CN113961019A - Path planning method, control device, shooting device and unmanned aerial vehicle - Google Patents
Path planning method, control device, shooting device and unmanned aerial vehicle Download PDFInfo
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Abstract
The invention relates to the technical field of unmanned aerial vehicles, and discloses a path planning method based on an unmanned aerial vehicle, a control device, a shooting device and the unmanned aerial vehicle, obtaining the distance between the unmanned aerial vehicle and the target object through a distance measuring device, obtaining the current position coordinate of the unmanned aerial vehicle, the current pitching angle of the holder and the current course angle of the holder, determining the position coordinate of the target object according to the distance between the unmanned aerial vehicle and the target object, the current position coordinate, the current pitching angle and the current course angle, then the position coordinates of the target object and the position coordinates of the remote control terminal are sent to the remote control terminal, so that the remote control terminal can conveniently carry out path planning according to the position coordinates of the target object and the position coordinates of the remote control terminal, like this, unmanned aerial vehicle need not to fly to the target object to can acquire accurate target object position coordinate, conveniently realize path planning.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a path planning method, a control device, a shooting device and an unmanned aerial vehicle based on the unmanned aerial vehicle.
Background
At present, in the existing unmanned aerial vehicle navigation path planning, a starting point GPS coordinate of an unmanned aerial vehicle airplane is mostly adopted, meanwhile, the airplane flies to a target position to obtain the GPS coordinate, the starting point is obtained, the distance path is calculated by calculating the coordinate through external software, and a path planning scheme from the starting point to the end point is obtained. In the existing mode, multipoint target coordinates are collected, an unmanned aerial vehicle is mostly adopted to fly to a target position for multiple times for dotting, GPS coordinates are recorded, and the coordinates are transmitted to a computing platform to be computed and output to corresponding equipment. This approach has the following disadvantages:
1. when unmanned aerial vehicle dotts the target position, need fly to the target and carry out many times the record, it is very loaded down with trivial details to fly the process in proper order, appears omitting easily.
2. When unmanned aerial vehicle flies many times and gets a point, if the target object distance is far away, then unmanned aerial vehicle need fly longer distance, and communication distance requires too high, probably leads to the communication to break.
3. When unmanned aerial vehicle flies to the target object and gets ready, can't accurate stop on the target, lead to the initial data that gathers to have the deviation, influence the computational result.
4. And after the dotting information needs to be transmitted back to the background for calculation, providing a path planning scheme for the user equipment.
Disclosure of Invention
The embodiment of the invention aims to provide a path planning method, a control device, a shooting device and an unmanned aerial vehicle based on the unmanned aerial vehicle, wherein the unmanned aerial vehicle can obtain accurate position coordinates of a target object without flying to the target object, and the path planning is conveniently realized.
In order to solve the technical problem, an embodiment of the present invention provides a path planning method based on an unmanned aerial vehicle, where the unmanned aerial vehicle is provided with a pan-tilt and a distance measuring device, and the distance measuring device is installed on the pan-tilt; the method comprises the following steps:
acquiring the distance between the unmanned aerial vehicle and a target object through the distance measuring device;
acquiring the current position coordinate of the unmanned aerial vehicle, the current pitch angle of the holder and the current course angle of the holder;
determining the position coordinate of the target object according to the distance between the unmanned aerial vehicle and the target object, the current position coordinate, the current pitching angle and the current heading angle;
acquiring a position coordinate of the remote control terminal;
sending the path planning information to a remote control terminal; the path planning information comprises position coordinates of the remote control terminal and position coordinates of the target object; and the remote control terminal can plan a path according to the position coordinate of the remote control terminal and the position coordinate of the target object.
Preferably, the current position coordinates include a current latitude and longitude of the drone; the position coordinates of the target object comprise the latitude and longitude of the target object; the determining the position coordinate of the target object according to the distance between the unmanned aerial vehicle and the target object, the current position coordinate, the current pitch angle and the current heading angle specifically comprises:
the latitude and longitude of the target are calculated by the following formula:
α = distance / EARTHRADIUS_KM；
azimuth1 = azimuth * (π / 180)；
end_pos.lat = asin(sin(p1.lat) * cosα + cos(p1.lat) * sinα* cos(azimuth1))；
end_pos.lon = p1.lon + atan2(sin(azimuth1) * sinα * cos(p1.lat), cosα - sin(p1.lat) * sin(end_pos.lat))；
lat is the latitude of the target object; lon is the longitude of the target; p1.lat is the current latitude of the unmanned aerial vehicle; p1.lon is the current longitude of the unmanned aerial vehicle; distance is the distance between the unmanned aerial vehicle and a target object; EARTHRADIUS _ KM is the radius of the earth; azimuth is the current course angle; azimuth1 represents the current heading angle after conversion to radians.
As a preferred scheme, the current position coordinates further include a current elevation of the unmanned aerial vehicle; the position coordinates of the target object also comprise the elevation of the target object; the determining the position coordinate of the target object according to the distance between the unmanned aerial vehicle and the target object, the current position coordinate, the current pitch angle and the current course angle further comprises:
calculating the elevation of the target by the following formula:
end_pos.h = p1.h + distance * sinθ;
wherein end _ pos.h is the elevation of the target object; p1.h is the current elevation of the unmanned aerial vehicle; theta is the current pitch angle, the current pitch angle is a positive direction upward relative to the horizontal direction, and a negative direction downward relative to the horizontal direction.
As a preferred scheme, the path planning is performed by the remote control terminal according to the position coordinates of the remote control terminal and the position coordinates of the target object, and specifically includes:
the remote control terminal calls a map;
and planning a path based on the map according to the position coordinate of the remote control terminal and the position coordinate of the target object.
Preferably, after the obtaining of the position coordinates of the remote control terminal, the method further includes:
determining the distance between the remote control terminal and the target object according to the position coordinate of the remote control terminal and the position coordinate of the target object;
and sending the distance between the remote control terminal and the target object to the remote control terminal so that the remote control terminal displays the distance between the remote control terminal and the target object and the position coordinate of the target object.
As a preferred scheme, the remote control terminal further generates a two-dimensional code according to the position coordinates of the target object;
the two-dimensional code can be recognized by the mobile terminal, the mobile terminal can call the map after recognizing the position coordinates of the target object contained in the two-dimensional code, and path planning is carried out based on the map according to the position coordinates of the target object and the current position coordinates of the mobile terminal.
As a preferred scheme, the distance measuring device comprises a laser distance measuring module; then pass through distance measuring device obtains the distance between unmanned aerial vehicle and the target object, specifically includes: and acquiring the distance between the unmanned aerial vehicle and the target object through the laser ranging module.
In order to solve the same technical problem, an embodiment of the present invention further provides a control device, including:
the distance acquisition module is used for acquiring the distance between the unmanned aerial vehicle and the target object through the distance measuring device; the unmanned aerial vehicle is provided with a holder and a distance measuring device, and the distance measuring device is installed on the holder;
the unmanned aerial vehicle position acquisition module is used for acquiring the current position coordinate of the unmanned aerial vehicle, the current pitch angle of the holder and the current course angle of the holder;
the target position coordinate determination module is used for determining the position coordinate of the target object according to the distance between the unmanned aerial vehicle and the target object, the current position coordinate, the current pitching angle and the current heading angle;
the remote control terminal position acquisition module is used for acquiring the position coordinates of the remote control terminal;
the sending module is used for sending the path planning information to the remote control terminal; the path planning information comprises position coordinates of the remote control terminal and position coordinates of the target object; and the remote control terminal can plan a path according to the position coordinate of the remote control terminal and the position coordinate of the target object.
In order to solve the same technical problem, an embodiment of the present invention further provides a shooting device for an unmanned aerial vehicle, including a camera, a cradle head, a distance measuring device and the control device, where the camera, the distance measuring device and the control device are all installed on the cradle head, and the cradle head is used for being installed on a body of the unmanned aerial vehicle.
In order to solve the same technical problem, the embodiment of the invention also provides the unmanned aerial vehicle which comprises a remote control terminal and the shooting device of the unmanned aerial vehicle.
Compared with the prior art, the embodiment of the invention has the beneficial effects that: the embodiment of the invention provides a path planning method based on an unmanned aerial vehicle, which comprises the steps of firstly, obtaining the distance between the unmanned aerial vehicle and a target object through a distance measuring device, obtaining the current position coordinate of the unmanned aerial vehicle, the current pitch angle of a holder and the current course angle of the holder, determining the position coordinate of the target object according to the distance between the unmanned aerial vehicle and the target object, the current position coordinate, the current pitch angle and the current course angle, and then sending the position coordinate of the target object and the position coordinate of a remote control terminal to the remote control terminal, so that the remote control terminal can plan paths according to the position coordinate of the target object and the position coordinate of the remote control terminal. Meanwhile, the embodiment of the invention also correspondingly provides a control device, a shooting device of the unmanned aerial vehicle and the unmanned aerial vehicle.
Drawings
Fig. 1 is a flow chart of a method for unmanned aerial vehicle-based path planning in an embodiment provided by the present invention;
fig. 2 is a flow chart of a method of drone-based path planning in another embodiment provided by the present invention;
fig. 3 is a block diagram of a control device in the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 shows a flowchart of a path planning method based on an unmanned aerial vehicle according to an embodiment of the present invention.
The unmanned aerial vehicle is provided with a cloud deck and a distance measuring device, and the distance measuring device is installed on the cloud deck; the path planning method based on the unmanned aerial vehicle provided by the embodiment of the invention comprises the following steps:
step S101, acquiring the distance between the unmanned aerial vehicle and a target object through the distance measuring device;
step S102, acquiring the current position coordinate of the unmanned aerial vehicle, the current pitch angle of the holder and the current course angle of the holder;
step S103, determining the position coordinate of the target object according to the distance between the unmanned aerial vehicle and the target object, the current position coordinate, the current pitch angle and the current course angle;
step S104, acquiring position coordinates of the remote control terminal;
step S105, sending the path planning information to a remote control terminal; the path planning information comprises position coordinates of the remote control terminal and position coordinates of the target object; and the remote control terminal can plan a path according to the position coordinate of the remote control terminal and the position coordinate of the target object.
In the embodiment of the invention, firstly, the distance between the unmanned aerial vehicle and the target object is obtained through the distance measuring device, the current position coordinate of the unmanned aerial vehicle, the current pitch angle of the holder and the current course angle of the holder are obtained, then the position coordinate of the target object is determined according to the distance between the unmanned aerial vehicle and the target object, the current position coordinate, the current pitch angle and the current course angle, and then the position coordinate of the target object and the position coordinate of the remote control terminal are sent to the remote control terminal, so that the remote control terminal can carry out path planning according to the position coordinate of the target object and the position coordinate of the remote control terminal.
In a specific implementation, the holder may be, for example, a three-axis holder, the three-axis holder is provided with a heading axis, a pitch axis and a roll axis, and an angle of each axis can be obtained by providing a sensor. In practical application, can install the camera on the cloud platform, operating personnel can control unmanned aerial vehicle and fly to suitable position and hover, can pass to the remote control terminal through the picture of camera shooting and show, and operating personnel can observe the target object through the picture of camera shooting, can also give unmanned aerial vehicle through remote control terminal give the instruction, lets the motion of unmanned aerial vehicle control cloud platform to drive range unit and aim at the target object. Distance measuring device can include the laser rangefinder module for example, install the every single move axle at the triaxial cloud platform with the laser rangefinder module, thereby can carry out laser rangefinder, record the distance between target object and the unmanned aerial vehicle, the precision is higher, thereby the precision of the coordinate of follow-up calculation target object has been ensured, the coordinate of the target object of calculating like this is high than current unmanned aerial vehicle flight dotting positioning accuracy, in practical application, can restrain unmanned aerial vehicle self shake effectively through cloud platform anti-shake and lead to laser rangefinder data error. In addition, the unmanned aerial vehicle does not need to fly to different places frequently, but can hover in the air to measure a plurality of targets, and the measurement efficiency is extremely high.
For example, in the night concealed investigation, after a suspected target is found by a camera of the unmanned aerial vehicle at night, an inspector or a command hall can acquire accurate coordinates of the accurate suspected target, so that an optimal path for capturing can be rapidly planned. Of course, the unmanned aerial vehicle-based path planning method provided by the embodiment of the invention can also be used in other scenes, such as rescue scenes, and the like, and further description is omitted here.
In an alternative embodiment, the current location coordinates include the current latitude and longitude of the drone; the position coordinates of the target object comprise the latitude and longitude of the target object; the step S103 "determining the position coordinate of the target object according to the distance between the unmanned aerial vehicle and the target object, the current position coordinate, the current pitch angle, and the current heading angle" specifically includes:
the latitude and longitude of the target are calculated by the following formula:
α = distance / EARTHRADIUS_KM；
azimuth1 = azimuth * (π / 180)；
end_pos.lat = asin(sin(p1.lat) * cosα + cos(p1.lat) * sinα * cos(azimuth1))；
end_pos.lon = p1.lon + atan2(sin(azimuth1) * sinα * cos(p1.lat), cosα - sin(p1.lat) * sin(end_pos.lat))；
lat is the latitude of the target object; lon is the longitude of the target; p1.lat is the current latitude of the unmanned aerial vehicle; p1.lon is the current longitude of the unmanned aerial vehicle; distance is the distance between the unmanned aerial vehicle and a target object; EARTHRADIUS _ KM is the radius of the earth; azimuth is the current course angle; azimuth1 represents the current heading angle after conversion to radians. In one embodiment, the earthharius _ KM may be, for example, 6378 KM.
In a specific implementation, azimuth is 0-360 degrees clockwise in azimuth, i.e., the relative angle of the drone to the target (0 degrees right in front and 180 degrees right behind). In the embodiment of the invention, the latitude and longitude of the target object are calculated through the distance between the unmanned aerial vehicle and the target object, the current position coordinate, the current pitching angle and the current heading angle, so that the position coordinate of the target object with high accuracy is obtained, an operator can be guided conveniently, the operation is convenient, additional equipment is not needed for storing data, and the remote control terminal does not need complicated operations such as calculation.
In an alternative embodiment, the current position coordinates further include a current elevation of the drone; the position coordinates of the target object also comprise the elevation of the target object; the step S103 "determining the position coordinate of the target object according to the distance between the unmanned aerial vehicle and the target object, the current position coordinate, the current pitch angle, and the current heading angle", further includes:
calculating the elevation of the target by the following formula:
end_pos.h = p1.h - distance * sinθ;
wherein end _ pos.h is the elevation of the target object; p1.h is the current elevation of the unmanned aerial vehicle; theta is the current pitch angle, the current pitch angle is a positive direction upward relative to the horizontal direction, and a negative direction downward relative to the horizontal direction.
In the embodiment of the present invention, elevation refers to altitude. According to the embodiment of the invention, the position of the target object can be more accurately acquired by calculating the elevation of the target object.
In an alternative embodiment, in the step S104, "acquiring the position coordinates of the remote control terminal", specifically, the position coordinates of the remote control terminal may be acquired through a distance measuring device, or a takeoff position may be recorded when the unmanned aerial vehicle takes off, and the takeoff position is taken as the position coordinates of the remote control terminal, because in practical applications, an operator generally approaches the position of the unmanned aerial vehicle when taking off. Of course, different manners of obtaining the position coordinates of the remote control terminal may be adopted according to actual use requirements, and further details are not described herein.
In an optional implementation manner, the path planning performed by the remote control terminal according to the position coordinates of the remote control terminal and the position coordinates of the target object specifically includes:
the remote control terminal calls a map;
and planning a path based on the map according to the position coordinate of the remote control terminal and the position coordinate of the target object.
For example, referring to fig. 2, in an implementation, when the remote control terminal receives the position coordinates of the remote control terminal and the position coordinates of the target object, information such as the position coordinates of the remote control terminal and the position coordinates of the target object may be displayed to the operator through a screen as needed. In practical application, a button for one-key path planning can be arranged on the remote control terminal, after an operator presses the button, the remote control terminal calls a map, then performs path planning according to the position coordinates of the remote control terminal and the position coordinates of the target object and based on the map, and the operation is very simple and convenient. Of course, after the remote control terminal receives the position coordinates of the remote control terminal and the position coordinates of the target object, only the information may be displayed, and the operator may select whether to press the "one-button path planning" button according to the actual requirement to determine whether to perform the path planning, which is not described herein.
In an optional implementation manner, after the obtaining of the position coordinates of the remote control terminal, the method further includes:
determining the distance between the remote control terminal and the target object according to the position coordinate of the remote control terminal and the position coordinate of the target object;
and sending the distance between the remote control terminal and the target object to the remote control terminal so that the remote control terminal displays the distance between the remote control terminal and the target object and the position coordinate of the target object.
Referring to fig. 2, in a specific implementation, the distance between the remote control terminal and the target object may be calculated according to the obtained position coordinates of the target object and the position coordinates of the remote control terminal, and then the unmanned aerial vehicle sends the distance and the position of the target object to the remote control terminal for displaying, so that an operator can know the position coordinates of the target object conveniently.
In an optional implementation manner, the remote control terminal further generates a two-dimensional code according to the position coordinates of the target object;
the two-dimensional code can be recognized by the mobile terminal, the mobile terminal can call the map after recognizing the position coordinates of the target object contained in the two-dimensional code, and path planning is carried out based on the map according to the position coordinates of the target object and the current position coordinates of the mobile terminal.
In specific implementation, the mobile terminal may be, for example, a mobile phone, a tablet computer, a smart watch, and the like, and the two-dimensional code is scanned by a camera of the mobile terminal, so that information such as a position coordinate of a target object included in the two-dimensional code is identified, and a map may be called to perform path planning. For example, after an operator obtains the position coordinates of the target object through the unmanned aerial vehicle, the rescue personnel can scan the two-dimensional code through the mobile terminal and call the map to perform path planning, so that the rescue personnel can be conveniently and quickly guided to a target rescue place to rescue, in particular, when a plurality of target rescue places exist, the unmanned aerial vehicle can also respectively measure the plurality of target rescue places and send the position coordinates of the plurality of target rescue places to the remote control terminal, different rescue personnel can respectively call the map to perform path planning according to the corresponding two-dimensional code, and thus, when in rescue, the requirement of the plurality of target rescue places can be met by only carrying one unmanned aerial vehicle, the rescue cost is reduced, and the weight of a carried object is also reduced. Of course, the method provided by the embodiment of the present invention is not limited to the rescue scenario, and is not further described herein.
In an alternative embodiment, the ranging device comprises a laser ranging module; then pass through distance measuring device obtains the distance between unmanned aerial vehicle and the target object, specifically includes: and acquiring the distance between the unmanned aerial vehicle and the target object through the laser ranging module.
Exemplarily, the laser rangefinder module is equipped with transmitting terminal and receiving terminal, can acquire the relative distance of target object and laser rangefinder module through laser rangefinder, in the middle of the concrete implementation, can regard this relative distance as the distance between unmanned aerial vehicle and the target object. Of course, the distance measuring device is not limited to the laser distance measuring technology, can also measure the distance based on technologies such as camera range finding, only need satisfy it can accurate measurement unmanned aerial vehicle and the distance between the target object can, do not do more here and describe repeatedly.
Accordingly, referring to fig. 3, an embodiment of the present invention further provides a control device, including:
a distance acquisition module 100, configured to acquire a distance between the unmanned aerial vehicle and a target object through a distance measurement device; the unmanned aerial vehicle is provided with a cloud deck and the distance measuring device, and the distance measuring device is installed on the cloud deck;
an unmanned aerial vehicle position acquisition module 200, configured to acquire a current position coordinate of the unmanned aerial vehicle, a current pitch angle of the pan-tilt, and a current course angle of the pan-tilt;
a target position coordinate determination module 300, configured to determine a position coordinate of a target object according to a distance between the unmanned aerial vehicle and the target object, the current position coordinate, the current pitch angle, and the current heading angle;
a remote control terminal position obtaining module 400, configured to obtain a position coordinate of a remote control terminal;
a sending module 500, configured to send the path planning information to a remote control terminal; the path planning information comprises position coordinates of the remote control terminal and position coordinates of the target object; and the remote control terminal can plan a path according to the position coordinate of the remote control terminal and the position coordinate of the target object.
In an alternative embodiment, the current location coordinates include the current latitude and longitude of the drone; the position coordinates of the target object comprise the latitude and longitude of the target object; the target location coordinate determination module 300 is specifically configured to calculate the latitude and longitude of the target object by the following formulas:
α = distance / EARTHRADIUS_KM；
azimuth1 = azimuth * (π / 180)；
end_pos.lat = asin(sin(p1.lat) * cosα + cos(p1.lat) * sinα * cos(azimuth1))；
end_pos.lon = p1.lon + atan2(sin(azimuth1) * sinα * cos(p1.lat), cosα - sin(p1.lat) * sin(end_pos.lat))；
lat is the latitude of the target object; lon is the longitude of the target; p1.lat is the current latitude of the unmanned aerial vehicle; p1.lon is the current longitude of the unmanned aerial vehicle; distance is the distance between the unmanned aerial vehicle and a target object; EARTHRADIUS _ KM is the radius of the earth; azimuth is the current course angle; azimuth1 represents the current heading angle after conversion to radians.
In an alternative embodiment, the current position coordinates further include a current elevation of the drone; the position coordinates of the target object also comprise the elevation of the target object; the target position coordinate determination module 300 is further configured to calculate the elevation of the target object by the following formula:
end_pos.h = p1.h - distance * sinθ;
wherein end _ pos.h is the elevation of the target object; p1.h is the current elevation of the unmanned aerial vehicle; theta is the current pitch angle, the current pitch angle is a positive direction upward relative to the horizontal direction, and a negative direction downward relative to the horizontal direction.
In an optional implementation manner, the path planning performed by the remote control terminal according to the position coordinates of the remote control terminal and the position coordinates of the target object specifically includes:
the remote control terminal calls a map;
and planning a path based on the map according to the position coordinate of the remote control terminal and the position coordinate of the target object.
In an optional implementation manner, after the obtaining of the position coordinates of the remote control terminal, the method further includes:
determining the distance between the remote control terminal and the target object according to the position coordinate of the remote control terminal and the position coordinate of the target object;
and sending the distance between the remote control terminal and the target object to the remote control terminal so that the remote control terminal displays the distance between the remote control terminal and the target object and the position coordinate of the target object.
In an optional implementation manner, the remote control terminal further generates a two-dimensional code according to the position coordinates of the target object;
the two-dimensional code can be recognized by the mobile terminal, the mobile terminal can call the map after recognizing the position coordinates of the target object contained in the two-dimensional code, and path planning is carried out based on the map according to the position coordinates of the target object and the current position coordinates of the mobile terminal.
In an alternative embodiment, the ranging device comprises a laser ranging module; then pass through distance measuring device obtains the distance between unmanned aerial vehicle and the target object, specifically includes: and acquiring the distance between the unmanned aerial vehicle and the target object through the laser ranging module.
It should be noted that, the control device provided in the embodiment of the present invention is configured to execute all the process steps of the path planning method based on the unmanned aerial vehicle in the above embodiment, and the working principles and beneficial effects of the two are in one-to-one correspondence, which is not described again.
Correspondingly, the embodiment of the invention also provides the unmanned aerial vehicle which comprises a remote control terminal and the shooting device of the unmanned aerial vehicle.
Compared with the prior art, the embodiment of the invention has the beneficial effects that: the embodiment of the invention provides a path planning method based on an unmanned aerial vehicle, which comprises the steps of firstly, obtaining the distance between the unmanned aerial vehicle and a target object through a distance measuring device, obtaining the current position coordinate of the unmanned aerial vehicle, the current pitch angle of a holder and the current course angle of the holder, determining the position coordinate of the target object according to the distance between the unmanned aerial vehicle and the target object, the current position coordinate, the current pitch angle and the current course angle, and then sending the position coordinate of the target object and the position coordinate of a remote control terminal to the remote control terminal, so that the remote control terminal can plan paths according to the position coordinate of the target object and the position coordinate of the remote control terminal. Meanwhile, the embodiment of the invention also correspondingly provides a control device, a shooting device of the unmanned aerial vehicle and the unmanned aerial vehicle.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (10)
1. A path planning method based on an unmanned aerial vehicle is characterized in that the unmanned aerial vehicle is provided with a holder and a distance measuring device, and the distance measuring device is installed on the holder; the method comprises the following steps:
acquiring the distance between the unmanned aerial vehicle and a target object through the distance measuring device;
acquiring the current position coordinate of the unmanned aerial vehicle, the current pitch angle of the holder and the current course angle of the holder;
determining the position coordinate of the target object according to the distance between the unmanned aerial vehicle and the target object, the current position coordinate, the current pitching angle and the current heading angle;
acquiring a position coordinate of the remote control terminal;
sending the path planning information to a remote control terminal; the path planning information comprises position coordinates of the remote control terminal and position coordinates of the target object; and the remote control terminal can plan a path according to the position coordinate of the remote control terminal and the position coordinate of the target object.
2. The drone-based path planning method of claim 1, wherein the current location coordinates include a current latitude and longitude of the drone; the position coordinates of the target object comprise the latitude and longitude of the target object; the determining the position coordinate of the target object according to the distance between the unmanned aerial vehicle and the target object, the current position coordinate, the current pitch angle and the current heading angle specifically comprises:
the latitude and longitude of the target are calculated by the following formula:
α = distance / EARTHRADIUS_KM；
azimuth1 = azimuth * (π / 180)；
end_pos.lat = asin(sin(p1.lat) * cosα + cos(p1.lat) * sinα * cos(azimuth1))；
end_pos.lon = p1.lon + atan2(sin(azimuth1) * sinα * cos(p1.lat), cosα - sin(p1.lat) * sin(end_pos.lat))；
lat is the latitude of the target object; lon is the longitude of the target; p1.lat is the current latitude of the unmanned aerial vehicle; p1.lon is the current longitude of the unmanned aerial vehicle; distance is the distance between the unmanned aerial vehicle and a target object; EARTHRADIUS _ KM is the radius of the earth; azimuth is the current course angle; azimuth1 represents the current heading angle after conversion to radians.
3. The drone-based path planning method of claim 2, wherein the current location coordinates further include a current elevation of the drone; the position coordinates of the target object also comprise the elevation of the target object; the determining the position coordinate of the target object according to the distance between the unmanned aerial vehicle and the target object, the current position coordinate, the current pitch angle and the current course angle further comprises:
calculating the elevation of the target by the following formula:
end_pos.h = p1.h + distance * sinθ;
wherein end _ pos.h is the elevation of the target object; p1.h is the current elevation of the unmanned aerial vehicle; theta is the current pitch angle, the current pitch angle is a positive direction upward relative to the horizontal direction, and a negative direction downward relative to the horizontal direction.
4. The unmanned aerial vehicle-based path planning method according to any one of claims 1 to 3, wherein the remote control terminal performs path planning according to the position coordinates of the remote control terminal and the position coordinates of the target object, and specifically comprises:
the remote control terminal calls a map;
and planning a path based on the map according to the position coordinate of the remote control terminal and the position coordinate of the target object.
5. The drone-based path planning method of any one of claims 1-3, further comprising, after the obtaining of the location coordinates of the remote control terminal:
determining the distance between the remote control terminal and the target object according to the position coordinate of the remote control terminal and the position coordinate of the target object;
and sending the distance between the remote control terminal and the target object to the remote control terminal so that the remote control terminal displays the distance between the remote control terminal and the target object and the position coordinate of the target object.
6. The unmanned-aerial-vehicle-based path planning method of any one of claims 1-3, wherein the remote control terminal further generates a two-dimensional code according to the position coordinates of the target object;
the two-dimensional code can be recognized by the mobile terminal, the mobile terminal can call the map after recognizing the position coordinates of the target object contained in the two-dimensional code, and path planning is carried out based on the map according to the position coordinates of the target object and the current position coordinates of the mobile terminal.
7. The drone-based path planning method of any one of claims 1-3, wherein the ranging device includes a laser ranging module; then pass through distance measuring device obtains the distance between unmanned aerial vehicle and the target object, specifically includes: and acquiring the distance between the unmanned aerial vehicle and the target object through the laser ranging module.
8. A control device, comprising:
the distance acquisition module is used for acquiring the distance between the unmanned aerial vehicle and the target object through the distance measuring device; the unmanned aerial vehicle is provided with a cloud deck and the distance measuring device, and the distance measuring device is installed on the cloud deck;
the unmanned aerial vehicle position acquisition module is used for acquiring the current position coordinate of the unmanned aerial vehicle, the current pitch angle of the holder and the current course angle of the holder;
the target position coordinate determination module is used for determining the position coordinate of the target object according to the distance between the unmanned aerial vehicle and the target object, the current position coordinate, the current pitching angle and the current heading angle;
the remote control terminal position acquisition module is used for acquiring the position coordinates of the remote control terminal;
the sending module is used for sending the path planning information to the remote control terminal; the path planning information comprises position coordinates of the remote control terminal and position coordinates of the target object; and the remote control terminal can plan a path according to the position coordinate of the remote control terminal and the position coordinate of the target object.
9. The utility model provides an unmanned aerial vehicle's shooting device, its characterized in that includes camera, cloud platform, range unit and according to claim 8 the controlling means, the camera the range unit with controlling means all installs the cloud platform, the cloud platform is used for installing at unmanned aerial vehicle's fuselage.
10. A drone, characterized in that it comprises a remote control terminal and a shooting device of the drone according to claim 9.
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