up radar detectors at different angles, avoiding blind spots, and integrating the test data to get the flight. Maps. This kind of flight map is real-time and changes with the flight environment of the aircraft. It can realize autonomous precise positioning and autonomous switching of flight altitude without affecting its use requirements.

Refer to Figure 4; the present invention provides an embodiment of a multi-rotor drone flight trajectory construction system, which can execute the above-mentioned multi-rotor drone flight trajectory construction method, the drone 100 includes: control The detector 120, the multiple detectors 110, the drone body and the wing; the detector 100 is installed on the drone body and the wing, and is communicatively connected with the controller 120; the installation angle of the multiple detectors is relative to that of the unmanned The flight position of the aircraft constitutes 360°; each detector is equipped with a signal transmitting and receiving antenna;

The detector 110 is used to obtain the current attitude information of the UAV during the flight;

The controller 120 includes: a data processing module 121, which performs data arithmetic processing on the acquired current attitude information of the drone during flight; an information marking module 122, which acquires target information within a preset range according to the processed current attitude information, Mark the acquired target information, the flight parameter acquisition module 123 acquires flight parameter information according to the current attitude information and target information; the flight parameter information includes flight altitude, flight position, and flight speed; the coordinate map construction module 124, according to the target The information and the flight parameter information establishes the drone's flight trajectory coordinate map within the set range; the flight control module 125 completes the flight operation of the drone on the flight trajectory coordinate map.

Specifically, the current attitude information and the acquisition of target information are based on the fact that multiple detectors are installed on the UAV, and frequency signals are sent and received through the detectors, and the current attitude information is further obtained according to the frequency signals sent and received; the installation positions of the multiple detectors The set position relative to the drone constitutes 360°. Install multiple detectors to obtain real-time information within the flight range. The detectors may include radar detectors. Refer to Figures 2 to 3, and install the radar detectors in different settings of the drone. In the embodiment, the detection angle is 120°, including 1-front ground-like radar detection angle of 120°, 2-back ground-like radar detection angle of 120°, 3-fixed-height ground-like radar detection angle of 120°, so there is no One radar on the bottom of the man-machine and two radars on the left and right 76～81GHz millimeter-wave radar can radiate 180° and detect the bottom terrain of the drone without dead angles. The specific installation position and number of radar detectors can be adjusted adaptively according to the needs of use, as long as the UAV can achieve detection without blind spots during the flight; in this embodiment, the detection occurs through the detectors. Signals with a certain frequency and receive return signals, so that the real-time attitude information of the drone during flight can be calculated, the predetermined range can be detected according to the real-time attitude information, and whether the target information is an obstacle can be judged according to the received echo frequency difference , Or the target position to be entered, etc. If obstacles need to be marked on the constructed flight trajectory (3D map), so as not to affect the flight plan during the flight, the corresponding information detected during the flight is classified and marked, real-time The flight trajectory is established. Therefore, in this embodiment, the target is marked according to the characteristics of the drone flight scene, and at the same time, the detection information is realized in all directions without dead angles during the flight, and the terrain characteristics and terrain in the drone flight scene are real-time Trends, converted into real-time 3D topographic maps, provide an accurate flight basis for drone operations.

Further preferably, the flight parameter acquisition module includes:

The flight height calculation unit obtains the echo time difference between the transmitted signal and the received signal of each detector within the preset transmitting operating frequency; according to the echo time difference and the current speed of light, obtains the difference between the UAV relative to the ground and the target information Flying height.

Further preferably, the flight parameter acquisition module includes:

The flight speed calculation unit obtains the echo frequency difference between the transmitted signal and the received signal of each detector within the preset transmit operating frequency; further obtains the current UAV according to the echo frequency difference, the current speed of light and the preset transmit operating frequency The speed at which the flight altitude is reached.

Further preferably, the flight parameter acquisition module includes:

The flight azimuth calculation unit obtains the wavelength parameters corresponding to the preset transmitting operating frequency of each detector and the installation distance between the antennas installed on each detector; obtains the corresponding phase difference according to the installation distance between the antennas; The wavelength parameters, installation distance and phase difference obtain the relative angle detected by each detector at the current flight altitude of the UAV according to the trigonometric function relationship; calculate the flight orientation of the UAV according to the relative angle detected by each detector.

The acquisition of specific flight parameters has already been described in the above-mentioned embodiments, and will not be described in further detail again.

It should be noted that the above embodiments can be freely combined as required. The above are only the preferred embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be considered This is the protection scope of the present invention.

Claims (11)

A method for constructing a flight trajectory of a multi-rotor unmanned aerial vehicle, which is characterized in that: Obtain the current attitude information of the UAV during the flight; Acquiring target information within a preset range according to the current posture information; Mark the acquired target information, and further acquire flight parameter information according to the current attitude information and the target information; the flight parameter information includes flight altitude, flight position, and flight speed; Establishing a flight trajectory coordinate map of the drone within the set range according to the target information and the parameter information to be flight; Control the drone to complete flight operations according to the flight trajectory coordinate map. The method for constructing a flight trajectory of a multi-rotor unmanned aerial vehicle according to claim 1, characterized in that it comprises: the current attitude information and the acquisition of the target information is based on setting a plurality of probes on the unmanned aerial vehicle. And receive and transmit frequency signals through the detectors, and further obtain the current attitude information according to the transceiver frequency signals; the installation positions of the multiple detectors constitute 360° with respect to the set positions of the drone. The method for constructing a flight trajectory of a multi-rotor UAV according to claim 2, wherein obtaining the flight height comprises: Acquiring the echo time difference between the transmitted signal and the received signal of each of the detectors in the preset transmitting operating frequency; According to the echo time difference and the current speed of light, the flying height of the drone relative to the ground and the target information is acquired. The method for constructing a flight trajectory of a multi-rotor UAV according to claim 3, wherein obtaining the flight speed comprises: Acquiring the echo frequency difference between the transmitted signal and the received signal of each of the detectors within the preset transmitting operating frequency; The flying speed reached by the current flying height of the drone is further obtained according to the echo frequency difference, the current speed of light, and the preset transmitting operating frequency. The method for constructing a flight trajectory of a multi-rotor UAV according to claim 4, wherein acquiring the flight direction comprises: Acquiring the wavelength parameter corresponding to the preset transmitting operating frequency of each of the detectors and the installation distance between the antennas installed on each of the detectors; Obtain the corresponding phase difference according to the installation distance between the antennas; Further obtaining, according to the wavelength parameter, the installation distance, and the phase difference, the relative angle detected by each of the detectors at the current flying height of the drone according to a trigonometric function relationship; The flight orientation of the drone is calculated according to the relative angle detected by each of the detectors. The method for constructing a flight trajectory of a multi-rotor unmanned aerial vehicle according to any one of claims 1 to 5, characterized in that it comprises: when judging that the target information is obstacle information, responding to the obstacle within a set flight range Mark When the drone flies to a preset range around the obstacle, adjusting the flight parameters of the drone; When it is determined that the target information is not the obstacle information, the UAV normally flies along the set flight trajectory. The method for constructing a flight trajectory of a multi-rotor UAV according to claim 6, wherein adjusting the flight parameters of the UAV comprises: Adjusting the flying height of the drone; Adjust the flight plan of the UAV; Adjusting the flying speed of the drone; When the obstacle is a dynamic obstacle, the drone is further adjusted to a hovering state, or the current flight trajectory is changed to avoid obstacles. A system for constructing a flight trajectory of a multi-rotor UAV, which can execute the method for constructing a flight trajectory of a multi-rotor UAV according to any one of claims 1-7, and is characterized in that it comprises: a controller, a plurality of detectors, The drone body and the wings; the detector is installed on the drone body and the wing, and is communicatively connected with the controller; the installation angles of the multiple detectors are formed relative to the flight orientation of the drone 360°; install a signal transceiving antenna on each of the detectors; The detector is used to obtain the current attitude information of the UAV during the flight; The controller includes: The data processing module performs data processing on the acquired current attitude information of the UAV during the flight; The information marking module acquires target information within a preset range according to the current posture information after processing, and marks the acquired target information, A flight parameter acquisition module, which acquires flight parameter information according to the current attitude information and the target information; the flight parameter information includes flight altitude, flight orientation, and flight speed; A coordinate map construction module, which establishes a flight trajectory coordinate map of the drone within a set range according to the target information and the parameter information to be flown; Flight control module, the UAV completes flight operations in the flight trajectory coordinate chart. The system for constructing a flight trajectory of a multi-rotor UAV according to claim 8, wherein the flight parameter acquisition module comprises: The flight height calculation unit obtains the echo time difference between the transmitted signal and the received signal of each of the detectors within the preset transmitting operating frequency; according to the echo time difference and the current speed of light, obtains the UAV relative to the ground And the flying height between the target information. The method for constructing a flight trajectory of a multi-rotor UAV according to claim 9, wherein the flight parameter acquisition module comprises: The flight speed calculation unit obtains the echo frequency difference between the transmitted signal and the received signal of each of the detectors within the preset transmitting operating frequency; further based on the echo frequency difference, the current speed of light and the The preset transmitting operating frequency obtains the flying speed reached by the current flying height of the drone. The system for constructing a flight trajectory of a multi-rotor UAV according to claim 10, wherein the flight parameter acquisition module comprises: The flight azimuth calculation unit obtains the wavelength parameter corresponding to the preset transmitting operating frequency of each of the detectors and the installation distance between the antennas installed on each of the detectors; according to the installation distance between the antennas Obtain the corresponding phase difference; further obtain the relative angle detected by each of the detectors at the current flying height of the drone based on the wavelength parameter, the installation distance, and the phase difference according to the trigonometric function relationship; The relative angle detected by the detector calculates the flight orientation of the drone.

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