CN117593916B - Unmanned aerial vehicle route recording and application method with high safety - Google Patents
Unmanned aerial vehicle route recording and application method with high safety Download PDFInfo
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- CN117593916B CN117593916B CN202311391094.5A CN202311391094A CN117593916B CN 117593916 B CN117593916 B CN 117593916B CN 202311391094 A CN202311391094 A CN 202311391094A CN 117593916 B CN117593916 B CN 117593916B
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000002159 abnormal effect Effects 0.000 claims description 7
- 238000010276 construction Methods 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000007689 inspection Methods 0.000 description 4
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- 238000012986 modification Methods 0.000 description 1
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/003—Flight plan management
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses a high-safety unmanned aerial vehicle route recording and application method, which comprises a route recording format and is characterized in that: the model airplane records adopt KML format, the name space uses version 2.2, and adopts a layered structure, and the model airplane records are respectively from outside to inside: three layers of route information, waypoint list information and action list information; the route information defines the contents of route names, descriptions, route types, waypoint types and the like; recording information of all waypoints in the waypoint list, wherein each waypoint independently defines a waypoint data packet, and comprises a waypoint number, a name, a description, a type, a height type, a flying speed, a machine head direction, a camera pitching angle, a dimensionality, a height and an action type; the beneficial effects of the invention are as follows: and when the route planning records, the obstacle information on the return lifting or landing route is avoided, and the flight safety during return and landing is ensured.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle route flight, in particular to a high-safety unmanned aerial vehicle route recording and application method.
Background
The unmanned aerial vehicle route flight refers to a process that the unmanned aerial vehicle flies according to a route path planned in advance. The flight mode generally guides the unmanned aerial vehicle to fly through a preset waypoint or route, so that the unmanned aerial vehicle can automatically complete a specific task without real-time operation and control. The flying mode is widely applied in a plurality of application fields, including electric power inspection, agriculture, environmental monitoring, aerial photography, search and rescue actions, scientific research and the like.
Before flying, the flight mission needs to be planned and designed to generate route record information which can be identified by the unmanned aerial vehicle. And uploading the route record information to the unmanned aerial vehicle during flight, and automatically completing task flight according to the route record by the unmanned aerial vehicle. In the flight process or after the flight is finished, the unmanned aerial vehicle has passive or automatic triggering return operation, and the unmanned aerial vehicle automatically lifts to a return altitude and then linearly returns to a designated landing position; the current unmanned aerial vehicle route recording method lacks classification and type description definition for each waypoint, cannot differentially judge the safety of actions of the waypoint, is particularly applied to actions such as returning, forced landing and the like in a power inspection scene, cannot ensure whether the position of the current triggering action can safely fall or lift the height, and has problems.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a high-safety unmanned aerial vehicle route recording and application method, which aims to solve the existing problems.
The invention is realized by the following technical scheme: the unmanned aerial vehicle route recording method with high safety comprises a route recording format and is characterized in that: the model airplane records adopt KML format, the name space uses version 2.2, and adopts a layered structure, and the model airplane records are respectively from outside to inside: three layers of route information, waypoint list information and action list information; the route information defines the contents of route names, descriptions, route types, waypoint types and the like; recording information of all waypoints in the waypoint list, wherein each waypoint independently defines a waypoint data packet, and the information comprises a waypoint number, a name, description, a type, a height type, a flying speed, a machine head direction, a camera pitching angle, longitude and latitude, a height and an action type; the action list records all action information of the current waypoint, and each action defines the number, type, duration, head angle, camera pitching angle and the like of the action respectively. When a model is built through three-dimensional point cloud construction, actual flight recording or other schemes are used for constructing a route, a starting point, a patrol point and safety points outside a return point are defined according to route definition rules and specifications in the scheme, the interval between the safety points is smaller than 10 patrol points, and 5 patrol points are optimal. Meanwhile, marking the route type as: DW-Safe1.0.
Preferably, the route type definition must be: DW-Safe1.0; the avionic type is divided into four types, namely a starting point (StartingPoint), a safety point (safe Point), a return point (return Point), a last point of the route, a patrol point (instrumentation Point), and a navigation point of the route for executing patrol action, wherein the starting point is the first point of the route; the height type is as follows: absolute altitude (absolute) and relative flying altitude (relative); the flying speed is represented by a floating point type.
Preferably, the longitude and latitude are represented by a decimal method, the east longitude and the north latitude are positive, the west longitude and the south latitude are negative, and the highest data precision is 14 decimal; the altitude type represents the fly altitude by a floating point type.
Preferably, the action types include six types of actions respectively: hover (Hover), fly over (FlyOver), take a picture (takephoto), start recording (StartRecording), end recording (EndRecording), skip (Pass), security point specific action types.
Preferably, the application method comprises the following steps:
s1, uploading a safe route file to an unmanned aerial vehicle;
s2, the unmanned aerial vehicle analyzes the route file and takes off and flies to a starting point;
s3, the unmanned aerial vehicle flies to a first safety point;
s4, the unmanned aerial vehicle flies to all the cruising points and the safety points in sequence, and performs actions such as photographing, video recording and the like according to the action definition of the cruising points, and automatically ignores the safety points defining the skip (Pass) action;
s5, after flying through all the cruising points and the safety points, flying to an optimal safety point, then flying to a return point, triggering automatic return, and completing the flight of the route;
s6, safety guarantee scheme of abnormal conditions: and when the safeguarded abnormal condition occurs, the unmanned aerial vehicle automatically searches for a safety point closest to the current node, flies to the safety point, and continues to trigger the return or landing action after reaching the safety point.
The beneficial effects of the invention are as follows: and when the route planning records, the obstacle information on the return lifting or landing route is avoided, and the flight safety during return and landing is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Like elements or portions are generally identified by like reference numerals throughout the several figures. In the drawings, elements or portions thereof are not necessarily drawn to scale.
FIG. 1 is a flow chart of the application method of the present invention.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the invention, whereby the invention is not limited to the specific embodiments disclosed below.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Spatially relative terms, such as "upper," "lower," "left," "right," and the like, may be used herein for ease of description to describe one element or feature's relationship to another element or feature's illustrated in the figures. It will be understood that the spatial terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "under" other elements or features would then be oriented "over" the other elements or features. Thus, the exemplary term "lower" may encompass both an upper and lower orientation.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings: the invention is realized by the following technical scheme as shown in fig. 1: route recording format
The airline records are in KML format and the namespace uses version 2.2.
Adopts a layered structure, and the outside and the inside are respectively: three layers of route information, waypoint list information and action list information.
First, define the contents of route name, description, route type, waypoint list, etc.
And the second layer is used for recording information of all waypoints in a waypoint list, wherein each waypoint independently defines a waypoint data packet comprising a waypoint number, a name, a description, a type, an altitude type, a flying speed, a machine head direction, a camera pitching angle, a longitude, a latitude and an altitude, and an action list.
And the third layer, the action list records all action information of the current waypoint, and each action defines the number, type, duration, head angle, camera pitching angle and the like of the action respectively.
Type of course (II)
The route types defined by the method must be: DW-Safe1.0
(III) waypoint type
The waypoints defined by the method are divided into four categories:
a start point (StartingPoint), the first point of the route, is the start point.
Safety point (safe point) point for safe landing and return.
Return point (return point), the last point of the route, is the return point.
An inspection point (instraction point), a waypoint at which the route performs an inspection maneuver.
(IV) altitude type
The method supports two highly defined types, one for each of which is as follows:
absolute altitude (absolute)
Relative flying height (relative)
(V) flight speed definition rules
The method adopts a floating point type to express the flying speed, and the format is as follows: 5.0, 5 meters per second.
Definition rules of longitude and latitude
The longitude and latitude of the method are represented by adopting a decimal method, the east longitude and the north latitude are positive, the west longitude and the south latitude are negative, and the highest data precision is 14 decimal.
(seventh) altitude definition rules
The method adopts a floating point type to express the flying height, and the format is as follows: 118.782, the height is 118.782 meters, and the data precision is the most significant 3 decimal places.
Type of action (eight)
The method defines action types in six, and specifically comprises the following steps:
hovering (Hover), the unmanned plane hovers for a designated time, the hovering time is required to be set, and when the hovering time is 0, the unmanned plane is consistent with the fly-over action.
And (3) flying (FlyOver), and the unmanned aerial vehicle does not stay when reaching the waypoint and directly flies to the next waypoint.
Shooting (TakePhotos), wherein the unmanned aerial vehicle hovers at the waypoint and executes shooting action, and after shooting is completed, the unmanned aerial vehicle flies to the next waypoint.
Starting video recording (StartReccording), and the unmanned plane starts video recording at the navigation point and flies to the next navigation point after starting.
Ending video recording (EndRecording), the unmanned aerial vehicle ends video recording at this waypoint, and flies to the next waypoint after ending.
Skipping (Pass), the special action type of the safety points, and the type cannot be applied to the configuration of the first and the last safety points, the course flight automatically skips the navigation points, and only finds the nearest safety point and executes the forced action when the midway return, forced return and forced landing occur.
Nine route definition Specifications
1. The airline format (WayType) must be DW-safe1.0
2. The type of first waypoint must be a starting point (StartingPoint)
3. The second waypoint type must be a security point (SafePoint)
4. The penultimate waypoint must be of the type safe point (SafePoint)
5. The last waypoint must be of the return waypoint type (return point)
6. Other waypoints than the four above may be defined as patrol points (instructionpoints), and 1-10 (up to 10) patrol points may be followed by defining a security point.
(ten) guaranteed abnormal conditions
1. The return voyage is triggered manually in the middle of the flight of the route.
2. The low power triggers the return trip.
3. The ultra low power triggers a direct drop.
(eleven) application method
1. Uploading a safe route file to the unmanned aerial vehicle;
2. the unmanned aerial vehicle analyzes the route file and takes off and flies to the starting point;
3. the unmanned aerial vehicle flies to a first safety point;
4. the unmanned aerial vehicle flies to all the cruising points and the safety points in sequence, and performs actions such as photographing, video recording and the like according to the action definition of the cruising points, and automatically ignores the safety points defining the skip (Pass) action;
5. after flying through all the cruising waypoints and the safety points, flying to an optimal safety point, then flying to a return waypoint, triggering automatic return, and completing the flight of the route;
6. safety guarantee scheme for abnormal conditions: and when the safeguarded abnormal condition occurs, the unmanned aerial vehicle automatically searches for a safety point closest to the current node, flies to the safety point, and continues to trigger the return or landing action after reaching the safety point.
Twelve route recording method
When a model is built through three-dimensional point cloud construction, actual flight recording or other schemes are used for constructing a route, a starting point, a patrol point and safety points outside a return point are defined according to route definition rules and specifications in the scheme, the interval between the safety points is smaller than 10 patrol points, and 5 patrol points are optimal. Meanwhile, marking the route type as: DW-Safe1.0.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention, and are intended to be included within the scope of the appended claims and description.
Claims (5)
1. The unmanned aerial vehicle route recording method with high safety comprises a route recording format and is characterized in that: the model airplane records adopt KML format, the name space uses version 2.2, and adopts a layered structure, and the model airplane records are respectively from outside to inside: three layers of route information, waypoint list information and action list information; the route information defines route names, descriptions, route types and waypoint type contents; recording information of all waypoints in the waypoint list, wherein each waypoint independently defines a waypoint data packet, and the information comprises a waypoint number, a name, description, a type, a height type, a flying speed, a machine head direction, a camera pitching angle, longitude and latitude, a height and an action type; the action list records all action information of the current waypoint, each action defines the number, type, duration, head angle and camera pitching angle of the action, when a model is built through three-dimensional point cloud construction, actual flight recording or other schemes are used for building a route, a starting point, a patrol point and a safety point outside a return point are defined according to route definition rules and specifications in the scheme, the interval between the safety points is smaller than 10 patrol points, 5 patrol points are used as the best, and the type of the route is marked as follows: DW-Safe1.0.
2. The high security unmanned aerial vehicle route recording method of claim 1, wherein: the route type definition must be: DW-Safe1.0; the navigation point types are divided into four types, namely a starting point (StartingPoint), a safety point (safe Point), a return point (return Point), a last point of the navigation line, a patrol point (instrumentation Point), and a navigation point of the navigation line for executing patrol action, wherein the first point of the navigation line is the starting point; the height type is as follows: absolute altitude (absolute) and relative flying altitude (relative); the flying speed is represented by a floating point type.
3. The high security unmanned aerial vehicle route recording method of claim 1, wherein: the longitude and latitude are represented by adopting a decimal method, the east longitude and the north latitude are positive, the west longitude and the south latitude are negative, and the highest data precision is 14 decimal; the altitude type represents the fly altitude by a floating point type.
4. The high security unmanned aerial vehicle route recording method of claim 1, wherein: the action types comprise six types: hover (Hover), fly over (FlyOver), take a picture (takephoto), start recording (StartRecording), end recording (EndRecording), skip (Pass), security point specific action types.
5. The application method of the high-security unmanned aerial vehicle route recording method according to claim 1, which is characterized by comprising the following steps:
s1, uploading a safe route file to an unmanned plane;
s2, the unmanned aerial vehicle analyzes the route file and takes off and flies to a starting point;
s3, the unmanned aerial vehicle flies to a first safety point;
s4, the unmanned aerial vehicle flies to all the cruising points and the safety points in sequence, and performs photographing and video recording actions according to the action definition of the cruising points; automatically ignoring a security point defining a skip (Pass) action;
s5, after flying through all the cruising points and the safety points, flying to an optimal safety point, then flying to a return point, triggering automatic return, and completing the flight of the route;
s6, safety guarantee scheme of abnormal conditions: and when the safeguarded abnormal condition occurs, the unmanned aerial vehicle automatically searches for a safety point closest to the current node, flies to the safety point, and continues to trigger the return or landing action after reaching the safety point.
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