CN107764255A - Unmanned plane paths planning method - Google Patents
Unmanned plane paths planning method Download PDFInfo
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- CN107764255A CN107764255A CN201710877047.XA CN201710877047A CN107764255A CN 107764255 A CN107764255 A CN 107764255A CN 201710877047 A CN201710877047 A CN 201710877047A CN 107764255 A CN107764255 A CN 107764255A
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- China
- Prior art keywords
- unmanned plane
- planning method
- paths planning
- flight path
- path
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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
Abstract
The invention discloses a kind of unmanned plane paths planning method, by identifying building top edge and based on edge quadratic programming flight path, it is able to ensure that unmanned plane flies over building top surface as far as possible, timely article or unmanned plane body drops, also pedestrian will not be damaged.And when existing without construction zone, unmanned plane can utilize image recognition to ensure just to continue to move ahead during no mobile object, lift security.
Description
Technical field
The invention belongs to unmanned air vehicle technique field, is related to unmanned plane paths planning method.
Background technology
Unmanned plane is UAV abbreviation, is to utilize radio robot and the presetting apparatus provided for oneself to manipulate
Not manned aircraft, or fully or intermittently independently operated by car-mounted computer.In recent years, unmanned plane receives a lot
People's likes, is remotely controlled flight using nobody, the picture that takes a crane shot has become the hobby of many people.In terms of business, unmanned plane
Also gradually applied.In logistics distribution, if directly small article is sent in people's hand using unmanned plane, it will big
Width reduces courier, saves a large amount of manpowers.But during unmanned plane flight in the air, drop possibility really, the thing hung and taken thereon
Product also have probability to be scattered, and this will make pedestrian on road abnormally dangerous.
The content of the invention
To solve the above problems, the invention discloses a kind of unmanned plane paths planning method, unmanned plane can be allowed to exist all the time
Building top face is flown, and increases security.
In order to achieve the above object, the present invention provides following technical scheme：
A kind of unmanned plane paths planning method, comprises the following steps：
Step 1, three-dimensional building thing map between unmanned plane starting point and destination is obtained in advance；
Step 2, preliminary path is planned based on map；
Step 3, the building top edge passed through in path is identified；
Step 4, based on each specific flight path of building top edge quadratic programming.
Further, when existing in specific flight path without construction zone, no construction zone most short straight line is planned
Flight path.
Further, hovered when unmanned plane is reached in flight course without construction zone edge, pass through shooting of taking a crane shot
Head collection pavement image；When by image recognition Lu Zhongwu mobile objects, unmanned plane continues according to most short straight line flight path
Move ahead.
Compared with prior art, the invention has the advantages that and beneficial effect：
By identifying building top edge and based on edge quadratic programming flight path as far as possible, it can be ensured that unmanned plane flies over and built
Thing top surface is built, timely article or unmanned plane body drops, also pedestrian will not be damaged.And when in the presence of without construction zone
When, unmanned plane can utilize image recognition to ensure just to continue to move ahead during no mobile object, lift security.
Embodiment
Technical scheme provided by the invention is described in detail below with reference to specific embodiment, it should be understood that following specific
Embodiment is only illustrative of the invention and is not intended to limit the scope of the invention.
A kind of unmanned plane paths planning method, the unmanned plane based on following structure are realized.Height is provided with unmanned plane to pass
Sensor, mobile satellite location equipment, take a crane shot camera.
The inventive method comprises the following steps：
Step 1, three-dimensional building thing map between unmanned plane starting point and destination is obtained in advance；
Step 2, preliminary path is planned based on map；The path should bypass excessively towering buildings.
Step 3, the building top edge passed through in path is identified；
Step 4, based on each specific flight path of building top edge quadratic programming, the route, which should try one's best, passes through building top
Face, nearest optimal route is formed on this basis.
Generally, when existing in specific flight path without construction zone, no construction zone most short straight line is planned
Flight path.Hovered when unmanned plane is reached in flight course without construction zone edge, by taking a crane shot, camera gathers road
Face image；When by image recognition Lu Zhongwu mobile objects, unmanned plane continues to move ahead according to most short straight line flight path.
Technological means disclosed in the present invention program is not limited only to the technological means disclosed in above-mentioned embodiment, in addition to
Formed technical scheme is combined by above technical characteristic.It should be pointed out that for those skilled in the art
For, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (3)
1. a kind of unmanned plane paths planning method, it is characterised in that comprise the following steps：
Step 1, three-dimensional building thing map between unmanned plane starting point and destination is obtained in advance；
Step 2, preliminary path is planned based on map；
Step 3, the building top edge passed through in path is identified；
Step 4, based on each specific flight path of building top edge quadratic programming.
2. unmanned plane paths planning method according to claim 1, it is characterised in that when nothing being present in specific flight path
During construction zone, no construction zone most short straight line flight path is planned.
3. unmanned plane paths planning method according to claim 2, it is characterised in that when unmanned plane arrives in flight course
Hovered during up to without construction zone edge, by taking a crane shot, camera gathers pavement image；Moved when by image recognition Lu Zhongwu
During object, unmanned plane continues to move ahead according to most short straight line flight path.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710877047.XA CN107764255A (en) | 2017-09-25 | 2017-09-25 | Unmanned plane paths planning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710877047.XA CN107764255A (en) | 2017-09-25 | 2017-09-25 | Unmanned plane paths planning method |
Publications (1)
| Publication Number | Publication Date |
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| CN107764255A true CN107764255A (en) | 2018-03-06 |
Family
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| CN201710877047.XA Pending CN107764255A (en) | 2017-09-25 | 2017-09-25 | Unmanned plane paths planning method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111007870A (en) * | 2019-11-25 | 2020-04-14 | 广州极飞科技有限公司 | Unmanned aerial vehicle flight control method based on urban area, unmanned aerial vehicle and system |
| US20220107657A1 (en) * | 2020-10-02 | 2022-04-07 | Toyota Jidosha Kabushiki Kaisha | Controller, system, flying object, and transport method |
| US11415993B2 (en) | 2019-02-22 | 2022-08-16 | Apollo Intelligent Driving Technology (Beijing) Co., Ltd. | Method and apparatus for processing driving reference line, and vehicle |
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| CN103499346A (en) * | 2013-09-29 | 2014-01-08 | 大连理工大学 | Implementation method of ground station three-dimensional navigation map of small unmanned air vehicle |
| 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 |
| CN105843253A (en) * | 2016-04-08 | 2016-08-10 | 北京博瑞空间科技发展有限公司 | Design method and system for unmanned aerial vehicle's travel path |
| 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 |
| CN106092083A (en) * | 2016-05-31 | 2016-11-09 | 夏烬楚 | A kind of unmanned plane path planning management system and method |
| CN106873630A (en) * | 2017-04-20 | 2017-06-20 | 广州极飞科技有限公司 | A kind of flight control method and device, perform equipment |
| CN107065929A (en) * | 2017-05-05 | 2017-08-18 | 成都通甲优博科技有限责任公司 | A kind of unmanned plane is around flying method and system |
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2017
- 2017-09-25 CN CN201710877047.XA patent/CN107764255A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103499346A (en) * | 2013-09-29 | 2014-01-08 | 大连理工大学 | Implementation method of ground station three-dimensional navigation map of small unmanned air vehicle |
| 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 |
| CN105843253A (en) * | 2016-04-08 | 2016-08-10 | 北京博瑞空间科技发展有限公司 | Design method and system for unmanned aerial vehicle's travel path |
| CN106092083A (en) * | 2016-05-31 | 2016-11-09 | 夏烬楚 | A kind of unmanned plane path planning management system and method |
| 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 |
| CN106873630A (en) * | 2017-04-20 | 2017-06-20 | 广州极飞科技有限公司 | A kind of flight control method and device, perform equipment |
| CN107065929A (en) * | 2017-05-05 | 2017-08-18 | 成都通甲优博科技有限责任公司 | A kind of unmanned plane is around flying method and system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11415993B2 (en) | 2019-02-22 | 2022-08-16 | Apollo Intelligent Driving Technology (Beijing) Co., Ltd. | Method and apparatus for processing driving reference line, and vehicle |
| CN111007870A (en) * | 2019-11-25 | 2020-04-14 | 广州极飞科技有限公司 | Unmanned aerial vehicle flight control method based on urban area, unmanned aerial vehicle and system |
| US20220107657A1 (en) * | 2020-10-02 | 2022-04-07 | Toyota Jidosha Kabushiki Kaisha | Controller, system, flying object, and transport method |
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Application publication date: 20180306 |