TWI676003B - Method for planning unmanned aerial vehicle path by using bird flight path - Google Patents

Abstract

Creation is a method for planning the path of an unmanned flying vehicle using a bird's flight path, which includes: a. Recording a plurality of flight data: using a plurality of recording devices to record the flights moving from a first fixed point to a second fixed point Data, these recording devices are provided for installation on a plurality of birds; b. Generating an optimal flight path: using an analysis device to collect the flight data, and integrating the flight data to generate an optimal flight path; c. Control a flight vehicle to fly in the best flight path: input the best flight path into the flight vehicle; this creation uses biological instincts such as automatic obstacle avoidance of birds during flight, compliance with environmental wind direction, air flow, Obtain various safe and obstacle-free record points between the two places, and then integrate them into a flight trajectory, and choose the shortest or the shortest flight time from the multiple flight trajectories.

Description

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

A method for planning the path of an unmanned aerial vehicle, especially a method that uses a racing pigeon to carry a recording device for flight. After obtaining the flight path, after planning, a suitable path is planned, and the appropriate path is input to the unmanned aerial vehicle. An unmanned aerial vehicle is a method of flying in accordance with the flight path of a racing pigeon.

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 widely. Aerial photogrammetry is an example. A camera or a video camera is installed on an unmanned aerial vehicle. Able to go to places that are not easily accessible by humans to monitor various environmental disasters, including earthquake-stricken areas, volcanic eruptions, floods or earth and rock flows, or to monitor traffic flow in cities, road inspections, and construction profiles of various public facilities to obtain more More and more accurate information, and the use of aerial photogrammetry for large-scale shooting, it is easier to see the trend changes in this range, and further develop appropriate policies.

The delivery of goods by unmanned aerial vehicle is another example. Utilizing an unmanned aerial vehicle to carry the goods to be transported, can avoid driving on busy streets, and is blocked by traffic lights, and can directly fly to designated destinations to deliver goods, saving many time costs; in the case of long transportation distances, it is even more Highlight the advantages of time saving.

Today's unmanned aerial vehicle route planning is more commonly used in open airspace, there are fewer obstacles in the airspace, and there is less problem 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 of China will cause problems such as avoiding obstacles and being affected by high-rise wind. Although an unmanned aerial vehicle can avoid vehicles and traffic lights during flight, obstacles may exist in the airspace, including high-voltage iron towers, cables, power poles, signboards, etc. If the unmanned aerial vehicle hits these obstacles There may be accidents such as failure, inability to fly, and falling, which will directly damage the unmanned aerial vehicle, and the dropped parts may hit pedestrians or other objects, causing personal safety and property damage.

In order to avoid obstacles during the flight, the general practice is for the user to manually operate the unmanned aerial vehicle. When encountering obstacles, use a controller such as a joystick to turn the unmanned aerial vehicle to avoid collision. 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 it is impossible to determine the position of the obstacle, and it must be used. Only when the user and the unmanned aerial vehicle stay within the maximum connection distance can the unmanned aerial vehicle be continuously controlled, in other words, the user must constantly follow the unmanned aerial vehicle to move, which is inconvenient; and the user must be able to visually observe at the same time For the unmanned aerial vehicle, if the unmanned aerial vehicle enters a blind spot of sight, it is difficult for the user to confirm the flight direction of the unmanned aerial vehicle even though it is still in the control range.

The second method to avoid obstacles is to let the unmanned aerial vehicle fly directly into the range higher than the high-rise building after departure, so that the unmanned aerial vehicle can fly straight to the air in 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 raised accordingly. This will increase the energy consumption and secondly, it will take a long time for the unmanned aerial vehicle to reach its destination. At the same time, it is also unavoidable that the altitude is higher, the ambient air flow is more unstable, and the probability of damage to the drone is increased.

The third way to plan a path for an unmanned aerial vehicle is to install various external sensing devices on the unmanned aerial vehicle, such as infrared sensors, ultrasonic sensors, radar lidars, and photography or camera lenses, etc., and avoid obstacles Algorithm processing, but this method is relatively inefficient in battery life and path planning.

In order to allow the unmanned aerial vehicle to automatically avoid obstacles during flight, this creative department proposes a method for planning the path of the unmanned aerial vehicle by using the bird's flight path, and using 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 most efficient path that can avoid obstacles. Enter this path into the unmanned aerial vehicle, so that the unmanned aerial vehicle can effectively return to and from the airport. Two places.

In order to achieve the above purpose, the method for planning the path of an unmanned flying vehicle using a bird flight path includes the following steps: a. Recording multiple flight data: using a plurality of recording devices to record movement from a first fixed point to a second fixed point These 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 Flight path; c. Let a flight vehicle fly in the optimal flight path: input the optimal flight path into the flight vehicle.

This creation uses the biological instinct of the pigeon to automatically avoid obstacles on the path during flight, and uses the analysis device to establish multiple flight trajectories between the two places, and selects the most appropriate flight trajectory as the unmanned flying vehicle. Flight path. The most appropriate standard can be the flight path with the shortest path length or shortest flight time. It can not only ensure that the unmanned aerial vehicle can avoid obstacles without hitting it during the flight, but can also quickly Arrive at your destination, saving time and energy costs.

Please refer to FIG. 1. This method for creating a path for an unmanned aerial vehicle using a bird flight path includes:

S101: Record plural flight data; please refer to FIG. 2 at the same time. Firstly, plural recording devices 10 are set up on plural birds, and the birds can be racing pigeons. Hereafter, the racing pigeons are used as an example; 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 a racing pigeon electronic foot ring. The recording devices 10 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, the recording device 10 passes each time the Flight data will be recorded one time at a fixed time interval 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 a plurality of flight trajectories; taking one of the racing pigeons as an example, the racing pigeon will carry a recording device 10 and fly from the first fixed point to the second fixed point. During the flight, the recording device 10 will Each time a fixed time interval elapses, a piece of flight data is recorded. Each piece of 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 there are multiple When a racing pigeon carries multiple recording devices 10, the analysis device 20 can integrate each flight number into at least one flight trajectory, respectively.

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 path that is flown is the optimal flight path. In another preferred embodiment, the analysis device 20 selects the flight path that is flighted by a racing pigeon with the shortest flight path as the optimal flight path.

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

S221: Obtain a plurality of optimal flight data; the analysis device 20 calculates a shortest distance value between the first fixed point and the second fixed point, and connects the first fixed point and the second fixed point into 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 in the optimal flight path; select the optimal flight path from step S202, and enter the optimal flight path into the flight vehicle 30, and the flight vehicle 30 can start with The optimal flight path flies between the first fixed point and the second fixed point.

Taking a wide range of flying distances as an example, please refer to FIG. 3, for the actual path taken by the racing 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 refer to FIG. 4A. As shown in the data, when the racing pigeon carries the recording device 10 to a first recording point DP1, the recording device 10 records a first flight data DATA1 of the first recording point DP1. A record of flight data DATA1 is 6'59 ”09, and the height is 9 meters. After 15 seconds, the pigeon flies to a second record point DP2, and the recording device 10 records the second record point DP2. A second flight data DATA2 has a record time of 6'59 "24 and an altitude of 8 meters; the first flight data DATA1 and the second flight data DATA2 indicate that the pigeon is in a stopped state.

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

Please refer to FIG. 6 further, 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 average height of the pigeons during flight.

Please refer to FIG. 7A further, the flight data recorded by each recording device 10 of different racing pigeons are aggregated through the analysis device 20, respectively, and multiple flight trajectories can be obtained. In this example, three flight trajectories are taken as an example. The first flight track TRACK1, a second flight track TRACK2, and a third flight track TRACK3. Please 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 each of the flight trajectories TRACK1 to TRACK3 is different, and then the shortest flight distance is taken. The trajectory is the best trajectory. In this example, the first flight trajectory TRACK1 has the shortest flight distance. 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 path.

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

This creation uses the characteristics of pigeons that can automatically avoid obstacles when flying. First, a large number of racing pigeons are allowed to carry the recording device 10 between the first fixed point SP and the second fixed point FP to obtain the best between the two points. The flight path is re-entered into the unmanned aerial vehicle, so that the unmanned aerial vehicle can fly according to the optimal flight path, which not only greatly reduces the chance of collision with obstacles during flight, but also shortens the flight time and distance, thereby saving Time and energy costs. In urban areas with many buildings, if you want to make the aerial camera fly from the first floor of a certain place to the tenth floor of a building three blocks away, the ability to dodge 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 be carried by the recording device 10 between two different points. Since the areas where pigeons can fly are mostly safe areas, the positions of the recording points recorded by the recording device 10 are the same. For the position that the unmanned aerial vehicle can reach, integrating these record points can establish a safe airfield in this area, which contains all the record points that all pigeons can safely reach. When the unmanned aerial vehicle must fly from the selected first fixed-point SP to the selected second fixed-point FP, the analysis device 20 is first used to select the shortest path from the first fixed-point SP to the second fixed-point FP. All of the recorded points are entered into the unmanned aerial vehicle, and the unmanned aerial vehicle can safely and quickly fly from the first fixed-point SP to the second fixed-point FP, which can ensure that the Unmanned aerial vehicles do not collide with obstacles during flight to cause damage.

Furthermore, due to the high efficiency and low cost of using bird collection trajectories, the planned paths and safe airfields can be updated in a timely manner in accordance with changes in the seasonal environment to ensure that the safety and efficiency of the drone routes are not affected, thereby achieving energy saving effects. .

10‧‧‧Recording device

20‧‧‧analytical device

30‧‧‧ flight vehicle

31‧‧‧first flight speed curve

32‧‧‧ the first flight altitude curve

41‧‧‧Second Flight Height Curve

42‧‧‧second flight speed curve

TRACK1 ~ TRACK3‧‧‧ Flight Track

SP‧‧‧ First fixed point

FP‧‧‧ second fixed point

DP1 ~ DP55‧‧‧Record points

DATA1 ~ DATA55‧‧‧ Flight data

Figure 1: Flow chart of the method for planning the path of an unmanned aerial vehicle using the bird's flight path. Figure 2: Circuit block diagram of the equipment used in this creation. Figure 3: The first flight trajectory of this creation. FIG. 4A: The first flight data curve graph of this creation. Figure 4B: The second flight data chart of this author. Figure 5: A partial enlarged view of the first flight trajectory of this creation. Figure 6: A graph of the first flight data of this creation. FIG. 7A: A schematic diagram of superimposing a first flight trajectory, a second flight trajectory, and a third flight trajectory in this creation. Fig. 7B: A partial enlarged view of the superimposition of the first flight trajectory, the second flight trajectory, and the third flight trajectory in this creation. Figure 8: The fourth flight trajectory of this creation. Figure 9: A partial enlarged view of the fourth flight trajectory of this creation. Figure 10: The second flight data chart of this author. Figure 11: The second flight data curve of this author.

Claims (7)

A method for planning a path of an unmanned flying vehicle using a bird flight path, comprising: a. Recording a plurality of flight data: using a plurality of recording devices to record a plurality of flight data moving from a first fixed point to a second fixed point, These recording devices are respectively installed on a plurality of birds; 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 in the optimal flight path: input the optimal flight path into the flight vehicle. As described in claim 1, the method for planning the path of an unmanned flying vehicle using a bird's flight path. In step a, each of these recording devices records a current longitude, latitude, flight speed, Altitude, National Standard Time (UTC), direction. The method for planning the path of an unmanned flying vehicle using a bird flight path as described in claim 2, step b further includes: b11. Generate a plurality of flight trajectories: the analysis device is connected to integrate a plurality of record points, and each record point is integrated. These flight trajectories are generated by connection, and each recording point is the position where the recording device performs recording every elapse of the fixed time; b12. Selecting an optimal flight trajectory as the optimal flight path: the analysis device selects the path length of each flight trajectory The shortest or shortest flight time is the best flight path. The method for planning a path of an unmanned flying vehicle by using a bird flight path as described in claim 2, in step b, further includes: b21. Obtaining multiple optimal flight data: the analysis device calculates the first fixed point and the second The shortest distance value between the fixed points, connecting the first fixed point with 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. Obtaining the at least one optimal flight path: integrating the selected flight data into an optimal flight path. The method for planning a path of an unmanned aerial vehicle using a bird flight path as described in claim 3 or 4, wherein the recording device is an electronic foot ring for birds. The method for planning the path of an unmanned flying vehicle using a bird flight path as described in claim 5, step a further includes: a1. Establishing a safe airfield in an area: aggregating the flight data, wherein the safe airfield Contains all safe record points that birds can reach. The method for planning a path of an unmanned aerial vehicle using a bird flight path as described in claim 6, wherein the birds are racing pigeons.