CN107504976B - Flight path planning method for short-distance transport unmanned aerial vehicle - Google Patents
Flight path planning method for short-distance transport unmanned aerial vehicle Download PDFInfo
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- CN107504976B CN107504976B CN201710543406.8A CN201710543406A CN107504976B CN 107504976 B CN107504976 B CN 107504976B CN 201710543406 A CN201710543406 A CN 201710543406A CN 107504976 B CN107504976 B CN 107504976B
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- connecting line
- height
- building
- point
- aerial vehicle
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000005452 bending Methods 0.000 claims abstract description 13
- 238000009499 grossing Methods 0.000 claims abstract description 7
- 238000005457 optimization Methods 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 abstract 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
Classifications
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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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
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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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
Abstract
The invention provides a method for planning a flight route of a short-distance transport unmanned aerial vehicle, which comprises the following steps of ① reading a model, reading a map with building height data from a map database, ② determining the height, calculating an average value from the building height data, ③ intercepting an equal-height surface, intercepting a corresponding plane graph by taking the calculated average value as the intercepted height in the map data, ④ bending a connecting line, taking one point as a bending point for the connecting line between a starting point and a terminal point on the plane graph, penetrating the connecting line through the part of a covering surface of a building, bending the connecting line by using the bending point to ensure that the connecting line does not penetrate any covering surface of the building, ⑤ optimizing a route, namely increasing the height of the obtained connecting line by 3-10%, respectively connecting the two ends of the connecting line with the starting point and the terminal point, then performing curve smoothing processing on the two ends of the connecting line, and ⑥ sending the route.
Description
Technical Field
The invention relates to a flight path planning method for a short-distance transport unmanned aerial vehicle.
Background
At present, part colleges and universities campus is great, or has a plurality of school districts that close to, and the mode that special messenger ridden is adopted to wherein smallclothes commodity circulation more, and the human cost is high, efficient.
Unmanned aerial vehicle's among the prior art flight route, it is accomplished through real time control mostly, few part go on through automatic identification's mode, however to short distance transportation, real time control then needs the special messenger to be responsible for control, the human cost is too high, automatic identification then means that corresponding equipment cost is higher, and with regard to the development situation of present automatic identification technique, must accomplish enough accuracy, its cost is far away from general colleges and universities and daily article transportation and uses and can accept.
Disclosure of Invention
In order to solve the technical problems, the invention provides a flight path planning method for a short-distance transport unmanned aerial vehicle, which can effectively solve the problem of flight path planning of the short-distance transport unmanned aerial vehicle in a low-cost mode through a process with extremely small calculated amount.
The invention is realized by the following technical scheme.
The invention provides a flight path planning method for a short-distance transport unmanned aerial vehicle, which comprises the following steps:
① reading the model, reading a map with building height data from a map database;
② determining the height by calculating an average from the building height data;
③ intercepting the equal height surface, in the map data, intercepting the corresponding plan view by taking the calculated average value as the intercepting height;
④ bending the connecting line, wherein for the connecting line between the starting point and the terminal point on the plane view, one point of the connecting line passing through the building covering surface is taken as a bending point, and the connecting line is bent by the bending point so that the connecting line does not pass through any building covering surface;
⑤ path optimization, namely, improving the height of the obtained connecting line by 3-10%, connecting the two ends of the connecting line with a starting point and an end point respectively, and then performing curve smoothing on the two ends of the connecting line;
⑥ sends a path that returns the link for which the curve smoothing process is complete as a path result return value.
The map with the building height data is obtained by adding a building height value to each building pattern in the plane map data.
In step ②, the calculated average is a calculated arithmetic average.
In step ④, when the connecting line is bent, the curve of the connecting line is kept smooth.
In step ⑤, the link height is increased by 5%.
The invention has the beneficial effects that: through the process of extremely small calculated amount, the problem of unmanned aerial vehicle flight path planning of short-distance transportation can be effectively solved in an extremely low cost mode.
Detailed Description
The technical solution of the present invention is further described below, but the scope of the claimed invention is not limited to the described.
The invention provides a flight path planning method for a short-distance transport unmanned aerial vehicle, which comprises the following steps:
① reading the model, reading a map with building height data from a map database;
② determining the height by calculating an average from the building height data;
③ intercepting the equal height surface, in the map data, intercepting the corresponding plan view by taking the calculated average value as the intercepting height;
④ bending the connecting line, wherein for the connecting line between the starting point and the terminal point on the plane view, one point of the connecting line passing through the building covering surface is taken as a bending point, and the connecting line is bent by the bending point so that the connecting line does not pass through any building covering surface;
⑤ path optimization, namely, improving the height of the obtained connecting line by 3-10%, connecting the two ends of the connecting line with a starting point and an end point respectively, and then performing curve smoothing on the two ends of the connecting line;
⑥ sends a path that returns the link for which the curve smoothing process is complete as a path result return value.
The map with the building height data is obtained by adding a building height value to each building pattern in the plane map data.
In step ②, the calculated average is a calculated arithmetic average.
In step ④, when the connecting line is bent, the curve of the connecting line is kept smooth.
In step ⑤, the link height is increased by 5%.
The invention can be implemented by a control chip, the input value is the starting point and end point data, the map data is read by the communication module in the process, then the output value is the return value, the flight route data is the flight route data of the three-dimensional space, the flight route data can be executed by another unmanned aerial vehicle navigation module, therefore, the user only needs to set the starting point and the end point for each logistics transportation process actually, the map data can be provided to the user by a third party, and the unmanned aerial vehicle navigation module and other unmanned aerial vehicle control modules behind the unmanned aerial vehicle navigation module can be developed in addition without influencing the implementation of the invention.
Claims (5)
1. A flight path planning method for a short-distance transport unmanned aerial vehicle is characterized by comprising the following steps: the method comprises the following steps:
① reading the model, reading a map with building height data from a map database;
② determining the height by calculating an average from the building height data;
③ intercepting the equal height surface, in the map data, intercepting the corresponding plan view by taking the calculated average value as the intercepting height;
④ bending the connecting line, wherein for the connecting line between the starting point and the terminal point on the plane view, one point of the connecting line passing through the building covering surface is taken as a bending point, and the connecting line is bent by the bending point so that the connecting line does not pass through any building covering surface;
⑤ path optimization, namely, improving the height of the obtained connecting line by 3-10%, connecting the two ends of the connecting line with a starting point and an end point respectively, and then performing curve smoothing on the two ends of the connecting line;
⑥ sends a path that returns the link for which the curve smoothing process is complete as a path result return value.
2. The method for planning a flight path of a short-haul unmanned aerial vehicle according to claim 1, wherein: the map with the building height data is obtained by adding a building height value to each building pattern in the plane map data.
3. The method of claim 1, wherein the step ② is performed by calculating an arithmetic mean.
4. The method for planning a flight path of a short haul unmanned aerial vehicle as claimed in claim 1, wherein in the step ④, the curve of the link is kept smooth when the link is bent.
5. The method of claim 1, wherein in step ⑤, the link height is increased by 5%.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710543406.8A CN107504976B (en) | 2017-07-05 | 2017-07-05 | Flight path planning method for short-distance transport unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710543406.8A CN107504976B (en) | 2017-07-05 | 2017-07-05 | Flight path planning method for short-distance transport unmanned aerial vehicle |
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| Publication Number | Publication Date |
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| CN107504976A CN107504976A (en) | 2017-12-22 |
| CN107504976B true CN107504976B (en) | 2020-06-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710543406.8A Active CN107504976B (en) | 2017-07-05 | 2017-07-05 | Flight path planning method for short-distance transport unmanned aerial vehicle |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109214555B (en) * | 2018-08-13 | 2023-06-27 | 中国平安人寿保险股份有限公司 | Working area generation method, terminal equipment and medium |
| CN111158402A (en) * | 2020-01-16 | 2020-05-15 | 北京工商大学 | Logistics transportation unmanned aerial vehicle flight path planning method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101118622A (en) * | 2007-05-25 | 2008-02-06 | 清华大学 | Minisize rudders three-dimensional track emulation method under city environment |
| CN105571588A (en) * | 2016-03-10 | 2016-05-11 | 赛度科技（北京）有限责任公司 | Method for building three-dimensional aerial airway map of unmanned aerial vehicle and displaying airway of three-dimensional aerial airway map |
| CN106092102A (en) * | 2016-07-20 | 2016-11-09 | 广州极飞电子科技有限公司 | A kind of unmanned plane paths planning method and device |
| CN106501829A (en) * | 2016-09-26 | 2017-03-15 | 北京百度网讯科技有限公司 | A kind of Navigation of Pilotless Aircraft method and apparatus |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7640098B2 (en) * | 2001-07-31 | 2009-12-29 | Stenbock & Everson, Inc. | Process for generating travel plans on the internet |
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- 2017-07-05 CN CN201710543406.8A patent/CN107504976B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101118622A (en) * | 2007-05-25 | 2008-02-06 | 清华大学 | Minisize rudders three-dimensional track emulation method under city environment |
| CN105571588A (en) * | 2016-03-10 | 2016-05-11 | 赛度科技（北京）有限责任公司 | Method for building three-dimensional aerial airway map of unmanned aerial vehicle and displaying airway of three-dimensional aerial airway map |
| CN106092102A (en) * | 2016-07-20 | 2016-11-09 | 广州极飞电子科技有限公司 | A kind of unmanned plane paths planning method and device |
| CN106501829A (en) * | 2016-09-26 | 2017-03-15 | 北京百度网讯科技有限公司 | A kind of Navigation of Pilotless Aircraft method and apparatus |
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| CN107504976A (en) | 2017-12-22 |
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Application publication date: 20171222 Assignee: Reverse Expansion Technology (Liaoning) Co.,Ltd. Assignor: NANNING University Contract record no.: X2023980053202 Denomination of invention: A Short Distance Transportation Drone Flight Route Planning Method Granted publication date: 20200623 License type: Common License Record date: 20231222 |