CN106813667B

CN106813667B - A kind of Route planner and device based on no-fly zone constraint

Info

Publication number: CN106813667B
Application number: CN201710089696.3A
Authority: CN
Inventors: 雷玮; 宋亮; 罗喜霜
Original assignee: Beijing Jingwei Hirain Tech Co Ltd
Current assignee: Beijing Runke General Technology Co Ltd
Priority date: 2017-02-20
Filing date: 2017-02-20
Publication date: 2019-08-30
Anticipated expiration: 2037-02-20
Also published as: CN106813667A

Abstract

The invention discloses a kind of Route planners and device based on no-fly zone constraint, this method comprises: intersection region, intensive zonule and each no-fly region for being both not belonging to intersection region or being not belonging to intensive zonule in no-fly region are carried out fragment, the region that the circumcircle by the no-fly region of each fragment that fragment obtains includes is determined as round no-fly region；Using the method for round interior outside common tangent, start position is solved to all straight line feasible paths between final position, each straight line feasible path and the intersection point in round no-fly region are feasible way points, the shortest feasible routes in path are determined as Ship's Optimum Route by all feasible routes between being solved from start position to final position according to all straight line feasible paths；According to the attribute of feasible way point in Ship's Optimum Route and Ship's Optimum Route, determine start position to the optimal air line between final position.The embodiment of the present invention realizes the optimal air line between planning unmanned plane from start position to final position.

Description

A kind of Route planner and device based on no-fly zone constraint

Technical field

The present invention relates to algorithm design and emulation field, in particular to a kind of Route planners based on no-fly zone constraint With device.

Background technique

Unmanned plane can high and low empty flight, feature flexible with its, convenient can complete to spray insecticide, security monitoring etc. Particular task.In the flight course of the task of completion, unmanned plane can encounter high building, high-tension bus-bar, the safely regions such as no-fly, this When, unmanned plane needs to fly to the region of pending task around no-fly region.In addition, unmanned plane is in the flight for completing particular task In the process, band carries limited energy, and the limited time of flight, therefore, unmanned plane need to complete within the limited time specifically to appoint Business, this just needs to solve feasible routes before flight, selects optimal airline operation；Meanwhile when encountering planning in flight course When outer no-fly region, with Real-time solution feasible routes and optimal course line can be selected fly.

In the prior art, the important channel for solving the feasible routes of unmanned plane is to use Route Planning Algorithm, currently, air route There are many planning algorithm, and common algorithm has method of geometry and intelligent planning algorithm based on graph theory.

Summary of the invention

Inventor has found in the course of the research, the existing method of geometry based on graph theory require to be used to indicate planning space or In the graph model of state space, it is necessary to all possible course line in corresponding space be set out, otherwise this method may lose optimal Solution.Further, since intelligent Route Planning Algorithm solution process is usually than relatively time-consuming, so that unmanned plane encounters the no-fly zone outside planning When domain, optimal course line cannot be solved in real time.

In view of this, the main object of the present invention is to provide a kind of Route planner and dress based on no-fly zone constraint It sets, the solution before unmanned plane during flying to planning space Ship's Optimum Route both may be implemented, can also realize that unmanned plane encounters planning When outer no-fly region, in real time to the solution of Ship's Optimum Route, and optimal solution is not lost during solving Ship's Optimum Route.

To solve the above-mentioned problems, the invention discloses a kind of Route planner based on no-fly zone constraint, this method Applied on unmanned plane, this method comprises:

By intersection region of the unmanned plane in the no-fly region between start position to final position and intensive cell Domain carries out fragment, obtains the no-fly region of different fragments；

The region that circumcircle by each no-fly region of fragment includes is determined as round no-fly region；

In the method for the no-fly interregional interior outside common tangent using circle of the circle, the start position is solved to the end Each straight line feasible path and feasible way point between point position, the feasible way point are the straight line feasible path and the circle The intersection point in the no-fly region of shape；

It is determined according to the straight line feasible path from the start position to all feasible routes the final position；

According to all feasible routes and the feasible way point plan the start position to the final position it Between optimal air line.

Wherein, described to plan the start position to the end according to all feasible routes and the feasible way point Optimal air line between point position, comprising:

It is Ship's Optimum Route that the shortest course line in path is selected from all feasible routes；

Attribute according to the feasible way point is still to go out point of contact into point of contact, determines in the Ship's Optimum Route adjacent two Offline mode in the straight line feasible path between the adjacent two feasible way points obtains the start position described in Optimal air line between final position.

Wherein, the attribute according to the feasible way point is still to go out point of contact into point of contact, determines the Ship's Optimum Route In offline mode between two feasible way points adjacent in adjacent two straight line feasible paths, comprising:

If two adjacent feasible way points described in adjacent two straight line feasible paths described in the Ship's Optimum Route are By going out point of contact to point of contact is entered, then use rectilinear flight mode, it is described go out point of contact to leave institute according to the direction of the feasible routes State the straight line feasible path in round no-fly region and the point of contact in the no-fly region of circle, it is described enter point of contact for according to described feasible The direction in course line flies into the straight line feasible path in the no-fly region of circle and the point of contact in the no-fly region of circle；

If two feasible way points adjacent described in adjacent two straight line feasible paths are by institute in the Ship's Optimum Route It states into point of contact to the point of contact out, then uses camber line offline mode.

Wherein, the method in the no-fly interregional interior outside common tangent using circle of the circle, solves described point Set each straight line feasible path and feasible way point between the final position, comprising:

The start position is obtained as current location；

For the current location, the searching process of current straight line feasible path is executed, the searching process includes:

Determine the current connecting line between the current location and the final position；

Judge whether the current connecting line passes through the no-fly region of circle；

If the current connecting line passes through the no-fly region of circle, it is determined that on the current connecting line described in distance The nearest no-fly region of circle in current location, and round no-fly region where determining the current location and the distance are nearest It is round no-fly interregional, by the current common tangent of the current location side；

Judge whether the current common tangent passes through the no-fly region of circle；

If it is not, judging what whether the straight line feasible path adjacent with the current common tangent determined with the current common tangent Path intersection；If it is not, then determining that the current common tangent is current straight line feasible path；

Using the terminal of the current straight line feasible path as current location, the searching process is executed, until the starting point Position is finished to all straight line feasible paths determination between the final position.

Wherein, whether the judgement straight line feasible path adjacent with the current common tangent be true with the current common tangent Fixed path intersection, further includes:

If intersection, by the round no-fly zone where the starting point of the straight line feasible path adjacent with the current common tangent Circle where the terminal in the path that domain and the current common tangent determine is no-fly interregional in the current common tangent side Outside common tangent, as current connecting line, execution judges the step of whether current connecting line passes through the round no-fly region.

Wherein, for the current location, the searching process of current straight line feasible path is executed, the searching process is gone back Include:

If the current connecting line without the no-fly region of circle, judges whether the current location is the end Point position, if the final position, it is determined that the current connecting line is the current straight line feasible path；

If not the final position, then round no-fly region where calculating the final position to the current location The current common tangent of the current location side；

If by executing the current connecting line and passing through the circle using the current common tangent as current connecting line The step of no-fly region；

If without, it is determined that the current connecting line is current straight line feasible path.

The present invention also provides a kind of routeing device based on no-fly zone constraint, which is integrated on unmanned plane, It is characterized in that, the device includes:

Acquiring unit, for the zone of intersection by the unmanned plane in no-fly region between start position to final position Domain and intensive zonule carry out fragment, obtain the no-fly region of different fragments；

First determination unit, the region for including by the circumcircle in each no-fly region of fragment are determined as round taboo Fly region；

Computing unit solves described rise for the method in the no-fly interregional interior outside common tangent using circle of the circle To each straight line feasible path and feasible way point between the final position, the feasible way point is that the straight line can for point position The intersection point of walking along the street diameter and the no-fly region of circle；

Second determination unit, for being determined according to the straight line feasible path from the start position to the final position Between all feasible routes；

Third determination unit, for planning the start position according to all feasible routes and the feasible way point Optimal air line between the final position.

The third determination unit includes:

First determines subelement, is Ship's Optimum Route for selecting the shortest course line in path from all feasible routes.

Second determines subelement, for being still to go out point of contact into point of contact according to the attribute of the feasible way point, determines institute The offline mode between two feasible way points adjacent in adjacent two straight line feasible paths in Ship's Optimum Route is stated, is obtained To the start position to the optimal air line between the final position.

Wherein, it described second determines subelement, is specifically used for:

Two feasible way points adjacent in adjacent two straight line feasible paths are by going out point of contact in the Ship's Optimum Route In the case where entering point of contact, it is determined that use rectilinear flight mode；Alternatively, adjacent two straight lines are feasible in the Ship's Optimum Route Two adjacent feasible way points are then to use camber line offline mode, the point of contact out is by entering point of contact to point of contact is gone out in path The straight line feasible path in round no-fly region and the point of contact in round no-fly region are left according to the direction of feasible routes, it is described to enter to cut Point is the straight line feasible path that round no-fly region is flown into according to the direction of feasible routes and the point of contact in round no-fly region.

Wherein, the computing unit includes:

Subelement is obtained, for obtaining the start position as current location.

Subelement is executed, for being directed to the current location, is determined between the current location and the final position Current connecting line；

If it is not, judging what whether the straight line feasible path adjacent with the current common tangent determined with the current common tangent Path intersection；If it is not, then determining that the current common tangent is current straight line feasible path.

Subelement is triggered, for finding from current location using the terminal of the current straight line feasible path as current location The straight line feasible path of beginning, until the start position has been determined to all straight line feasible paths between the final position Finish.

Wherein, the execution subelement, is also used to:

Wherein, whether the judgement straight line feasible path adjacent with the current common tangent be true with the current common tangent Fixed path is intersected, and can also include:

Compared with prior art, the invention has the following advantages:

In order to solve Ship's Optimum Route before realizing unmanned plane during flying, and the no-fly zone outside planning is encountered in flight course Ship's Optimum Route can be gone out when domain with Real-time solution, and do not lose optimal solution, the invention proposes the air routes constrained based on no-fly zone Planing method and device.No-fly region fragment in planning space is integrated by the present invention during solving Ship's Optimum Route Circumcircle region, and feasible routes and way point are resolved using common tangent method to circumcircle region, it simplifies and solves optimal boat The thinking of line makes it not allow Ship's Optimum Route easy to be lost, and solving speed is faster, meanwhile, selected Ship's Optimum Route is suitble to nobody The offline mode of machine and be shortest course line, so that the time of unmanned plane practical flight shortens, overcomes base in the prior art The disadvantage of optimal solution and intelligent flight course planning algorithm time-consuming may be lost in the geometric algorithm of graph theory, so that it is guaranteed that unmanned plane exists Specific task is completed in the limited time.

Detailed description of the invention

In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis The attached drawing of offer obtains other attached drawings.

Fig. 1 is a kind of method flow diagram of the Route planner based on no-fly zone constraint in the present invention；

Fig. 2 (a) is the schematic diagram in the no-fly region of circle obtained in the present invention according to intersection region；

Fig. 2 (b) is the schematic diagram in the no-fly region of circle obtained in the present invention according to intensive zonule；

Fig. 3 is the method flow diagram that start position is solved in the present invention to all straight line feasible paths between final position；

Fig. 4 (a) is that the presence that two straight line paths form in the present invention is diversion the schematic diagram in path；

Fig. 4 (b) is the presence of the schematic diagram that new route is calculated when being diversion path in the present invention；

Fig. 5 is to be planned in the present invention no-fly region to obtain the method flow diagram in round no-fly region；

Fig. 6 is the method flow of all straight line feasible paths between finding from start position to final position in the present invention Figure；

Fig. 7 is a kind of structural schematic diagram of the routeing device based on no-fly zone constraint in the present invention.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.

When unmanned plane needs to fly to the final position specific task of completion from start position, unmanned plane point from Setting and flying to the flight range in final position is three-dimensional spatial area, is advised for convenience to unmanned plane in the air route of three-dimensional space It draws, usually the space that unmanned plane may pass through is simplified, three-dimensional space is such as reduced to plane space, by no-fly region letter Turn to simple geometry etc..

The present invention may pass through unmanned plane when planning air route of the unmanned plane between start position to final position Three-dimensional spatial area is reduced to plane domain, and whether there is crossing instances and no-fly zone according to region no-fly in three-dimensional space The concentration in domain carries out fragment to no-fly region and obtains the no-fly region of fragment, and includes by the circumcircle in each no-fly region Region be determined as round no-fly region；Then, in the method for the round no-fly interregional interior outside common tangent using circle, solve from Each straight line feasible path and feasible way point of the start position to final position；Finally, according to each straight line feasible path determine from Start position is determined as Ship's Optimum Route, root to the feasible routes between final position, by the course line of shortest path in feasible routes The offline mode between adjacent two straight line feasible paths is determined according to the attribute of the feasible way point of Ship's Optimum Route, and then is obtained from Position is put to the optimal air line between final position.

In order to make those skilled in the art more fully understand the present invention program, with reference to the accompanying drawings and detailed description to this Invention is described in further detail.

Embodiment 1

Fig. 1 is a kind of flow chart for Route planner that the embodiment of the present invention 1 provides, this method comprises:

Step S101: by the zone of intersection in the unmanned plane, no-fly region between start position to final position Domain and intensive zonule carry out fragment, obtain the no-fly region of different fragments.

Under normal circumstances, flight range of the unmanned plane from start position to final position be to the north of, east and three, day direction Determining 3D region, wherein the origin of start position three-dimensional system of coordinate thus.Have in this three-dimensional spatial area multiple no-fly Region solves optimal air line of the unmanned plane from start position to final position for convenience, and the three-dimensional in this three-dimensional space is prohibited Fly region to project in the plane that Bei Hedong both direction determines, the no-fly region of plane is obtained, accordingly, it is possible to which nobody will be solved Optimal air line problem reduction of the machine in three-dimensional space are as follows: solve in the plane that Bei Hedong both direction determines, plane no-fly zone Optimal air line problem between domain.In order to facilitate statement, the no-fly region of the plane of appearance is hereinafter referred to as no-fly region.

Again because in the plane that Bei Hedong both direction determines, there are multiple shapes and it is distributed irregular no-fly zone Domain, so solve the optimal air line of unmanned plane in this plane for convenience, by each no-fly region according to whether be intersection region or Intensive zonule carries out fragment, obtains the no-fly region of each fragment.Wherein, intersection region refers to that no-fly region intersection is formed by area Domain, each intersection region are a no-fly region of fragment；Intensive zonule is that adjacent no-fly interregional distance is greater than nothing Man-machine minimum turning radius and it is less than 2 times of unmanned plane minimum turning radius, each intensive zonule is also a fragment No-fly region；And by each no-fly region in all no-fly regions other than intersection region and intensive zonule It is determined as the no-fly region of fragment.

Step S102: the region that the circumcircle by the no-fly region of each fragment includes is determined as round no-fly region.

In order to facilitate start position is solved to the no-fly interregional optimal air line of fragments all between final position, each point is done The region that obtained each circumcircle includes is determined as round no-fly region, to justify herein by the circumcircle in the no-fly region of piece On the basis of the no-fly region of shape, solving start position using the method for round interior outside common tangent can to each straight line between final position Walking along the street diameter and feasible way point.For example, be directed to intersection region, can do an energy include each intersect no-fly region most Small circumcircle is as round no-fly region；For intensive zonule, then can do one includes each of intensive zonule The minimum circumcircle in no-fly region is as round no-fly region, the no-fly region of other fragments, then according to can be no-fly including the fragment The minimum circumcircle of all areas is as round no-fly region in region.Specifically can be shown with reference to Fig. 2 (a) and Fig. 2 (b), In, Fig. 2 (a) is the schematic diagram in the no-fly region of circle obtained according to intersection region, and Fig. 2 (b) is obtained according to intensive zonule The no-fly region of circle schematic diagram.

Step S103: in the method for the no-fly interregional interior outside common tangent using circle of the circle, described point is solved Each straight line feasible path and feasible way point between the final position are set, the feasible way point is that the straight line can walking along the street The intersection point of diameter and round no-fly region.

This step S103 solves the start position and arrives in the method for the round no-fly interregional interior outside common tangent using circle Each straight line feasible path in the final position and feasible way point.Wherein, the straight line feasible path of required solution is two circles The no-fly interregional straight line path of shape and without other round no-fly regions, the friendship of straight line feasible path and round no-fly region Point is feasible way point.

Specifically, solving the process of straight line feasible path and feasible way point as shown in figure 3, its process includes step S301 ~step S312:

Step S301: the start position is obtained as current location.

Firstly, being found round no-fly where current location using unmanned plane start position to be taken off as current location The straight line feasible path that region is set out.

Step S302: being directed to the current location, determines currently connecting between the current location and the final position Wiring.

After current location has been determined, current location and final position are connected, by this connection current location and final position Straight line be determined as current connecting line, enter step S303.

Step S303: judging whether the current connecting line passes through the no-fly region of circle, if by the circle No-fly region, then enter step S304, if entering step S309 without the no-fly region of circle.

It whether is 1 according to flag bit at this time after obtaining the current connecting line between current location and final position, if mark Position indicates that current connecting line by other round no-fly regions, then enters step S304 from current location to final position for 1； If flag bit is not that the current connecting line of 1 expression does not pass through other round no-fly regions from current location to final position, into Enter step S309.

It should be noted that the numerical value of flag bit is used to indicate whether current connecting line to pass through other round no-fly regions, Flag bit can choose any numerical value to indicate whether current connecting line at this time passes through no-fly region.

Step S304: it determines the no-fly region of circle that current location described in distance is nearest on current connecting line, and determines institute The no-fly region of circle of round no-fly region and the distance where stating current location recently, by working as the current location side Preceding common tangent, enters step S305.

Specifically, after obtaining current connecting line, first, it is determined that whether this current connecting line passes through round no-fly region, If needing to find on current connecting line by round no-fly region, the circle no-fly region nearest apart from current location；So Afterwards, with apart from the nearest no-fly interregional common tangent of circle, the common tangent is total in round no-fly region where obtaining current location There are four, two of them are outside common tangent, and two other is internal common tangent, in this four common tangents, choose and pass through present bit Two common tangents of that side in round no-fly region where setting, choose a common tangent respectively from two common tangents and are used as and work as Preceding common tangent executes step S305.Until two common tangents are all respectively as current common tangent, it has been carried out step S305, this When search out the round no-fly region where the current location, and there is no the straight line feasible paths in path of being diversion.

Special, when start position is current location, the area in round no-fly region is zero where current location, at this In the case of kind, the common tangent of current location and the circle no-fly region nearest with current location distance is directly acquired, is obtained at this time Two common tangents, using this two common tangents as current common tangent, the round no-fly region where searching out from current location It sets out, and there is no the straight line feasible paths in path of being diversion.

Step S305: judging whether the current common tangent passes through round no-fly region, if by by the current public affairs Tangent line enters step S304 as current connecting line, if without S306 is entered step.

Whether the flag bit of judgement at this time is 1, if 1, indicates current common tangent by other round no-fly regions, with institute Current common tangent is stated as current connecting line, and executes step S304, if not 1, indicate current common tangent without other circles The no-fly region of shape executes step S306.

Specifically, being continually looked for according to step S304 apart from current location using current common tangent as current connecting line The nearest no-fly region of circle determines the round no-fly region in current location place and apart from the nearest no-fly interregional public affairs of circle Tangent line, and two common tangents of current location side are chosen at, wherein step then will be executed as current common tangent by a common tangent Rapid S305, is recycled with this, until current common tangent is without round no-fly region, enters step S306.

Step S306: the path whether the judgement straight line feasible path adjacent with current common tangent determines with current common tangent Intersection；If it is, S307 is entered step, if it is not, then entering step S311.

The purpose of this step be in order to judge, between current common tangent and straight line feasible path adjacent with current common tangent whether In the presence of path of being diversion.Fig. 4 (a) be two straight line path cross sections composition the path schematic diagram that is diversion, Fig. 4 (b) be exist around The new route that the present invention is calculated when flying path.

Specifically, circle 01, circle 02 and circle 03 respectively indicate three no-fly regions of circle in Fig. 4 (a), circle 01 is done respectively With circle 02 between common tangent p1p2, and, circle 02 and circle 03 between common tangent p3p4, then common tangent p1p2 and circle 01 between Intersection point p1 be feasible way point, the intersection point p2 between common tangent p1p2 and circle 02 is also feasible way point, and p1p2 is round prohibits Fly the straight line feasible path between region 01 and round no-fly region 02.Similarly, p3, p4 are feasible way point, and p3p4 indicates round Straight line feasible path between no-fly region 02 and round no-fly region 03.From Fig. 4 (a) as can be seen that straight line feasible path p1p2 It intersects at a point with straight line feasible path p3p4, if unmanned plane flies to round no-fly region 02 from round no-fly region 01, then Round no-fly region 03 is flown to, then flight path are as follows: fly first along straight line feasible path p1p2, fly to p1p2's and p3p4 Intersection point followed by flies to feasible way point p2, and then flies a circle around round no-fly region 02 and flies to feasible way point p3；Then, The intersection point of p1p2 and p3p4 are flown to from feasible way point p3；Finally, flying to feasible way point p4 from intersection point.So by feasible air route During point p1 flies to feasible way point p4, feasible way point p2 is flown to from the intersection point of p1p2 and p3p4, is then prohibited around circle Fly the winged circle in region 02 and fly to feasible way point p3, then is exactly from the path of the feasible way point p3 intersection point for flying to p1p2 and p3p4 It is diversion path.

In the algorithm, for judging p3p4 and between p1p2 with the presence or absence of path of being diversion, using line segment p3p4 and line Whether section p1p2 intersects, if intersection, the path of point p1 to point p4 has be diversion path, if non-intersecting, point p1 to point There is no paths of being diversion in the path of p4.

Step S307: by the no-fly region of circle where the starting point of the straight line feasible path adjacent with current common tangent, and, Round no-fly interregional, the granddad in the current common tangent side where the terminal in the path that the current common tangent determines Tangent line executes step S303 as current connecting line.

This step is in the presence of the movement executed under path of being diversion, if current common tangent straight line feasible path adjacent thereto Between exist be diversion path when, need to delete current common tangent, recalculate new path, the calculation method of new route are as follows: firstly, Determine the no-fly region of circle where the starting point of the straight line feasible path adjacent with current common tangent, and the terminal of current common tangent The no-fly region of circle at place；Then, round no-fly zone where doing the starting point of the straight line feasible path adjacent with current common tangent The no-fly interregional outside common tangent of circle where domain, with the terminal of current common tangent, at this point, obtained outside common tangent has two That common tangent in two common tangents in current common tangent side is determined as current connecting line, enters step S303 by item.

Specifically, for the path of being diversion between feasible way point p1 to feasible way point p4 shown in Fig. 4 (a), this step The method for calculating new route are as follows: path p3p4 is deleted, the outside common tangent between round no-fly region 01 and round no-fly region 03 is done, At this point, two outside common tangents are obtained, it will be straight as currently connecting with the outside common tangent of side where line segment p3p4 by line segment p1p2 Line, the starting point of outside common tangent enter step S303 as current location, are obtained using the method that this step calculates new route new Shown in such as Fig. 4 (b) of path.

Step S308: judging whether current location is that the final position if final position then enters step S312, If not final position, then enter step S309.

This step be step S303 judging result be the current connecting line without round no-fly region when, continue to sentence Whether disconnected current location is final position, if so, S312 is entered step, if it is not, then entering step S309.

Step S309: the current location side in round no-fly region is current where calculating the final position to current location Common tangent enters step S310.

This step be when the current connecting line of current location and terminal is without other round no-fly regions, and it is current When position is not final position, at this point, common tangent is done in round no-fly region where from final position to current location, due to terminal Position is a point, and therefore, current common tangent has two, is chosen from this two common tangents by current location round no-fly The common tangent of the side in region subsequently enters step S310 as current common tangent.

Step S310: judging whether the current common tangent passes through round no-fly region, if by cutting the current public affairs Line then enters step S304 as current connecting line, if without S311 is entered step.

Step S311: it determines that the current common tangent is current straight line feasible path, enters step S312.

This step be between current common tangent and the straight line feasible path adjacent with current common tangent there is no be diversion path when, The current common tangent solved at this time is straight line feasible path, subsequently enters step S312, the terminal with straight line feasible path is Continue to solve straight line feasible path in current location.

Step S312: continue to solve straight line feasible path as current location using the terminal of straight line feasible path, until described Start position is finished to all straight line feasible paths determination between the final position.

In this step, when the current connecting line in the current location judged step S303 and final position is without circle The no-fly region of shape, and when current location is final position；Alternatively, determining that the current common tangent is to work as in step S311 When preceding straight line feasible path, this step is executed, i.e., finds straight line feasible path according to step S302~step S311, until, The terminal of current straight line feasible path is final position determined by the embodiment of the present invention, at this point, indicating from start position to end All straight line feasible paths of point position, which are all found, to be finished.

After having introduced step S103 and having solved to all straight line feasible paths between start position and final position, connect Return Fig. 1, enter step S104.

Step S104: it is determined according to the straight line feasible path from the start position to owning the final position Feasible routes.

Solve obtain start position to all straight line feasible paths between final position after, since start position along Straight line feasible path reach home position when, the feasible routes that there are a plurality of from start position to final position.Feasible routes Determine method are as follows: since start position, along straight line feasible path until final position, the straight line that this procedural order passes through Feasible path forms a feasible routes.According to the method for above-mentioned searching feasible routes, sequentially find from start position to terminal All feasible routes between position.

Step S105: plan the start position to the end according to all feasible routes and the feasible way point Optimal air line between point position.

After start position obtained above to all feasible routes between final position, by straight line in all feasible routes The shortest course line of feasible path is determined as Ship's Optimum Route.Ship's Optimum Route includes choosing from start position to final position at this time The sequencing that several straight line feasible paths and unmanned plane fly according to these straight line feasible paths.

Then, according to the attribute of each feasible way point in this Ship's Optimum Route and Ship's Optimum Route, to determine unmanned plane Along the offline mode of this Ship's Optimum Route, and then obtain optimal path.

Specifically, if two feasible way points adjacent in adjacent two straight line feasible paths in the Ship's Optimum Route be by Point of contact is then the direction according to Ship's Optimum Route to point of contact, the point of contact out is entered along rectilinear flight from point of contact out to point of contact is entered out Leave the straight line feasible path in round no-fly region and the point of contact in round no-fly region, it is described enter point of contact be according to Ship's Optimum Route Direction flies into straight line feasible path and the no-fly region point of contact of circle in round no-fly region.

If two feasible way points adjacent in adjacent two straight line feasible paths are by entering point of contact in the Ship's Optimum Route To point of contact out, then carried out along point of contact out with the camber line for entering the round point of contact no-fly region Shang Youru to point of contact out where point of contact winged Row.

The embodiment of the present invention, firstly, converting the no-fly zone in two-dimensional surface for the no-fly region of three-dimensional in three-dimensional space Domain；Secondly, carrying out fragment to region no-fly in two-dimensional surface region, wherein the no-fly region of intersection will be present as one point The no-fly region of piece, the no-fly region spacing of adjacent two are greater than unmanned plane minimum turning radius and are less than unmanned plane from satisfaction 2 times of no-fly region of minimum turning radius will be not belonging to cross type while being unsatisfactory for and phase as a fragment region Adjacent no-fly interregional distance is greater than unmanned plane minimum turning radius and is less than 2 times of taboo of unmanned plane minimum turning radius Fly region as a no-fly region of fragment；Again, region no-fly for each fragment is all done comprising the no-fly region institute of this fragment There are circle no-fly region of the minimum circumcircle in region as the no-fly region of this fragment, and the side of the interior outside common tangent using circle Method, the no-fly interregional straight line feasible path of all circles between solving from start position to final position；Finally, from all Determine that start position to all feasible routes between final position, and then determines Ship's Optimum Route and optimal in straight line feasible path Air route.

The embodiment of the present invention solves start position to all straight between final position using the method for the interior outside common tangent of circle Then the feasible way point of line determines feasible routes, finally determine Ship's Optimum Route and optimal air line, this using progressive method Determine optimal air line, overcome the existing method based on graph theory, need to be set out start position to it is all between final position can Row air route is come the shortcomings that determining optimal air line, and then be easily lost optimal air line.Meanwhile it overcoming existing intelligent algorithm and comparing Time-consuming, and then the shortcomings that be unfavorable for online resolution and engineer application.

Embodiment 2

The embodiment of the present invention describes in more detail Route planner implementation process proposed by the present invention, mainly Process including being planned to obtain round no-fly region to no-fly region, and, based on the determining no-fly region of circle find from All straight line feasible paths of the start position to final position.

Specifically, Fig. 5, is the method flow diagram for being planned no-fly region to obtain round no-fly region.This method can To include:

Step S501: the no-fly region of three-dimensional that unmanned plane is likely encountered in space is reduced to two-dimensional plane no-fly zone Domain, the no-fly region of this plane are collectively referred to below as no-fly region.

Step S502: by no-fly region intersection region and intensive zonule carry out fragment to obtain different fragments no-fly Region.

Above-mentioned steps S501~step S502 is corresponding with the step S101 in embodiment 1, for step S501~step The step S101 of the specific implementation step reference implementation example 1 of S502, which is not described herein again.

Step S503: doing the circumcircle in the no-fly region of each fragment, and the region that circumcircle is determined is no-fly as this fragment The corresponding no-fly region of circle in region.

Since the size and shape in the obtained no-fly region of different fragments step S502 is irregular, prohibit to different fragments are solved Fly interregional each straight line feasible path and bring difficulty, for all points between rapidly solving from start position to final position The no-fly interregional each straight line feasible path of piece, does circumcircle to the no-fly region of each fragment, and the region that circumcircle is determined is made Starting point is solved using the method for round interior outside common tangent on the basis of obtained round no-fly region for round no-fly region Position is to all straight line feasible paths between final position, at this point, solving the no-fly interregional straight line feasible path of each fragment Process will become simple.

Step S503 is corresponding with the step S102 in embodiment 1.

The present invention implements to solve start position using the method for the interior circumscribed common tangent of circle to all straight between final position Line feasible path solves start position to the process of all straight line feasible paths and feasible way point between final position, is one The process of a circulation.Firstly, all current straight line feasible paths from start position are found since start position, this It is to recycle for the first time；Secondly, respectively to recycle the terminal of every obtained current straight line feasible path for the first time as present bit It sets, from current location, the corresponding lower straight line of all current straight line feasible paths for solving that circulation for the first time obtains can Walking along the street diameter recycles obtained all current straight line feasible paths as this；Again, respectively with all current straight line feasible paths Terminal be current location, find the straight line feasible path in the round no-fly region where the current location, recycled with this, directly Terminal to obtained all current straight line feasible paths is that unmanned plane needs to complete the final position of task, at this point, indicate from All straight line feasible paths searching in start position to final position finishes.

Then, all straight lines between based on the no-fly region searching of circle marked off from start position to final position are feasible The method flow in path is as shown in fig. 6, this method may include:

Step S601: initialization start position, final position, current location, flag bit, path memory, straight line are feasible Path counter, round no-fly region-counter.

The variable of this step initialization includes: start position, final position, current location, flag bit, path memory, Straight line feasible path counter, round no-fly region-counter；Wherein, start position is the position of setting out when unmanned plane executes task It sets, final position is the position that unmanned plane executes task；Flag bit is for indicating that the no-fly interregional common tangent of two circles is It is no to intersect with other round no-fly regions, if flag bit is that the 1 expression common tangent intersects with other round no-fly regions, if not Be 1, indicate that the common tangent and other round no-fly regions are non-intersecting, path memory include straight line feasible path memory, Current straight line feasible path memory and infeasible path memory, straight line feasible path memory is used to store straight line can walking along the street Diameter, current straight line feasible path memory are stored in all straight line feasible paths obtained in one cycle process, can not walking along the street Diameter memory is for storing infeasible path；Straight line feasible path counter is for showing current straight line feasible path memory institute Next step straight line feasible path, the number of current straight line feasible path have been solved in the current straight line feasible path saved； Until round no-fly region-counter is shown to current location automatically, it is solved the no-fly region of circle of straight line feasible path Number.

It carves at the beginning, flag bit is not that 1, current straight line path memory number is 0, and straight line feasible path counter is aobvious Indicating value is 0, and round no-fly region-counter show value is 0.

Step S602: start position and final position are read, using start position as current location.

Unmanned plane position to be taken off is obtained, and using this start position to be taken off as current location.Nothing is obtained simultaneously The man-machine position for needing to be implemented task, using start position and final position as the primary quantity of Route Planning Algorithm.

Step S603: the current connecting line between current location and final position is done.

In this step, current location is done to the connecting line between final position, it is right using this connecting line as current connecting line Whether pass through other round no-fly regions in current connecting line, is embodied by flag bit, if flag bit is 1, then it represents that when Preceding connecting line is by other round no-fly regions, if flag bit is not 1, then it represents that current connecting line is prohibited without other circles Fly region.

Step S604: whether flag bit is 1 at this time for judgement, if not 1, S605 is thened follow the steps, if 1, then execute step Rapid S607.

Flag bit is used to show whether current connecting line to pass through other round no-fly regions, if by, flag bit 1, if Without flag bit is not 1.

It should be noted that if flag bit can be other values, as long as mark when current connecting line is by round no-fly region The numerical value of will position can reflect whether current connecting line passes through round no-fly region.

This step is to judge whether current connecting line has passed through current location to the no-fly region of circle between final position, such as Fruit flag bit be 1, illustrate path determined by current connecting line be it is infeasible, therefore, save this infeasible path, need weight The new straight line feasible path for finding the round no-fly region where current location.

Step S605: judging whether current location is final position, if so, determine that current connecting line is current common tangent, It is transferred to step S612, if it is not, then executing, step S606.

This step is that the current connecting line between the current location and final position that step S604 is determined is prohibited without circle When flying region, the movement of execution.

Step S606: the current common tangent in round no-fly region where the final position to current location is calculated, by institute Current common tangent is stated as current connecting line, executes step S604.

In this step, firstly, common tangent is done from the no-fly region of circle where final position to current location, due to end Point is set to a point, and therefore, common tangent at this time has two；Then, it chooses from this two common tangents by current location The common tangent of side enters step S604 as current common tangent, and using current common tangent as current connecting line, continues to execute.

Step S607: it finds in the no-fly region of circle that current connecting line passes through, the circle nearest apart from current location No-fly region, and calculate the round no-fly region in current location place and the circle no-fly interregional public affairs nearest apart from current location Tangent line, determine in the common tangent by current location side common tangent be current common tangent, enter step S608.

Specifically, firstly, it is necessary to finding in the no-fly region of circle that current connecting line passes through, determining and current location is most The close no-fly region of circle；Then, the round no-fly region in current location place and the round taboo nearest apart from current location are calculated Fly interregional common tangent.

If current location is not start position, this common tangent has four, chooses by round no-fly region current location Two common tangents of side, as current common tangent；If current location is start position, it is current to distance to calculate current location The common tangent in the nearest no-fly region of circle in position, at this point, the common tangent is current common tangent.

Step S608: judging whether current mark bit is 1, if 1, thens follow the steps S609, if not 1, then execute step Rapid S610.

Whether the current mark bit in this step is 1, and expression is whether current common tangent obtained in step S607 passes through Other round no-fly regions are crossed, if flag bit is 1, indicate that current common tangent by other round no-fly regions, thens follow the steps S609；If flag bit is not 1, indicate that current common tangent without other round no-fly regions, thens follow the steps S610.

Step S609: current common tangent is stored in infeasible path memory, using current common tangent as currently connecting Wiring, and it is transferred to step S607.

After being transferred to step S607, continue round no-fly region and the circle nearest apart from current location where calculating current location The no-fly interregional common tangent of shape determines that the common tangent in the common tangent by current location side is current common tangent, then Step S608 is executed, is circuited sequentially, when it is 1 that step S608, which judges flag bit not, is jumped out this step, enter step S610。

Step S610: the path whether the judgement straight line feasible path adjacent with current common tangent determines with current common tangent Intersection, if so, S611 is entered step, if it is not, entering step S612.

This step is exactly to judge current common tangent and the straight line feasible path adjacent with current common tangent, if exists and is diversion The details in path, path of being specifically diversion is described in detail in embodiment 1, and which is not described herein again.

Step S611: by the no-fly region of circle where the starting point of the straight line feasible path adjacent with current common tangent, and, The no-fly interregional granddad in the current common tangent side of circle where the terminal in the path that the current common tangent determines Tangent line is turned to step S604 and continued to execute, recycled with this as current connecting line, until the judging result of step S610 be it is no, Enter step S612.

Step S612: it determines that current common tangent is current straight line feasible path, current straight line feasible path is stored in and is worked as In preceding straight line feasible path memory, the number of current straight line feasible path memory adds the number of straight line feasible path at this time Mesh, and feasible way point number subsequently enters step S613 plus 2 times of current straight line feasible path item number at this time.

Step S613: judging that the number of straight line feasible path counter at this time adds whether 1 be greater than straight line feasible path numerical value, If being not more than, S614 is entered step, if more than S615 is then entered step.

In this step, straight line feasible path numerical value refers to that all current straight lines obtained in upper primary cyclic process can The number of walking along the street diameter.Straight line feasible path counter indicates, in this cyclic process, to the institute that last time recycles There is current straight line feasible path to solve the number to the current straight line feasible path of lower straight line feasible path.If straight line can The number of row path counter adds 1 number for being greater than straight line feasible path, indicates all obtained in the circulation of previous step and works as Preceding straight line feasible path has all been solved the straight line feasible path of next step；If it is not greater, indicating to obtain in last circulation To all current straight line feasible paths in there is also the current straight line feasible paths for not being solved lower straight line feasible path.

Step S614: the current straight line for not being solved next step straight line feasible path in acquisition feasible path memory is feasible Path, and using the terminal of the straight line feasible path of the acquisition as current location, straight line feasible path counter adds 1, executes Step S603.

Step S615: straight line feasible path counter O reset, straight line feasible path numerical value are that current straight line feasible path is deposited The number of reservoir, and the straight line feasible path in current straight line feasible path memory is stored in feasible path memory, Current straight line feasible path memory is reset.

In this step, straight line feasible path memory is feasible for being stored in current straight line obtained in each cyclic process The corresponding next step straight line feasible path in path.

Step S616: judging whether the number of round no-fly region-counter is less than the number in round no-fly region, if small In thening follow the steps S613, if being not less than, then follow the steps S617.

Step S617: terminate process.

This step indicate, start position between final position the no-fly interregional straight line feasible path of all circle and can The determination of row way point finishes.

Through the above steps S601~step S617 search out all straight lines from start position to final position can walking along the street Diameter, and this straight line feasible path is stored in straight line feasible path memory.It is deposited according in this straight line feasible path memory The straight line feasible path of storage searches out the method for all feasible routes in final position from start position are as follows: firstly, the point from Set beginning, all straight line feasible paths that the start position that finding straight line can be saved in line storage starts；Then, at this time The terminals of all straight line feasible paths begin look for, using this terminal as the straight line feasible path of starting point, and according to above-mentioned steps, Terminal until searching out all straight line feasible paths is final position；Finally, from start position along it is above-mentioned search out it is straight Line feasible path is until final position, at this point, course line of each from start position to final position is all a feasible routes.

Plan the start position between the final position according to all feasible routes and the way point The process of optimal air line is identical as the step S105 in embodiment, and which is not described herein again.

The specific implementation step of Route planner of the invention is described in detail in the embodiment of the present invention, can set this step In in unmanned plane, when unmanned plane encounters the no-fly region that do not planned during flight, the sensor on unmanned plane is adopted The current location for collecting unmanned plane, according to the method for the embodiment of the present invention, search out within the limited time from current location to The optimal air line in final position, before the deadline, to complete specific task.

Embodiment 3

The embodiment of the invention discloses a kind of routeing device based on no-fly zone constraint, which is integrated in unmanned plane On, start position is planned to the air route final position for unmanned plane, refers to Fig. 7, the apparatus may include:

Acquiring unit 701, for the friendship by the unmanned plane in no-fly region between start position to final position It pitches region and intensive zonule carries out fragment, obtain the no-fly region of different fragments.

First determination unit 702, the region for including by the circumcircle in each no-fly region of fragment are determined as justifying The no-fly region of shape.

Computing unit 703, for the method in the no-fly interregional interior outside common tangent using circle of the circle, described in solution For start position to each straight line feasible path and feasible way point between the final position, the feasible way point is the straight line The intersection point of feasible path and the no-fly region of circle.

Second determination unit 704, for being determined according to the straight line feasible path from the start position to the terminal All feasible routes between position.

Third determination unit 705, for planning the starting point according to all feasible routes and the feasible way point Position is to the optimal air line between the final position.

Specifically, in embodiments of the present invention, the third determination unit may include: the first determining subelement and second Determine subelement.Wherein,

Specifically, in embodiments of the present invention, described second determines that subelement is specifically used for:

Specifically, in embodiments of the present invention, the computing unit may include: obtain subelement, execute subelement and Trigger subelement.Wherein,

Subelement is obtained, for obtaining the start position as current location.

In apparatus of the present invention embodiment, subelement is executed, can be also used for:

Judge the path whether the straight line feasible path adjacent with the current common tangent determines with the current common tangent Intersect, can also include:

In apparatus of the present invention embodiment, unmanned plane passes through acquiring unit first, obtains from start position to final position Between the no-fly region of fragment；Then, by the first determination unit, determine the circumcircle in the no-fly region of each fragment as round No-fly region is used computing unit so as to subsequent, is solved using the method for round interior outside common tangent from start position to terminal position All straight line feasible paths and feasible way point between setting；Finally, being determined by the second determination unit and third determination unit The shortest course line in path in all feasible routes is determined as optimal by point position to all feasible routes between final position Course line determines unmanned plane from start position to terminal according to the feasible way point attribute in this Ship's Optimum Route and this Ship's Optimum Route Optimal air line between position.

The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one The widest scope of cause.

Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning Covering non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes that A little elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged Except there is also other identical elements in the process, method, article or apparatus that includes the element.

Claims

1. a kind of Route planner based on no-fly zone constraint, is applied on unmanned plane, which is characterized in that the method packet It includes:

By intersection region of the unmanned plane in the no-fly region between start position to final position and intensive zonule into Row fragment obtains the no-fly region of different fragments；

In the method for the no-fly interregional interior outside common tangent using circle of the circle, the start position is solved to the terminal position Each straight line feasible path and feasible way point between setting, the feasible way point are the straight line feasible path and the round taboo Fly the intersection point in region；

Plan the start position between the final position according to all feasible routes and the feasible way point Optimal air line；

Wherein, described to plan the start position to the terminal position according to all feasible routes and the feasible way point Optimal air line between setting, comprising:

Attribute according to the feasible way point is still to go out point of contact into point of contact, is determined in the Ship's Optimum Route described in adjacent two Offline mode in straight line feasible path between the adjacent two feasible way points, obtains the start position to the terminal Optimal air line between position；

Wherein, the attribute according to the feasible way point is still to go out point of contact into point of contact, determines phase in the Ship's Optimum Route Offline mode in adjacent two straight line feasible paths between two adjacent feasible way points, comprising:

If two adjacent feasible way points described in adjacent two straight line feasible paths described in the Ship's Optimum Route are by going out Point of contact then uses rectilinear flight mode, the point of contact out is to leave the circle according to the direction of the feasible routes to point of contact is entered The point of contact of the straight line feasible path in the no-fly region of shape and the no-fly region of circle, it is described enter point of contact be according to the feasible routes Direction fly into the straight line feasible path in the no-fly region of circle and the point of contact in the no-fly region of circle；

If in the Ship's Optimum Route two feasible way points adjacent described in adjacent two straight line feasible paths be by it is described enter Point of contact then uses camber line offline mode to the point of contact out.

2. the method according to claim 1, wherein described inside and outside the no-fly interregional use circle of the circle The method of common tangent solves the start position to each straight line feasible path and feasible way point between the final position, packet It includes:

The start position is obtained as current location；

If the current connecting line passes through the no-fly region of circle, it is determined that current described in distance on the current connecting line The nearest no-fly region of circle in position, and round no-fly region where determining the current location with apart from the current location most Close circle is no-fly interregional, by the current common tangent of the current location side；

If it is not, judging the path whether the straight line feasible path adjacent with the current common tangent determines with the current common tangent Intersection；If it is not, then determining that the current common tangent is current straight line feasible path；

Using the terminal of the current straight line feasible path as current location, the searching process is executed, until the start position It is finished to all straight line feasible paths determination between the final position.

3. according to the method described in claim 2, it is characterized in that, being directed to the current location, executing current straight line can walking along the street The searching process of diameter, the searching process, further includes:

If the current connecting line without the no-fly region of circle, judges whether the current location is the terminal position It sets, if the final position, it is determined that the current connecting line is the current straight line feasible path；

If not the final position, then round no-fly region is described where calculating the final position to the current location The current common tangent of current location side；

If by it is no-fly by the circle to execute the current connecting line using the current common tangent as current connecting line The step of region；

4. according to the method described in claim 2, it is characterized in that, described judge that the straight line adjacent with the current common tangent can Intersect in the path whether walking along the street diameter determines with the current common tangent, further includes:

If intersection, by where the starting point of the straight line feasible path adjacent with the current common tangent the no-fly region of circle and The no-fly interregional granddad in the current common tangent side of circle where the terminal in the path that the current common tangent determines Tangent line, as current connecting line, execution judges the step of whether current connecting line passes through the round no-fly region.

5. a kind of routeing device based on no-fly zone constraint, described device are integrated on unmanned plane, which is characterized in that packet It includes:

Acquiring unit, for by intersection region of the unmanned plane in no-fly region between start position to final position and Intensive zonule carries out fragment, obtains the no-fly region of different fragments；

First determination unit, the region for including by the circumcircle in each no-fly region of fragment are determined as round no-fly zone Domain；

Computing unit solves described point for the method in the no-fly interregional interior outside common tangent using circle of the circle Each straight line feasible path and feasible way point between the final position are set, the feasible way point is that the straight line can walking along the street The intersection point of diameter and the no-fly region of circle；

Second determination unit, for being determined according to the straight line feasible path from the start position to the final position All feasible routes；

Third determination unit, for planning the start position to institute according to all feasible routes and the feasible way point State the optimal air line between final position；

Wherein, the third determination unit includes:

First determines subelement, is Ship's Optimum Route for selecting the shortest course line in path from all feasible routes；

Second determination subelement, for being still to go out point of contact into point of contact according to the attribute of the feasible way point, determination is described most Offline mode in excellent course line between two feasible way points adjacent in adjacent two straight line feasible paths, obtains institute Start position is stated to the optimal air line between the final position；

Wherein, it described second determines subelement, is specifically used for:

Two adjacent feasible way points described in adjacent two straight line feasible paths described in the Ship's Optimum Route are by going out Point of contact is in the case where entering point of contact, it is determined that uses rectilinear flight mode；Alternatively, adjacent two described in the Ship's Optimum Route Two adjacent feasible way points described in straight line feasible path are then to use camber line offline mode by entering point of contact to point of contact is gone out, The point of contact out is the straight line feasible path and the circle that the no-fly region of circle is left according to the direction of the feasible routes The point of contact in the no-fly region of shape, it is described enter point of contact be the straight line that the no-fly region of circle is flown into according to the direction of the feasible routes Feasible path and the no-fly region point of contact of the circle.

6. device according to claim 5, which is characterized in that the computing unit includes:

Subelement is obtained, for obtaining the start position as current location；

Subelement is executed, for being directed to the current location, is determined current between the current location and the final position Connecting line；

Subelement is triggered, for finding since current location using the terminal of the current straight line feasible path as current location Straight line feasible path, until the start position between the final position all straight line feasible paths determine finish.