CN106403954A - Automatic track generating method for unmanned aerial vehicle - Google Patents

Automatic track generating method for unmanned aerial vehicle Download PDF

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CN106403954A
CN106403954A CN201610857472.8A CN201610857472A CN106403954A CN 106403954 A CN106403954 A CN 106403954A CN 201610857472 A CN201610857472 A CN 201610857472A CN 106403954 A CN106403954 A CN 106403954A
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unmanned plane
area
region
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calibrated
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CN106403954B (en
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何明昊
付维
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Hunan Plant Protection UAV Technology Co.,Ltd.
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Shenzhen Gkxn Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations

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  • Radar, Positioning & Navigation (AREA)
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  • Automation & Control Theory (AREA)
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Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to an automatic track generating method for an unmanned aerial vehicle. The automatic track generating method comprises the following steps: sampling the outer contour of a to-be-calibrated area; carrying out calculation of minimal external convex polygon on a sampling point set, and conversing latitude and longitude coordinates and plane projection coordinates to obtain coordinates and the area of the to-be-calibrated area; obtaining an operation area according to the coordinates and the areas of a field block and an obstacle, and calculating a shortest operation path of the operation area; when the unmanned aerial vehicle operates in the operation area, judging whether the unmanned aerial vehicle safely reaches a next safe take-off and landing point or not at a next waypoint; and if the unmanned aerial vehicle safely reaches the next safe take-off and landing point at the next waypoint, continuously operating, otherwise, returning at the existing waypoint. According to the automatic track generating method, the coordinates and the areas of the filed block, the obstacle and the safe take-off and landing point can be precisely calibrated, and the shortest operation path can be automatically generated, so that the unmanned aerial vehicle can automatically avoid the obstacle while automatically operating according to the shortest operation path, and can automatically select the nearest safe take-off and landing point to carry out automatic return.

Description

Unmanned plane automatic flight path generation method
Technical field
The present invention relates to unmanned air vehicle technique field is and in particular to a kind of unmanned plane automatic flight path generation method.
Background technology
Current unmanned plane sprays material operation great majority and adopts manual working, and its homework precision is difficult to ensure that, due to lacking Spray boring remote detection and the means of battery allowance remote detection, winged hand is during operation often using the side estimating Method estimates the surplus of material and battery, and this operating type easily causes the waste of battery and the drain spray of material.
Presence part has the agricultural unmanned plane of independent navigation function at present, and its flight course planning method is in satellite map Upper demarcate field border and carry out equidistant flight course planning it is contemplated that the relatively low time domain of the precision manually got ready, satellite remote-sensing image The difference of the reference projection spheroid of resolution ratio and GPS and domestic map, this method can not accurately obtain Field border；Meanwhile, the method can not obtain barrier and the home point coordinates in field exactly, common on the market Unmanned plane by the use of takeoff point as home point, when abnormal conditions in unmanned plane, as too low in battery electric quantity, medicine-chest surplus is not enough In the case of automatically make a return voyage.Complicated, the barrier such as normal live wire bar, high-voltage line, fence yet with rural area spatial domain environment, is lacking It is impossible to enough ensure that unmanned plane can safely make a return voyage in the case of weary solid automatic obstacle avoiding mechanism.
Content of the invention
It is an object of the invention to proposing a kind of unmanned plane automatic flight path generation method, being capable of Accurate Calibration field, obstacle The coordinate of thing and safe landing point and area, and automatically generate the shortest working path so that unmanned plane is according to the shortest operation road Automatic obstacle avoiding in the case of the automatic job of footpath, and nearest safe landing point can be automatically selected independently maked a return voyage.
For reaching this purpose, the present invention employs the following technical solutions：
As one aspect of the present invention, a kind of unmanned plane automatic flight path generation method providing, including：
The outline in region to be calibrated is sampled, obtains the sampling point set of the outline in region to be calibrated, described treat Demarcate region and include field, barrier and safe landing point；
Described sampling point set is carried out with the calculating of minimum external convex polygon, and is sat with plane projection by latitude and longitude coordinates Target is changed, and obtains coordinate and the area in region to be calibrated；
Coordinate according to field and barrier and area obtain operating area, carry out gridding to described operating area, and Ask for the shortest working path of described operating area, described the shortest working path is made up of several destinations；
When unmanned plane is in described operating area operation, calculate current destination and next destination to all safe landing points Distance, judge whether unmanned plane can arrive safe and sound at least one safe landing point in next destination, if so, then continue to make Industry, otherwise, makes a return voyage in current destination.
Alternatively, the described outline to region to be calibrated is sampled, and obtains the sampling of the outline in region to be calibrated Point set includes：
On unmanned plane, GPS movement station is installed, sets up GPS Base Station on the ground；
Unmanned plane is statically placed in a fixing point, by GPS Base Station, the outline in region to be calibrated is sampled, and pass through Differential GPS Technology obtains the latitude and longitude coordinates of sampled point.
Alternatively, described sampling point set is carried out with the calculating of minimum external convex polygon, and by latitude and longitude coordinates and puts down The conversion of face projection coordinate, obtains the coordinate in region to be calibrated and area includes：
Make described sampling point set be P (lon, lat), compriseMinimum area simply connected domain be C, minimum external convex many The vertex set of side shape is B, and wherein, lon, lat represent longitude and latitude coordinate under WGS84 reference ellipsoid respectively；
Carry out the conversion of latitude and longitude coordinates and plane projection coordinate by the quick coordinates transformation method of Karney, formula is such as Under：
P′i(x, y)=K (Pi(lon,lat))
Pi(lon, lat)=K-1(P′i(x,y))
Wherein, K represents that latitude and longitude coordinates are changed to plane coordinates function；K-1Represent two-dimensional assemblage to latitude and longitude coordinates Function；X, y represent the plane coordinates of corresponding projection band respectively；i∈Card(P),i∈N+；
Then the area S in region to be calibrated is：
Wherein, Card (B ') represents the element number in B ' set,
Alternatively, the coordinate according to field and barrier and area obtain operating area and are specially：
The connected domain border point set making field is CF, the barrier connected domain with redundancy surplus isThen operation field Area StotalFor：
The operating area R then removing barrier in field is expressed as：
Alternatively, described operating area is carried out with gridding, and it is concrete to ask for the shortest working path of described operating area For：
Make the spraying fabric width that flying height during unmanned machine operation is during h be w, spraying longitudinally wide for l, then by operating area R is discrete to be w for width, and length is simply connected region R of li；
With any RiFor initiateing subregion, and to its adjacent subarea domain RjDetected, if Ri∪RjSimply connected domain, then have Ri =Ri∪Rj, continue iteration and work as Rj=φ or Ri∪RjFor then stopping iteration during multiply connected domain；
The planning flight path length of the simply connected domain after the lower merging calculating various combination, takes combination the shortest as Short working path.
Alternatively, the distance of the current destination of described calculating and next destination to all safe landing points is specially：
Current destination is made to be P0, the distance of this destination to all safe landing points is DH；
When unmanned plane does not have barrier with safe landing point, haveWhereinFor i-th safety The midpoint of landing point；
When unmanned plane has barrier with safe landing point, according to the definition of convex polygon, in E "iSide exists a bit E″ij, have：
If E "ijDH∩E″i=E "ij, thenOtherwise then find E "iCloseContinue in side Continuous iteration, untilThen have：
By comparing the D that this barrier left and right sides is asked forHThen can determine that both sides distance difference, thus judging that optimum makes a return voyage Course line.
Alternatively, described judge whether unmanned plane can arrive safe and sound at least one safe landing point bag in next destination Include：
The dump energy of automatic data collection unmanned plane, according to described dump energy and described destination to all safe landing points Whether Distance Judgment unmanned plane can arrive safe and sound at least one safe landing point in next destination；Or
The leftover materials of automatic data collection unmanned plane, according to simply connected area in described leftover materials and described operating area Domain RiArea judge unmanned plane can continuous operation to next destination.
Alternatively, described field is internally provided with several shower nozzles, and several shower nozzles described are evenly distributed to operating area R Simply connected region RiIn；When described simply connected region RiPositioned at the border of operating area R when, open described simply connected region Ri Interior shower nozzle.
Beneficial effects of the present invention are：A kind of automatic flight path generation method of unmanned plane, including：Foreign steamer to region to be calibrated Exterior feature is sampled, and obtains the sampling point set of the outline in region to be calibrated, described region to be calibrated includes field, barrier and peace Full landing point；Described sampling point set is carried out with the calculating of minimum external convex polygon, and passes through latitude and longitude coordinates and plane projection The conversion of coordinate, obtains coordinate and the area in region to be calibrated；Coordinate according to field and barrier and area obtain operation area Domain, carries out gridding to described operating area, and asks for the shortest working path of described operating area, described the shortest working path It is made up of several destinations；When unmanned plane is in described operating area operation, calculates current destination and next destination arrives and owns The distance of safe landing point, judges whether unmanned plane can arrive safe and sound at least one safe landing point in next destination, if so, Then continue operation, otherwise, make a return voyage in current destination, be capable of coordinate and the face of Accurate Calibration field, barrier and safe landing point Long-pending, and automatically generate the shortest working path so that unmanned plane is independently kept away in the case of according to the shortest working path automatic job Hinder, and nearest safe landing point can be automatically selected and independently maked a return voyage.
Brief description
Fig. 1 is a kind of unmanned plane provided in an embodiment of the present invention automatic flight path generation method flow chart；
Fig. 2 is that a kind of unmanned plane optimum return route provided in an embodiment of the present invention calculates schematic diagram；
Fig. 3 is a kind of automatic trajectory planning schematic diagram of unmanned plane provided in an embodiment of the present invention.
Specific embodiment
Further illustrate technical scheme with reference to Fig. 1-Fig. 3 and by specific embodiment.
Fig. 1 is a kind of unmanned plane automatic flight path generation method flow chart that the present embodiment provides.
A kind of automatic flight path generation method of unmanned plane, including：
S10, the outline to region to be calibrated are sampled, and obtain the sampling point set of the outline in region to be calibrated, institute State region to be calibrated and include field, barrier and safe landing point；
S20, described sampling point set is carried out with the calculating of minimum external convex polygon, and thrown with plane by latitude and longitude coordinates The conversion of shadow coordinate, obtains coordinate and the area in region to be calibrated；
S30, the coordinate according to field and barrier and area obtain operating area；
S40, described operating area is carried out with gridding, and asks for the shortest working path of described operating area, described Short working path is made up of several destinations；
S50, when unmanned plane is in described operating area operation, calculate current destination and next destination rise to all safety The distance of fall point；
S60, judge whether unmanned plane can arrive safe and sound at least one safe landing point in next destination, if so, enter Step S70, continuation operation, otherwise, enter step S80, make a return voyage in current destination.
In the present embodiment, it is possible to the coordinate of Accurate Calibration field, barrier and safe landing point and area, and automatically give birth to Become the shortest working path so that unmanned plane automatic obstacle avoiding in the case of according to the shortest working path automatic job, and can be automatically Nearest safe landing point is selected independently to be maked a return voyage.
In the present embodiment, described step S10 includes：
On unmanned plane, GPS movement station is installed, sets up GPS Base Station on the ground；
Unmanned plane is statically placed in a fixing point, by GPS Base Station, the outline in region to be calibrated is sampled, and pass through Differential GPS Technology obtains the latitude and longitude coordinates of sampled point.
In the present embodiment, GPS Base Station is exchanged with mobile station functionses by calibration phase before operation by differential type GPS Method quickly and easily the position demarcating field, barrier and safe landing point, and automatically planned boat using coordinate set Mark, measuring and calculating area and Automatic-searching optimum make a return voyage a little.
In the present embodiment, described step S20 includes：
Make described sampling point set be P (lon, lat), compriseMinimum area simply connected domain be C, minimum external convex many The vertex set of side shape is B, and wherein, lon, lat represent longitude and latitude coordinate under WGS84 reference ellipsoid respectively；
Carry out the conversion of latitude and longitude coordinates and plane projection coordinate by the quick coordinates transformation method of Karney, formula is such as Under：
P′i(x, y)=K (Pi(lon,lat))
Pi(lon, lat)=K-1(P′i(x,y))
Wherein, K represents that latitude and longitude coordinates are changed to plane coordinates function；K-1Represent two-dimensional assemblage to latitude and longitude coordinates Function；X, y represent the plane coordinates of corresponding projection band respectively；i∈Card(P),i∈N+；
Then the area S in region to be calibrated is：
Wherein, Card (B ') represents the element number in B ' set,
In the present embodiment, also including by the vertex set that the method for iteration asks for minimum external convex polygon is B：
OrderEpsilon neighborhood be Q,Wherein ε → 0；
Then the vertex set of its minimum external convex polygon can be defined asTake vertical in P When coordinate is minimum, abscissa is minimum is some B0, as Card (B)=1, orderAs Card (B)>When 1, orderThen：
As above-mentioned DjWhen not existing, iteration terminates, and wherein, Card (B) represents the element number in set B,i∈ Card(B),i∈N+,j∈i.
In the present embodiment, described step S30 includes：
The connected domain border point set making field is CF, the barrier connected domain with redundancy surplus isThen operation field Area StotalFor：
The operating area R then removing barrier in field is expressed as：
In the present embodiment, described redundancy surplus is to add to prevent surroundings wind field interference and fly hand operational error , if redundant length is lC.Order point O is B ' middle each point midpoint, that is,：
The straight line making each adjacent element of B is L, then：
LI=LI | LIi⊥Li,O∈LIi}
Make LIi∩Li=PIi, then：
L′i={ L 'i||LIi,L′i∈PI′i}
B "=P | P=L 'i∩L′i+1}
Then B " is the required obstacles borders summit with redundancy surplus, wherein i ∈ Card (B '), i ∈ N+,
The no-fly zone area S being generated using the methodPFor：
In the present embodiment, described step S40 includes：
Make the spraying fabric width that flying height during unmanned machine operation is during h be w, spraying longitudinally wide for l, then by operating area R is discrete to be w for width, and length is simply connected region R of li；
With any RiFor initiateing subregion, and to its adjacent subarea domain RjDetected, if Ri∪RjSimply connected domain, then have Ri =Ri∪Rj, continue iteration and work as Rj=φ or Ri∪RjFor then stopping iteration during multiply connected domain；
The planning flight path length of the simply connected domain after the lower merging calculating various combination, takes combination the shortest as Short working path.
In the present embodiment, described step S50 includes：
Current destination is made to be P0, the distance of this destination to all safe landing points is DH；
When unmanned plane does not have barrier with safe landing point, haveWhereinFor i-th safety The midpoint of landing point；
When unmanned plane has barrier with safe landing point, according to the definition of convex polygon, in E "iSide exists a bit E″ij, have：
If E "ijDH∩E″i=E "ij, thenOtherwise then find E "iCloseContinue in side Continuous iteration, untilThen have：
By comparing the D that this barrier left and right sides is asked forHThen can determine that both sides distance difference, thus judging that optimum makes a return voyage Course line.
In the present embodiment, described step S60 includes：
The dump energy of automatic data collection unmanned plane, according to described dump energy and described destination to all safe landing points Whether Distance Judgment unmanned plane can arrive safe and sound at least one safe landing point in next destination；Or
The leftover materials of automatic data collection unmanned plane, according to simply connected area in described leftover materials and described operating area Domain RiArea judge unmanned plane can continuous operation to next destination.
In the present embodiment, unmanned plane not only considers that the factor of dump energy independently returns, and decreases electricity and wastes, prolongs Life-span of long unmanned plane and battery additionally it is possible to accurately estimation pesticide dosage and working area, reduce in spraying operation by The disagreement causing in working area.
As shown in Fig. 2 calculating schematic diagram it is assumed that unmanned plane is in P for unmanned plane optimum return route0Point.Active workings F There is home point H1、H2And barrier redundancy border E1、E2.Now unmanned plane and H1There is not barrier in centre, thenDue to unmanned plane and H2There is barrier E in centre2, then unmanned plane then calculate respectively from arranged on left and right sides around Cross E2Path.From being described above, if：
Then unmanned plane makes a return voyage to H1Otherwise, then make a return voyage to H2.If：
Then unmanned plane bypasses E21Make a return voyage to H2Otherwise, then bypass E23Make a return voyage to H2.
Be illustrated in figure 3 a kind of unmanned plane automatic trajectory planning schematic diagram of the present embodiment, in the present embodiment, described Short working path collectively constitutes the automatic flight path of unmanned plane so that unmanned plane is according to the shortest working path with optimum return route Automatic obstacle avoiding in the case of automatic job, and nearest safe landing point can be automatically selected carry out independently according to optimum return route Make a return voyage.
In the present embodiment, described field is internally provided with several shower nozzles, and several shower nozzles described are evenly distributed to work Simply connected region R of industry region RiIn；When described simply connected region RiPositioned at the border of operating area R when, open described simply connected Region RiInterior shower nozzle, thus reduce the pollution that droplet drift brings.
The foregoing is only the specific embodiment of the present invention, these descriptions are intended merely to explain the principle of the present invention, and Limiting the scope of the invention can not be construed to by any way.Based on explanation herein, those skilled in the art is not Need to pay other specific implementation methods that performing creative labour can associate the present invention, these modes fall within the present invention Protection domain within.

Claims (8)

1. a kind of automatic flight path generation method of unmanned plane is it is characterised in that include：
The outline in region to be calibrated is sampled, obtains the sampling point set of the outline in region to be calibrated, described to be calibrated Region includes field, barrier and safe landing point；
Described sampling point set is carried out with the calculating of minimum external convex polygon, and by latitude and longitude coordinates and plane projection coordinate Conversion, obtains coordinate and the area in region to be calibrated；
Coordinate according to field and barrier and area obtain operating area, carry out gridding to described operating area, and ask for The shortest working path of described operating area, described the shortest working path is made up of several destinations；
When unmanned plane is in described operating area operation, calculate current destination and next destination to all safe landing points away from From, judge whether unmanned plane can arrive safe and sound at least one safe landing point in next destination, if so, then continue operation, no Then, make a return voyage in current destination.
2. the automatic flight path generation method of unmanned plane according to claim 1 it is characterised in that described to region to be calibrated Outline is sampled, and the sampling point set obtaining the outline in region to be calibrated includes：
On unmanned plane, GPS movement station is installed, sets up GPS Base Station on the ground；
Unmanned plane is statically placed in a fixing point, by GPS Base Station, the outline in region to be calibrated is sampled, and pass through difference GPS technology obtains the latitude and longitude coordinates of sampled point.
3. the automatic flight path generation method of unmanned plane according to claim 2 is it is characterised in that carry out to described sampling point set The calculating of minimum external convex polygon, and the conversion by latitude and longitude coordinates and plane projection coordinate, obtain region to be calibrated Coordinate and area include：
Make described sampling point set be P (lon, lat), compriseMinimum area simply connected domain be C, minimum external convex polygon Vertex set be B, wherein, lon, lat represent longitude and latitude coordinate under WGS84 reference ellipsoid respectively；
Carry out the conversion of latitude and longitude coordinates and plane projection coordinate by the quick coordinates transformation method of Karney, formula is as follows：
Pi′i(x, y)=K (Pi(lon,lat))
Pi(lon, lat)=K-1(P′i(x,y))
Wherein, K represents that latitude and longitude coordinates are changed to plane coordinates function；K-1Represent two-dimensional assemblage to latitude and longitude coordinates letter Number；X, y represent the plane coordinates of corresponding projection band respectively；i∈Card(P),i∈N+；
Then the area S in region to be calibrated is：
S = 1 2 Σ i = 1 C a r d ( B ′ ) x i y i + 1 - x i + 1 y i
Wherein, Card (B ') represents the element number in B ' set,
4. the automatic flight path generation method of unmanned plane according to claim 3 is it is characterised in that according to field and barrier Coordinate and area obtain operating area and are specially：
The connected domain border point set making field is CF, the barrier connected domain with redundancy surplus isThen operation field area StotalFor：
S t o t a l = S F - Σ i = 1 m S C F ∩ C E i ′ ′
The operating area R then removing barrier in field is expressed as：
R = C F - ∪ i = 1 C a r d ( E i ) C F ∩ C E i ′ ′
5. the automatic flight path generation method of unmanned plane according to claim 4 is it is characterised in that carry out to described operating area Gridding, and ask for the shortest working path of described operating area and be specially：
Make the spraying fabric width that flying height during unmanned machine operation is during h be w, spraying longitudinally wide for l, then by operating area R from Dissipating for width is w, and length is simply connected region R of li；
With any RiFor initiateing subregion, and to its adjacent subarea domain RjDetected, if Ri∪RjSimply connected domain, then have Ri=Ri ∪Rj, continue iteration and work as Rj=φ or Ri∪RjFor then stopping iteration during multiply connected domain；
The planning flight path length of the simply connected domain after the lower merging calculating various combination, takes combination the shortest as the shortest work Industry path.
6. the automatic flight path generation method of unmanned plane according to claim 5 it is characterised in that the current destination of described calculating and The distance of next destination to all safe landing points is specially：
Current destination is made to be P0, the distance of this destination to all safe landing points is DH；
When unmanned plane does not have barrier with safe landing point, haveWhereinFor i-th safe landing The midpoint of point；
When unmanned plane has barrier with safe landing point, according to the definition of convex polygon, in Ei" there is 1 point of E in side "ij, Have：
If E "ijDH∩E″i=E "ij, thenOtherwise then find E "iCloseContinue to change in side Generation, untilThen have：
D H = | P 0 E i j ′ ′ | + Σ m = j k - 1 | E i m ′ ′ E i m + 1 ′ ′ | + | E i j ′ ′ O H i ′ |
By comparing the D that this barrier left and right sides is asked forHThen can determine that both sides distance difference, thus judging optimum course back.
7. the automatic flight path generation method of unmanned plane according to claim 6 it is characterised in that described judgement unmanned plane under One destination at least one safe landing point that whether can arrive safe and sound includes：
The dump energy of automatic data collection unmanned plane, according to the distance of described dump energy and described destination to all safe landing points Judge whether unmanned plane can arrive safe and sound at least one safe landing point in next destination；Or
The leftover materials of automatic data collection unmanned plane, according to simply connected region R in described leftover materials and described operating areai Area judge unmanned plane can continuous operation to next destination.
8. the automatic flight path generation method of unmanned plane according to claim 1 is it is characterised in that described field is internally provided with Several shower nozzles, several shower nozzles described are evenly distributed to simply connected region R of operating area RiIn；When described simply connected region RiPositioned at the border of operating area R when, open described simply connected region RiInterior shower nozzle.
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