CN105549619B - Multi-take-off and landing point route planning method for cruising ability of unmanned aerial vehicle - Google Patents
Multi-take-off and landing point route planning method for cruising ability of unmanned aerial vehicle Download PDFInfo
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Abstract
The invention discloses a multi-take-off and landing point route planning method for the cruising ability of an unmanned aerial vehicle, which is characterized in that the method takes the take-off and landing point of the unmanned aerial vehicle as a parameter for route planning, and divides a survey area according to the limitation of the single flight operation ability of the unmanned aerial vehicle and the distribution of the take-off and landing points. In the invention, a rotor unmanned aerial vehicle operator can designate a take-off and landing point, a flight path planning system can generate a block flight path plan for estimating the take-off and landing point and the unmanned aerial vehicle operation capacity according to the take-off and landing point, the operation range and the operation parameters provided by the operator, and the operator can generate a relatively optimized unmanned aerial vehicle operation flight path by checking and adjusting the generated block flight path. The invention can reduce the flight distance of the rotor unmanned aerial vehicle in actual operation and improve the operation efficiency, and the block flight path planning can support a plurality of unmanned aerial vehicles to carry out cooperative operation on the same survey area.
Description
Technical Field
The invention relates to the technical field of surveying and mapping remote sensing, in particular to a technology and a method for carrying out regional acquisition on an observation area when a rotor unmanned aerial vehicle is difficult to complete the whole operation task in one flight in a large-range aerial photography.
Background
When the unmanned aerial vehicle is used for photogrammetry or remote sensing, the ground target is collected through an optical sensor carried on the unmanned aerial vehicle. In mapping or remote sensing application, the whole and full-coverage image data needs to be acquired for a sensed area, and the range of data which can be acquired in one flight is limited due to the limitation that the unmanned aerial vehicle receives battery capacity and flight control radio communication distance. Therefore, the data acquisition work of the whole large-range measuring area can be completed through a plurality of flights in a large measuring area range.
Unmanned aerial vehicle remote sensing data acquisition generally needs to adopt the sensor to carry out the full coverage collection to survey the district, consequently, the flight path planning generally needs to combine the parameter of unmanned aerial vehicle sensor to set up. Taking photogrammetry application as an example, the existing unmanned aerial vehicle flight path planning method mainly starts from the traditional photogrammetry flight data acquisition requirement, and the considered contents comprise: parameters such as ground resolution, overlapping rate and terrain height, and a method for planning a flight path or dynamically planning a specific area, such as: unmanned aerial vehicle track planning aiming at island mapping, track optimization aiming at dynamically changing a flight plan in a flight process and the like. In addition, the path planning method of many unmanned aerial vehicles mainly aims at the fixed-wing unmanned aerial vehicle, the path that the fixed-wing aircraft flies has great difference with the rotor unmanned aerial vehicle, the fixed wing can not hover and turn, the turning needs to slide at a certain angle in a tilting way, and the rotor unmanned aerial vehicle can hover and directly turn in the air. In addition, in order to avoid the risk of crash caused by the battery, the battery needs to be replaced by taking off and landing, and generally, in order to fully utilize the battery, the flying range is expanded as soon as possible within the range allowed by the battery capacity for one time. Existing methods of flight path planning involve less consideration of this.
Rotor unmanned aerial vehicle's duration is relatively weak, consequently, utilizes rotor unmanned aerial vehicle to carry out on a large scale mapping or in the remote sensing data acquisition, except that the image resolution who needs to gather and can satisfy unmanned aerial vehicle mapping needs, still need frequently take off and land the actual need of changing unmanned aerial vehicle battery. Under the precondition that the flight requirement of a certain density of the measurement area is met, the flying distance of the unmanned aerial vehicle in one operation measurement area is reduced as much as possible, so that the operation cost and the risk in flight can be reduced, and on the other hand, the operation area is expected to be completed in one frame as much as possible. In fact, due to the limitation of endurance, the unmanned aerial vehicle needs to be continuously transferred according to the flight requirement of the unmanned aerial vehicle in the process of power saving flight. Transition means the replacement of the point of origin and landing, and at the same time, the original route is planned. The existing method basically does not consider the characteristics of endurance limit, frequent battery replacement and takeoff at a plurality of take-off and landing points of the rotor unmanned aerial vehicle when the unmanned aerial vehicle operates in a large-range measuring area, and does not estimate the characteristic of cooperative operation of a plurality of unmanned aerial vehicles in the same measuring area. The existing unmanned aerial vehicle operation track planning software mostly originates from the requirement of a fixed wing, does not consider the practical characteristics that a rotor unmanned aerial vehicle needs to plan and replace a battery frequently and needs to transition, and an operation route is relatively short.
Disclosure of Invention
Aiming at the problems, the invention designs a measuring and distinguishing block and a planning method which are required by the rotor unmanned aerial vehicle for carrying out large-range surveying and mapping or remote sensing application. The larger range refers to a range where it is difficult to perform full coverage measurements on one flight deck.
The technical scheme of the invention is to provide a multi-take-off and landing point route planning method for the cruising ability of an unmanned aerial vehicle, which is characterized in that the method takes the take-off and landing point of the unmanned aerial vehicle as a parameter for planning a flight path, and divides a measuring area by combining the distribution of the take-off and landing points according to the limitation of the single flight operation ability of the unmanned aerial vehicle; which comprises the following steps:
(1) the method comprises the following steps that a user draws a flight boundary of a measuring area on a map, and the user sets operation take-off and landing points on the map according to the convenience degree of flight operation on site, the perspective condition and the like;
(2) calculating the flight height required to fly by combining the used optical sensor through parameters such as image resolution and the like specified by a user, or manually specifying the flight height by the user;
(3) the user sets up other flight parameters of unmanned aerial vehicle, include: single flight operation time, flight speed, turning radius and the like;
(4) combining with an overlapped image of an image to be acquired, automatically calculating a flight path line of the whole measuring area by a planning algorithm, wherein the whole flight path line is an initial flight path, and the initial flight path line is partitioned according to a take-off and landing point in subsequent processing;
(5) partitioning the whole measuring area according to the set take-off and landing point of the unmanned aerial vehicle to form sub-blocks, wherein each sub-block is a sub-operation measuring area;
(6) adjusting the sub-blocks: the user can adjust the lifting points, and adjust the number and the positions of the lifting points, and the system can also manually adjust the boundaries of each sub-block according to the manually adjusted lifting points, including operations of adjusting editing of sub-measurement areas, combining mutually adjacent smaller sub-measurement areas and the like;
(7) the adjusted subblocks are checked through calculating the flight path length and the distance between the round-trip take-off and landing points in the subblocks, so that the total flight time required by one subblock to complete is integral multiple of the single flight operation time, the electric energy of a battery replaced each time is conveniently and fully utilized, and the operation efficiency is improved;
(8) the generated flight path of the whole measuring area comprises a block flight path and path information of flying to a take-off and landing point corresponding to each flight path;
(9) the flight operation of the unmanned aerial vehicle can start from a certain take-off and landing point, all the subblocks contained in the take-off and landing point are completed, and then the unmanned aerial vehicle can be sequentially transferred to the next take-off and landing point to gradually complete all the subblocks;
(10) when many unmanned aerial vehicles cooperate the operation, can give different unmanned aerial vehicles with the partitioning operation task, every unmanned aerial vehicle accomplishes respective operation subblock respectively.
Preferably, each sub-block is a relatively independent operation task, the complete flight path of the sub-measurement area needs to be added with the flight distance needed by the round-trip measurement area, and the total flight time does not exceed the single-operation flight endurance limit of the unmanned aerial vehicle; the decomposition of the sub-blocks also needs to consider the height difference of the terrain so as to ensure the pixel resolution of the image acquired on the ground; the boundary range of the sub-block can be manually drawn, or the sub-block can be generated in a semi-automatic mode.
Preferably, the flight path line result automatically subjected to preliminary planning cannot completely meet the actual requirements of flight operators, and manual adjustment is allowed; allowing the takeoff and landing of the drone to be respectively at different points, namely: taking off at one take-off and landing point and landing at another take-off and landing point, such a process may help to improve spot efficiency.
Preferably, the user may specify a plurality of take-off and landing points at which the drone flies within or near the survey area.
Preferably, the flight path planning program plans an overall flight path consisting of a series of block flight paths by combining information such as a take-off and landing point specified by a user, the flight capability of the used unmanned aerial vehicle, preset flight parameters (including flight height, speed, flight time and the like), and the like, wherein the block flight paths are used for considering the flight path necessary for operation, and additionally, the block flight paths are used for ensuring the additional flight distance generated by the take-off and landing point of the unmanned aerial vehicle and the elevation difference in each block so as to ensure reasonable flight distance and ground pixel resolution.
Preferably, the number of the take-off and landing points and the positions of the take-off and landing points can be changed by a user in the operation process of the unmanned aerial vehicle, the operation range of a certain take-off and landing point is adjusted, the planned air route can be adjusted synchronously, and the problem that no loophole or insufficient overlapping degree exists in the whole flight path is guaranteed.
The flight path planning method for the requirement of frequent replacement and frequent taking off and landing of the working battery of the rotor unmanned aerial vehicle and multiple transition in the operation can enable the rotor unmanned aerial vehicle to be more suitable for the practical application of surveying and mapping and remote sensing. In the invention, a rotor unmanned aerial vehicle operator can designate a take-off and landing point, a flight path planning system can generate a block flight path plan for estimating the take-off and landing point and the unmanned aerial vehicle operation capacity according to the take-off and landing point, the operation range and the operation parameters provided by the operator, and the operator can generate a relatively optimized unmanned aerial vehicle operation flight path by checking and adjusting the generated block flight path. The invention can reduce the flight distance of the rotor unmanned aerial vehicle in actual operation and improve the operation efficiency, and the block flight path planning can support a plurality of unmanned aerial vehicles to carry out cooperative operation on the same survey area.
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FIG. 1 is a schematic diagram of the operation range of the manual delineation of the preferred embodiment of the present invention;
FIG. 2 is a schematic view of the selected unmanned aerial vehicle take-off and landing points within the operational range of the preferred embodiment of the present invention;
fig. 3 is a schematic diagram of sub-blocks generated according to the takeoff and landing points of the unmanned aerial vehicle according to the preferred embodiment of the invention.
Detailed Description
The following describes in further detail embodiments of the present invention.
As shown in fig. 1 and fig. 2, the method for planning routes with multiple take-off and landing points for the cruising ability of an unmanned aerial vehicle is characterized in that the method uses the take-off and landing points of the unmanned aerial vehicle as a parameter for route planning, and divides a survey area according to the limitation of the single flight operation ability of the unmanned aerial vehicle and the distribution of the take-off and landing points; which comprises the following steps:
(1) the method comprises the following steps that a user draws a flight boundary of a measuring area on a map, and the user sets operation take-off and landing points on the map according to the convenience degree of flight operation on site, the perspective condition and the like;
(2) calculating the flight height required to fly by combining the used optical sensor through parameters such as image resolution and the like specified by a user, or manually specifying the flight height by the user;
(3) the user sets up other flight parameters of unmanned aerial vehicle, include: single flight operation time, flight speed, turning radius and the like;
(4) combining with an overlapped image of an image to be acquired, automatically calculating a flight path line of the whole measuring area by a planning algorithm, wherein the whole flight path line is an initial flight path, and the initial flight path line is partitioned according to a take-off and landing point in subsequent processing;
(5) partitioning the whole measuring area according to the set take-off and landing point of the unmanned aerial vehicle to form sub-blocks, wherein each sub-block is a sub-operation measuring area;
(6) adjusting the sub-blocks: the user can adjust the lifting points, and adjust the number and the positions of the lifting points, and the system can also manually adjust the boundaries of each sub-block according to the manually adjusted lifting points, including operations of adjusting editing of sub-measurement areas, combining mutually adjacent smaller sub-measurement areas and the like;
(7) the adjusted subblocks are checked through calculating the flight path length and the distance between the round-trip take-off and landing points in the subblocks, so that the total flight time required by one subblock to complete is integral multiple of the single flight operation time, the electric energy of a battery replaced each time is conveniently and fully utilized, and the operation efficiency is improved;
(8) the generated flight path of the whole measuring area comprises a block flight path and path information of flying to a take-off and landing point corresponding to each flight path;
(9) the flight operation of the unmanned aerial vehicle can start from a certain take-off and landing point, all the subblocks contained in the take-off and landing point are completed, and then the unmanned aerial vehicle can be sequentially transferred to the next take-off and landing point to gradually complete all the subblocks;
(10) when many unmanned aerial vehicles cooperate the operation, can give different unmanned aerial vehicles with the partitioning operation task, every unmanned aerial vehicle accomplishes respective operation subblock respectively.
Each sub-block is a relatively independent operation task, the complete flight path of the sub-measurement area needs to be added with the flight distance needed by the round-trip measurement area, and the total flight time does not exceed the single-operation flight endurance time limit of the unmanned aerial vehicle; the decomposition of the sub-blocks also needs to consider the height difference of the terrain so as to ensure the pixel resolution of the image acquired on the ground; the boundary range of the sub-block can be manually drawn, or the sub-block can be generated in a semi-automatic mode.
The flight path line result automatically subjected to preliminary planning cannot completely meet the actual requirements of flight operators, and manual adjustment is allowed; allowing the takeoff and landing of the drone to be respectively at different points, namely: taking off at one take-off and landing point and landing at another take-off and landing point, such a process may help to improve spot efficiency.
Wherein, the user can appoint the take-off and landing point that a plurality of unmanned aerial vehicle fly by plane in the survey district or near the survey district.
The air route planning program plans an overall track consisting of a series of block tracks by combining information such as a take-off and landing point designated by a user, the flight capability of the used unmanned aerial vehicle, preset flight parameters (including flight height, speed, flight time and the like), and the like, wherein the block tracks are used for considering the tracks necessary for operation, and additionally, the block tracks are used for ensuring reasonable flight distance and ground pixel resolution by using additional flight distance generated by the take-off and landing point of the unmanned aerial vehicle and elevation difference in each block.
The number of the take-off and landing points and the positions of the take-off and landing points can be changed by a user in the operation process of the unmanned aerial vehicle, the operation range of a certain take-off and landing point is adjusted, the planned air route can be adjusted synchronously, and the problem that no loophole or insufficient overlapping degree exists in the whole flight path is guaranteed.
As shown in fig. 1, fig. 1 is a work task range drawn by a human.
As shown in FIG. 2, FIG. 2 manually increases the possible take-off and landing points during a job task. The dots in the figure are the rising and falling points in the work task area, and the rising and falling points may not be limited to the work task area.
As shown in fig. 3, fig. 3 shows sub-blocks corresponding to each take-off and landing point generated according to the job task. Each cell is typically capable of performing one sub-block of operations. Each sub-block is polygonal in shape.
The multiple block tracks of the invention can share one take-off and landing point. The processing mode of the track block considers the extra flight distance required by the battery replacement of the unmanned aerial vehicle on one hand, and can support the combined operation of multiple unmanned aerial vehicles on the other hand. When the multi-machine combined operation, each unmanned aerial vehicle can fly an independent block flight path, so that mutual interference is avoided.
The flight path planning method for the requirement of frequent replacement and frequent taking off and landing of the working battery of the rotor unmanned aerial vehicle and multiple transition in the operation can enable the rotor unmanned aerial vehicle to be more suitable for the practical application of surveying and mapping and remote sensing. In the invention, a rotor unmanned aerial vehicle operator can designate a take-off and landing point, a flight path planning system can generate a block flight path plan for estimating the take-off and landing point and the unmanned aerial vehicle operation capacity according to the take-off and landing point, the operation range and the operation parameters provided by the operator, and the operator can generate a relatively optimized unmanned aerial vehicle operation flight path by checking and adjusting the generated block flight path. The invention can reduce the flight distance of the rotor unmanned aerial vehicle in actual operation and improve the operation efficiency, and the block flight path planning can support a plurality of unmanned aerial vehicles to carry out cooperative operation on the same survey area.
The above embodiment is only one embodiment of the present invention, and the description thereof is specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (6)
1. A multi-take-off and landing point route planning method for the cruising ability of an unmanned aerial vehicle is characterized in that the method uses the take-off and landing point of the unmanned aerial vehicle as a parameter for route planning, and divides a measuring area according to the limitation of the single flight operation ability of the unmanned aerial vehicle and the distribution of the take-off and landing points; which comprises the following steps:
(1) the method comprises the following steps that a user draws a flight boundary of a measuring area on a map, and the user sets operation take-off and landing points on the map according to the convenience degree of flight operation on site and the perspective condition;
(2) calculating the flight height required to fly by combining the used optical sensor through the image resolution parameter specified by the user, or manually specifying the flight height by the user;
(3) the user sets up other flight parameters of unmanned aerial vehicle, include: single flight operation time, flight speed and turning radius;
(4) combining with an overlapped image of an image to be acquired, automatically calculating a flight path line of the whole measuring area by a planning algorithm, wherein the whole flight path line is an initial flight path, and the initial flight path line is partitioned according to a take-off and landing point in subsequent processing;
(5) partitioning the whole measuring area according to the set take-off and landing point of the unmanned aerial vehicle to form sub-blocks, wherein each sub-block is a sub-operation measuring area;
(6) adjusting the sub-blocks: the user adjusts the lifting points, adjusts the number and the positions of the lifting points, and the system manually adjusts the boundaries of each sub-block according to the manually adjusted lifting points, including the adjustment of the sub-operation measuring areas and the combination of the small sub-operation measuring areas which are adjacent to each other;
(7) the adjusted subblocks are checked through calculating the flight path length and the distance between the round-trip take-off and landing points in the subblocks, so that the total flight time required by one subblock to complete is integral multiple of the single flight operation time, the electric energy of a battery replaced each time is conveniently and fully utilized, and the operation efficiency is improved;
(8) the generated flight path of the whole measuring area comprises a block flight path and path information of flying to a take-off and landing point corresponding to each flight path;
(9) the flight operation of the unmanned aerial vehicle starts from a certain take-off and landing point, all the subblocks contained in the take-off and landing point are completed, and then the unmanned aerial vehicle can be sequentially transferred to the next take-off and landing point to gradually complete all the subblocks;
(10) when the unmanned aerial vehicles work in a cooperative mode, the blocking operation tasks are sent to different unmanned aerial vehicles, and each unmanned aerial vehicle completes each operation sub-block respectively.
2. The method of claim 1, wherein the method comprises the steps of: each sub-block is a relatively independent operation task, the flight distance required by the round trip measurement area is added to the complete flight path of the sub-operation measurement area, and the total flight time does not exceed the single-operation flight endurance time limit of the unmanned aerial vehicle; the decomposition of the sub-blocks also needs to consider the height difference of the terrain so as to ensure the pixel resolution of the image acquired on the ground; the boundary range of the sub-block is manually drawn or the sub-block is generated in a semi-automatic mode.
3. The method of claim 1, wherein the method comprises the steps of: the automatic preliminary planning trajectory results cannot be guaranteed to completely meet the actual needs of aviation operators, and manual adjustment is allowed; allowing the takeoff and landing of the drone to be respectively at different points, namely: taking off at one take-off and landing point and landing at another take-off and landing point, such a process helps to improve spot efficiency.
4. The method of claim 1, wherein the method comprises the steps of: the user appoints a plurality of unmanned aerial vehicle take-off and landing points of flying in the survey area or near the survey area.
5. The method of claim 1, wherein the method comprises the steps of: combining a take-off and landing point designated by a user, the flight capability of the used unmanned aerial vehicle and preset flight parameter information comprising the flight altitude, the speed and the flight time; the air route planning program plans an integral track consisting of a series of block tracks, and the block tracks also consider the extra flight distance generated by the back-and-forth taking-off and landing points of the unmanned aerial vehicle and the elevation difference in each block besides the tracks necessary for operation so as to ensure reasonable flight distance and ground pixel resolution.
6. The method of claim 1, wherein the method comprises the steps of: the number of the take-off and landing points and the positions of the take-off and landing points are changed by a user in the operation process of the unmanned aerial vehicle, and the operation range of a certain take-off and landing point is adjusted, the planned air route can be adjusted synchronously, and the problem that no loophole occurs or the problem that the overlapping degree is not enough is solved in the whole flight path is guaranteed.
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