TW202004131A - Method for planning path of unmanned aerial vehicle by using bird flight path especially selecting the shortest flight path with the least flight time from the plurality of flight trajectories - Google Patents

Abstract

This creation is a method for planning the path of an unmanned aerial vehicle using a bird's flight path, which includes: (a) recording a plurality of flight data, which uses a plurality of recording devices to record the flight data moving from a fixed point to a second fixed point, said recording devices are provided to fix on a plurality of birds; (b) generating an optimal flight path, which uses an analysis device to collect the flight data, and integrate the same to generate an optimal flight path; (c) controlling an unmanned aerial vehicle to fly based on the optimal flight path, which inputs the optimal flight path into the flight vehicle. This creation uses the biological instincts of birds to automatically avoid the obstacles during flight, conform to the environmental wind direction and air flow to obtain the various safe and obstacle-free record points between the two places, and then integrate them into the flight trajectories, and select the shortest flight path with the least flight time from the plurality of flight trajectories.

Description

Method for planning unmanned flying vehicle path by using bird flight path

An unmanned aerial vehicle path planning method, in particular, a flying pigeon carrying a recording device for flight, after obtaining the flight path, after the calculation, an appropriate path is planned, and the appropriate path is input into the unmanned aerial vehicle, so that the The method of flying unmanned vehicles in accordance with the pigeon flight path.

In recent years, unmanned aerial vehicles have become more and more popular, and their high maneuverability has made the use of unmanned aerial vehicles more and more widespread. Aerial photogrammetry is an example. Setting up cameras or cameras on unmanned aerial vehicles, Can go to places where humans cannot easily reach to monitor various environmental disasters, including earthquake-stricken areas, volcanic eruptions, floods, or landslides, or monitor traffic flow, road detection, and construction of various public facilities in the city to obtain more information More and more accurate information, and the use of aerial photography to measure a large range, it is easier to see the trend changes in the range, and further develop appropriate policies.

Another example is the delivery of goods by unmanned aerial vehicles. Using unmanned aerial vehicles to carry the goods to be transported, it can avoid driving in the streets of the traffic, and blocked by the traffic lights, can directly fly to the designated fixed point to deliver the goods, saving a lot of time and cost; in the case of long transportation distance, it is even more Highlight the advantages of time saving.

Today's unmanned aerial vehicle route planning is more commonly used in more open airspace, there are fewer obstacles in the airspace, and there will be less problems of unmanned aerial vehicles hitting obstacles and being damaged, but there are many buildings in the building The use of this unmanned aerial vehicle in urban areas will cause problems of evading obstacles and being affected by high building winds. Although the unmanned aerial vehicle can avoid vehicles and traffic lights during flight, there may be obstacles in the airspace in flight, including high-voltage towers, cable lines, telephone poles, signs, etc. If the unmanned aerial vehicle hits these obstacles The unmanned aerial vehicle may be damaged directly due to accidents such as failure or falling due to flight failure, and the dropped parts may hit pedestrians or other objects, causing personal safety and property damage.

In order to avoid obstacles on the flight path, the general approach is for the user to manually operate the unmanned aerial vehicle. When encountering an obstacle, use a joystick or other controller to operate the unmanned aerial vehicle to turn so that it will not collide On obstacles. However, the connection distance between the unmanned aerial vehicle and the controller is limited. When the unmanned aerial vehicle is out of the control range, it cannot continue to fly, or cannot judge the position of the obstacle and hit it. The unmanned aerial vehicle and the unmanned aerial vehicle must be kept within the maximum connection distance in order to continuously control the unmanned aerial vehicle. In other words, the user must continue to move with the unmanned aerial vehicle, which is inconvenient; and the user must also be able to visually detect For the unmanned aerial vehicle, if the unmanned aerial vehicle enters the blind spot, even if it is still within the control range, it is still difficult for the user to confirm the flying direction of the unmanned aerial vehicle.

The second method of avoiding obstacles is to let the unmanned aerial vehicle fly directly into the area higher than the high-rise building, so that the unmanned aerial vehicle can fly straight to the destination, and land vertically , Can effectively avoid obstacles between buildings. However, if the average height of the building is high, the flying height of the unmanned aerial vehicle must also be increased. Firstly, it will increase the energy consumption, and secondly, it will take a longer time for the unmanned aerial vehicle to reach the destination. At the same time, it cannot avoid high altitude and unstable airflow, which increases the probability of UAV damage.

The third way to plan a path for an unmanned aerial vehicle is to install various external perception devices on the unmanned aerial vehicle, such as infrared sensors, ultrasonic sensors, radar light reaching and photography or camera lenses, etc., and pass obstacle avoidance Algorithm processing, but the efficiency of this method in battery life and path planning is relatively low.

In order to allow unmanned aerial vehicles to automatically avoid obstacles during flight, this creative department proposes a method for planning the path of an unmanned aerial vehicle using a bird’s flight path, and uses a recording device mounted on the racing pigeon to record multiple racing pigeons The flight path between the two places, and then use the analysis device to analyze the path that can avoid obstacles and the highest efficiency, and enter this path into the unmanned flying vehicle, so that the unmanned flying vehicle can effectively and safely return Two places.

In order to achieve the above purpose, this method of using bird flight paths to plan the path of unmanned aerial vehicles includes the following steps: a. Record multiple flight data: use a multiple recording device to record movement from a first fixed point to a second fixed point The flight data, the recording devices are for installation on a plurality of birds; b. Generate an optimal flight path: use an analysis device to collect the flight data, and integrate the flight data to generate at least one optimal Flight path; c. Let a flight vehicle fly with the best flight path: input the best flight path into the flight vehicle.

This creation uses the biological instinct of the pigeons to automatically avoid obstacles in the path when flying, using the analysis device to establish multiple flight paths between the two places, and select the most appropriate flight path as the unmanned flying vehicle. The flight path, the most appropriate standard can be based on the flight path with the shortest path length or the shortest flight time, which can not only ensure that the unmanned flying vehicle can avoid obstacles during the flight without colliding, but also can quickly Arriving at your destination, saving time and energy costs.

Please refer to FIG. 1, a method for creating a path for an unmanned flying vehicle using bird flight paths includes:

S101: Record plural flight data; please refer to FIG. 2 at the same time. First, the plural recording devices 10 are respectively erected on plural bird birds. These bird birds can be racing pigeons. The following is an example of racing pigeons; The pigeons are released from a first fixed point, and the predetermined flight end point is a second fixed point. In a preferred embodiment, each recording device 10 is an electronic foot ring for racing pigeons. The recording devices 10 will store a fixed time interval in advance, and the fixed time interval may be 2 seconds or 5 seconds, or adjusted according to user needs; during the flight of the racing pigeons, each time the recording device 10 passes the At a fixed time interval, one flight data at a time is recorded to generate multiple flight data. The flight data includes the longitude, latitude, altitude, national standard time (UTC), direction, and flight speed of the current pigeon position.

S102: Generate an optimal flight path, where the optimal flight path is established as follows:

S211: Generate multiple flight trajectories; taking one of the racing pigeons as an example, the racing pigeon will carry a recording device 10 from the first fixed point to the second fixed point. During the flight, the recording device 10 will Each time the fixed time interval passes, a flight data is recorded, and each flight data recorded by the recording device 10 is input to an analysis device 20, and the analysis device 20 integrates each flight data connection into a flight trajectory; When the pigeons carry multiple recording devices 10, the analysis device 20 can integrate each flight number into at least one flight trajectory.

S212: Select the at least one optimal flight trajectory as the optimal flight path; in this embodiment, the analysis device 20 selects the racing pigeon with the shortest flight time from the first fixed point to the second fixed point The flight trajectory that is flown is the best flight path; in another preferred embodiment, the analysis device 20 selects the flight trajectory that the pigeon with the shortest flight path is flying to be the best flight path.

Another way to establish the at least one optimal flight path is as follows:

S221: Obtain complex optimal flight data; the analysis device 20 calculates the shortest distance between the first fixed point and the second fixed point, and connects the first fixed point and the second fixed point to form a shortest path, and then The analysis device selects the flight data closest to the shortest path to become the best flight data;

S222: Obtain the at least one optimal flight path: aggregate the selected flight data into an optimal flight path.

S103: Control a flight vehicle 30 to fly on the best flight path; select the best flight path from step S202, and input the best flight path into the flight vehicle 30, the flight vehicle 30 can The optimal flight path flies between the first fixed point and the second fixed point.

Taking a wide range of flight distance as an example, please refer to FIG. 3, the actual path for the pigeon to carry the recording device 10 from the first fixed point SP to the second fixed point FP. The fixed time interval is 15 seconds. Please further refer to FIG. 4A. As shown in the data, when the pigeon carries the recording device 10 to a first recording point DP1, the recording device 10 will record a first flight data DATA1 of the first recording point DP1. The record time of a piece of flight data DATA1 is 6'59”09 and the height is 9 meters; then after 15 seconds, the pigeon flies to a second record point DP2, and the recording device 10 records the second record point DP2 The record time of a second flight data DATA2 is 6'59”24 and the height is 8 meters; the first flight data DATA1 and the second flight data DATA2 indicate that the racing pigeon is in a stopped state.

Please further refer to FIG. 4B and FIG. 5, when the racing pigeon flies to a 29th recording point DP29, the 29th flight data DATA29 at the 29th recording point DP29 will also be recorded. The flight time of the pigeon is 42'26, the distance from the starting point is 18.97 kilometers, the flying height is 42 meters, and the speed is 734.41 meters per minute; then when the pigeon flies to a thirtieth record point DP30, the recording device 10 records The 30th flight data DATA30 of the 30th DP30, the 30th flight data DAT30 contains the flight time of the pigeon is 45'26, the distance from the starting point is 23.23 kilometers, the flight height is 53 meters, and the speed is 1419.62 per minute meter. The recording points flying from the first fixed point SP to the second fixed point FP are recorded in the above manner, and the recording points are aggregated into the first flight trajectory TRACK1 via the analysis device 20.

Please further refer to FIG. 6, each flight data in each recording point on the first flight track TRACK1 can be analyzed by the analysis device 20 to output a first flight speed curve 31 and a first flight height curve 32, and can be calculated Complex advanced data, which includes data such as the average speed of the pigeons flying, the fastest speed and the average altitude of the pigeons flying.

Please further refer to FIG. 7A. The flight data recorded by the recording devices 10 of different racing pigeons are collected by the analysis device 20 respectively to obtain multiple flight trajectories. In this example, three flight trajectories are taken as examples, respectively: The first flight track TRACK1, a second flight track TRACK2, and a third flight track TRACK3. Please further refer to 7B. After superimposing the first flight trajectory TRACK1, the second flight trajectory TRACK2 and the third flight trajectory TRACK3, it can be seen that the flight trajectories TRACK1~TRACK3 are all different, and then take the shortest flight distance The trajectory is the best trajectory. In this example, the flight distance of the first flight trajectory TRACK1 is the shortest, and then all the flight data in the first flight trajectory TRACK1 is input into the unmanned aerial vehicle, the unmanned aerial vehicle can follow this Flight paths.

Taking a small flight distance as an example, please refer to FIG. 8 and FIG. 9, the pigeon carries the recording device 10 from the first fixed point SP to the second fixed point FP in the urban area, and the recording device 10 records each record The flight data of the point, for example, the 55th flight data DATA55 of a 55th recording point DP55; please refer to FIG. 10 and FIG. 11, the analysis device 20 also analyzes and aggregates the flight data of each recording point to output data and A graph, wherein the graph includes a second flight height curve 41 and a second flight speed curve 42.

This creative department uses the feature of automatically avoiding obstacles when flying pigeons. First, let a large number of pigeons carry the recording device 10 to fly between the first fixed point SP and the second fixed point FP, to achieve the best between two points Flight path, and then input into the unmanned flying vehicle, so that the unmanned flying vehicle can fly in accordance with the optimal flight path, not only can greatly reduce the chance of collision with obstacles during flight, but also shorten the flight time and distance, thereby saving Time and energy costs. In the urban area with many buildings, if you want to make the aerial camera fly from the first floor of a place to the tenth floor of a building three blocks away, the ability to avoid obstacles during flight is more significant, making this method The effect is better in urban areas with many obstacles.

Furthermore, in a region, a large number of racing pigeons can carry the recording device 10 between two different points. Since the area where the racing pigeons can fly is mostly a safe area, the location of the recording point recorded by the recording device 10 is the same For these unmanned aerial vehicles can reach the position, the integration of these record points can create a safe airfield in this area, the safe airfield contains all the pigeons can safely reach all the record points. When the unmanned aerial vehicle has to fly from the selected first fixed point SP to the selected second fixed point FP, first use the analysis device 20 to select the shortest path from the first fixed point SP to the second fixed point FP All the record points of the system, and then input the record points into the unmanned aerial vehicle, the unmanned aerial vehicle can safely and quickly fly from the first fixed point SP to the second fixed point FP, which can ensure the Unmanned aerial vehicles will not collide with obstacles and cause damage during flight.

Furthermore, due to the high efficiency and low cost of using bird collection trajectories, the planned paths and safe airfields can be updated in time according to the changes of the seasonal environment to ensure that the safety and efficiency of the drone route are not affected, and the energy saving effect is achieved .

10‧‧‧ Recording device 20‧‧‧Analysis device 30‧‧‧Flight vehicle 31‧‧‧ First flight speed curve 32‧‧‧ First flight altitude curve 41‧‧‧Second flight altitude curve 42‧‧‧ Second flight speed curve TRACK1~TRACK3‧‧‧‧Flight trajectory SP‧‧‧First fixed point FP‧‧‧Second fixed point DP1~DP55‧‧‧Record point DATA1~DATA55‧‧‧Flight data

Figure 1: The flow chart of the method of using bird flight path to plan unmanned aerial vehicle path. Figure 2: The circuit block diagram of the equipment used in this creation. Figure 3: Schematic diagram of the first flight trajectory of this creation. Figure 4A: This is the first flight data curve. Figure 4B: This is the second flight data chart. Figure 5: Partial enlarged view of the first flight path of this creation. Figure 6: A graph of the first flight data in this creation. Figure 7A: This creation superimposes the first flight path, the second flight path, and the third flight path. Fig. 7B: A partial enlarged view of the first flight path, the second flight path, and the third flight path superimposed in this creation. Figure 8: Schematic diagram of the fourth flight path of this creation. Figure 9: Partly enlarged view of the fourth flight path of this creation. Figure 10: The second flight data chart of this creation. Figure 11: The second flight data curve of this creation.

Claims (7)

A method for planning a path of an unmanned flying vehicle using a bird flight path, which includes: a. Recording multiple flight data: using a multiple recording device to record multiple flight data moving from a first fixed point to a second fixed point, The recording devices are for installation on plural birds respectively; b. Generate an optimal flight path: use an analysis device to collect the flight data and calculate at least one optimal flight path from the flight data; c. Control a flight vehicle to fly with the best flight path: input the best flight path into the flight vehicle. As described in claim 1, the method of using bird flight paths to plan unmanned aerial vehicle paths, in step a, the recording devices record the current longitude, latitude, flight speed, Altitude, National Standard Time (UTC), direction. The method of using bird flight paths to plan unmanned aerial vehicle paths as described in claim 2, step b, further includes: b11. Generate complex flight trajectories: the analysis device is connected to integrate multiple record points, and each record point The connection generates these flight trajectories, and each recording point is the position where the recording device performs recording every time the fixed time passes; b12. Select an optimal flight trajectory as the optimal flight path: the analysis device selects the path length in each flight trajectory The shortest or shortest flight time is the best flight path. As described in claim 2, a method for planning a path of an unmanned flying vehicle using a bird flight path, step b further includes: b21. Obtaining a plurality of optimal flight data: the analysis device calculates the first fixed point and the second The shortest distance between fixed points, and connect the first fixed point and the second fixed point to form a shortest path, and then the analysis device selects the flight data closest to the shortest path to become the best flight data; b22. Obtain the at least one optimal flight path: aggregate the selected flight data into an optimal flight path. As described in claim 3 or 4, a method for planning a path of an unmanned aerial vehicle using a bird flight path, the recording device is an electronic foot ring for birds. As described in claim 5, a method for planning a path of an unmanned aerial vehicle by using a bird flight path, step a further includes: a1. Establishing a safe airfield in an area: summarizing the flight data, wherein the safe airfield Contains all safe record points that birds can reach. A method for planning an unmanned flying vehicle path using a bird flight path as described in claim 6, wherein the bird birds are racing pigeons.

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