CN108496134A - Unmanned plane makes a return voyage paths planning method and device - Google Patents
Unmanned plane makes a return voyage paths planning method and device Download PDFInfo
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- CN108496134A CN108496134A CN201780005480.2A CN201780005480A CN108496134A CN 108496134 A CN108496134 A CN 108496134A CN 201780005480 A CN201780005480 A CN 201780005480A CN 108496134 A CN108496134 A CN 108496134A
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
A kind of unmanned plane (100) is maked a return voyage paths planning method and device, and the paths planning method that makes a return voyage includes：In unmanned plane (100) flight course, it is used to indicate the triggering information that unmanned plane (100) makes a return voyage automatically if detecting, obtains unmanned plane (100) current location and target location to be maked a return voyage (S101)；According to current location, target location to be maked a return voyage and preset restricted area information, the path of making a return voyage (S102) of planning unmanned plane (100).By the influence for considering restricted area when planning the path that unmanned plane (100) makes a return voyage automatically, so that unmanned plane (100) can make a return voyage safely after out of control, the path that avoids making a return voyage drops into the edge for causing unmanned plane (100) to be stuck in restricted area in restricted area, and unmanned plane (100) is caused to make a return voyage unsuccessfully.
Description
Technical field
It makes a return voyage paths planning method and device the present invention relates to unmanned plane field more particularly to a kind of unmanned plane.
Background technology
Currently, unmanned plane makes a return voyage automatically will not plan path of making a return voyage in advance, such, which makes a return voyage, typically selects a cruise-in altitude
Afterwards, it directly makes a return voyage from the cruise-in altitude straight line to target location.The above-mentioned unmanned plane strategy that makes a return voyage does not consider the influence of restricted area, nothing
It is man-machine to be hindered by restricted area during making a return voyage, cause to make a return voyage unsuccessfully, is stuck in the edge of restricted area.
Invention content
The present invention provides a kind of unmanned plane and makes a return voyage paths planning method and device.
According to the first aspect of the invention, a kind of unmanned plane is provided to make a return voyage paths planning method, the method includes：
During unmanned plane during flying, it is used to indicate the triggering information that unmanned plane makes a return voyage automatically if detecting, obtains nobody
Machine current location and target location to be maked a return voyage；
According to the current location, target location to be maked a return voyage and preset restricted area information, the unmanned plane is planned
Path of making a return voyage.
According to the second aspect of the invention, it provides a kind of unmanned plane to make a return voyage path planning apparatus, which is characterized in that the dress
It sets including processor, wherein the processor is for executing following steps：
During unmanned plane during flying, it is used to indicate the triggering information that unmanned plane makes a return voyage automatically if detecting, obtains nobody
Machine current location and target location to be maked a return voyage；
According to the current location, target location to be maked a return voyage and preset restricted area information, the unmanned plane is planned
Path of making a return voyage.
According to the third aspect of the invention we, a kind of computer readable storage medium is provided, computer program is stored thereon with,
The program realizes following steps when being executed by processor：
During unmanned plane during flying, it is used to indicate the triggering information that unmanned plane makes a return voyage automatically if detecting, obtains nobody
Machine current location and target location to be maked a return voyage；
According to the current location, target location to be maked a return voyage and preset restricted area information, the unmanned plane is planned
Path of making a return voyage.
The influence that the present invention passes through the consideration restricted area when planning the path that unmanned plane makes a return voyage automatically so that unmanned plane is losing
It can make a return voyage safely after control, the path that avoids making a return voyage drops into the edge for causing unmanned plane to be stuck in restricted area in restricted area, causes
Unmanned plane is set to make a return voyage unsuccessfully.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without having to pay creative labor, it can also be obtained according to these attached drawings
His attached drawing.
Fig. 1 is the structural schematic diagram for the unmanned plane that one embodiment of the invention provides；
Fig. 2 is that unmanned plane in one embodiment of the invention makes a return voyage the flow chart of paths planning method；
Fig. 3 is that unmanned plane in another embodiment of the present invention makes a return voyage the flow chart of paths planning method；
Fig. 4 is that unmanned plane in further embodiment of this invention makes a return voyage the flow chart of paths planning method；
Fig. 5 is that unmanned plane in one embodiment of the invention makes a return voyage the structural schematic diagram of path planning apparatus；
Fig. 6 is that unmanned plane in one embodiment of the invention makes a return voyage the structure diagram of path planning apparatus；
Fig. 7 is that unmanned plane in another embodiment of the present invention makes a return voyage the structure diagram of paths planning method.
Specific implementation mode
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 describes, 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.
Below in conjunction with the accompanying drawings, it makes a return voyage paths planning method to the unmanned plane of the present invention and device is described in detail.Not
In the case of conflict, the feature in following embodiment and embodiment can be combined with each other.
Fig. 1 is a kind of schematic diagram of unmanned plane 100 provided in an embodiment of the present invention.The unmanned plane 100 may include carrying
Body 102 and load 104.In certain embodiments, load 104 can be on unmanned plane 100, without supporting body
102.Unmanned plane 100 may include actuating unit 106, sensor-based system 108 and communication system 110.
Wherein, actuating unit 106 may include one or more rotary body, propeller, blade, engine, motor, wheel
Son, bearing, magnet, nozzle.For example, the rotary body of the actuating unit can be Self-fastening (self-tightening) rotation
Body, rotating body component or other rotary body power units.Unmanned plane 100 can there are one or multiple actuating units.It is all
Actuating unit can be identical type.Optionally, one or more actuating unit can be different type.Engine
Structure 106 can be mounted on by suitable means on unmanned plane, such as pass through support component (such as drive shaft).Actuating unit 106 can
To be mounted on 100 any suitable position of unmanned plane, such as top, lower end, front end, rear end, side or any combination therein.
By controlling one or more actuating units, to control the flight of unmanned plane 100.
Sensor-based system 108 may include one or more sensor, to sense dimensional orientation, the speed of unmanned plane 100
And/or acceleration (such as relative to the rotation and translation of up to three degree of freedom).One or more of sensors may include
GPS sensor, motion sensor, inertial sensor, proximity sensor or image sensor.The sense that sensor-based system 108 provides
Dimensional orientation, speed and/or the acceleration that measured data can be used for tracking target 100 (as described below, utilize suitable processing list
Member and/or control unit).Optionally, sensor-based system 108 can be used for acquire unmanned plane environment data, as weather conditions,
The position of the potential obstacle, geographical feature to be approached, the position etc. of man-made structures.
Communication system 110, which can be realized, to be communicated with the terminal 112 with communication system 114 by wireless signal 116.
Communication system 110,114 may include any amount of transmitter, receiver and/or transceiver for wireless telecommunications.It is described
Communication can be one-way communication, and such data can be sent from a direction.For example, one-way communication may include, only nobody
Machine 100 transfers data to terminal 112, and or vice versa.One or more transmitter of communication system 110 can send number
According to one or more receiver to communication system 112, vice versa.Optionally, the communication can be both-way communication, this
Sample, data can be transmitted between unmanned plane 100 and terminal 112 in both direction.Both-way communication includes the one of communication system 110
A or multiple transmitters can send data to one or more receiver of communication system 114, and vice versa.
In certain embodiments, terminal 112 can to unmanned plane 100, supporting body 102 and load 104 in one or
Multiple offers control data, and receive information from one or more in unmanned plane 100, supporting body 102 and load 104
(position and/or movable information of such as unmanned plane, supporting body or load, load the data of sensing, the image number captured such as camera
According to).
In certain embodiments, unmanned plane 100 can be communicated with other remote equipments other than terminal 112, terminal
112 can also be communicated with other remote equipments in addition to unmanned plane 100.For example, unmanned plane and/or terminal 112 can be with
It is communicated with the supporting body or load of another unmanned plane or another unmanned plane.It is described other remote when in need
Journey equipment can be second terminal or other computing devices (such as computer, desktop computer, tablet computer, smart mobile phone or
The other mobile devices of person).The remote equipment can transmit data to unmanned plane 100, receive data from unmanned plane 100, transmit number
Data are received according to terminal 112, and/or from terminal 112.Optionally, which may be coupled to internet or other
Telecommunication network, so that the data received from unmanned plane 100 and/or terminal 112 upload on website or server.
In certain embodiments, the movement of unmanned plane, the movement of supporting body and load are relatively fixed object of reference (such as external rings
Border) movement and/or person movement to each other, can be controlled by terminal.The terminal can be remote control terminal,
It is located remotely from unmanned plane, supporting body and/or the place of load.Terminal can be located at or be pasted in support platform.Optionally,
The terminal can be hand-held or wearable.For example, the terminal may include smart mobile phone, tablet computer, on table
Type computer, computer, glasses, gloves, the helmet, microphone or any of which combination.The terminal may include user circle
Face, such as keyboard, mouse, control stick, touch screen or display.Any suitable user's input can be with terminal interaction, such as hand
Dynamic input instruction, sound control, gesture control either position control (such as passing through the movement of terminal, position or inclination).
In addition, unmanned plane provided in an embodiment of the present invention makes a return voyage, paths planning method and device are not limited to unmanned plane,
It can also be applied in other unmanned vehicles, with making a return voyage for the other unmanned vehicles of control.
It will specifically be illustrated so that unmanned plane makes a return voyage diameter method and device for planning as an example below.
Embodiment one
Referring to Fig. 2, a kind of unmanned plane provided in an embodiment of the present invention makes a return voyage paths planning method.Wherein, the method can
To be realized by dedicated control device being mounted on unmanned plane 100, can also by the flight controller of unmanned plane 100 Lai
It realizes.
It will be maked a return voyage road using flight controller as executive agent to further illustrate the present invention the unmanned plane of embodiment below
The detailed process of diameter planing method.
Referring to Fig. 2, the method may include following steps：
Step S101：In 100 flight course of unmanned plane, the triggering that unmanned plane 100 makes a return voyage automatically is used to indicate if detecting
Information then obtains 100 current location of unmanned plane and target location to be maked a return voyage；
In the present embodiment, triggering information indicates that unmanned plane 100 is in runaway condition.And unmanned aerial vehicle is caused to be in shape out of control
The reason of state may be mechanical disorder, environmental factor (such as there are interference signals for 100 flight range of unmanned plane) etc..In shape out of control
Under state, the terminal 112 of remote controlled drone 100 is then unable to normal remote control unmanned plane 100, and leading to unmanned plane 100, there are security risks.
In the present embodiment, once detecting that terminal 112 loses the control to unmanned plane 100, then triggers the automatic of unmanned plane 100 and makes a return voyage,
To ensure the safety of the flight of unmanned plane 100.
In some embodiments, described detect is used to indicate the triggering information that unmanned plane 100 makes a return voyage automatically, including：Inspection
It measures unmanned plane 100 and interrupts the duration communicated with the terminal 112 for being remotely controlled the unmanned plane 100 equal to or more than preset duration, i.e.,
Unmanned plane 100 is in runaway condition, needs triggering unmanned plane 100 to be maked a return voyage automatically, avoids the hair of further emergency situations
It is raw, improve the intelligence degree of unmanned plane 100.Wherein, preset duration cannot be too short, this is because terminal 112 is in remotely pilotless
During machine 100 flies, may the temporary of unmanned plane 100 and terminal 112 be led to due to blocking for the large obstacles such as building
When communication disruption, in this case, after the barrier that flies out, terminal 112 can be restored between unmanned plane 100 unmanned plane 100
Communication connection.And preset duration can not be too long, avoid because judge unmanned plane 100 in runaway condition not in time due to cause
Unmanned plane 100 causes security risk.Preferably, the preset duration is 1 minute or 2 minutes.Optionally, judge unmanned plane 100
Whether in runaway condition following manner may include：In longer period of time (i.e. preset duration), unmanned plane 100 and terminal
Figure biography cannot be carried out between 112；Alternatively, in longer period of time, unmanned plane 100 does not receive the remote control of the transmission of terminal 112
Signal.
In some embodiments, described detect is used to indicate the triggering information that unmanned plane 100 makes a return voyage automatically, including：It connects
It receives and is used to indicate the user instruction that unmanned plane 100 makes a return voyage automatically.In the present embodiment, unmanned plane 100 may not be to be in itself
Runaway condition, but after being triggered by user so that unmanned plane 100 makes a return voyage according to the pattern of runaway condition.Specifically, it flies
Controller makes a return voyage so that nothing automatically after receiving the user instruction according to the pattern of runaway condition triggering unmanned plane 100
Man-machine 100 controls maked a return voyage are more convenient.
In the present embodiment, flight controller indicates that unmanned plane 100 according to the pattern of runaway condition make a return voyage automatically can be by
Flight controller automatic trigger also can actively be triggered by user, to increase the diversity of the control of unmanned plane 100.
In some embodiments, the target location to be maked a return voyage is preset specific position, such as user first passes through in advance
(Global Positioning System, the whole world are fixed according to the GPS of itself for the position of the setting of terminal 112 or unmanned plane 100
Position system) positioning method or other pre-stored a certain positions of navigator fix mode (such as Big Dipper positioning) are (for example, unmanned plane
A certain position near the initial position or initial position of 100 flights), to meet the needs of different.
In some embodiments, the target location to be maked a return voyage is the terminal 112 for being remotely controlled the unmanned plane 100
Real time position, to ensure unmanned plane 100 can make a return voyage to operating terminal 112 user at one's side.In some instances, terminal
112 real time position can be flight controller detect be used to indicate triggering information that unmanned plane 100 makes a return voyage automatically when terminal
The intelligence that unmanned plane 100 makes a return voyage, and the more hommization so that unmanned plane 100 makes a return voyage are improved in 112 positions.In some examples
In son, the real time position of terminal 112 can be that triggering unmanned plane 100 is automatic make a return voyage after, terminal 112 that flight controller receives
Intelligence and flexibility that unmanned plane 100 makes a return voyage, and the more hommization so that unmanned plane 100 makes a return voyage are improved in current location.Example
Such as, when user is in mobile status, the real time position of terminal 112 can then change with the movement of user.
Step S102：According to the current location, target location to be maked a return voyage and preset restricted area information, institute is planned
State the path of making a return voyage of unmanned plane 100.
Wherein, conventional path planning algorithm can be used in the planning algorithm in the path of making a return voyage of planning unmanned plane 100, the present invention
This is not especially limited
In the embodiment of the present invention, by considering the influence of restricted area when planning the path that unmanned plane 100 makes a return voyage automatically, make
Unmanned plane 100 can make a return voyage safely after out of control, the path that avoids making a return voyage drops into restricted area and causes unmanned plane 100 by card
At the edge of restricted area, unmanned plane 100 is caused to make a return voyage unsuccessfully.
In addition, the form of expression of the restricted area information can be map (such as 2D grating maps or 3D grid map) or
Person's other forms.
In the present embodiment, restricted area information can be preset by user.And the corresponding region of restricted area information can be limited it is winged
(subregion in the region can fly, and another part is forbidden flying, and can be that airport etc. can be by 100 flight shadow of unmanned plane in area
Loud region) or no-fly zone (region is completely no-fly, be not present fly able part, can be military area or government
The military affairs sensitizing range such as building).
It will illustrate that the unmanned plane 100 of the embodiment of the present invention makes a return voyage the specific of path planning respectively from above two region below
Process.
In some embodiments, the restricted area information includes that the corresponding limit of restricted area flies height, is used to indicate unmanned plane
100 the corresponding winged height area of space below of limit can fly in current region, and corresponding limit flies in current region
Area of space more than height is forbidden flying.In practical applications, each position (ground position in restricted area in same restricted area
Set) corresponding limit flies highly to can be different, and can also be identical.
It is described according to the current location, target location to be maked a return voyage and preset restricted area information in the present embodiment,
Plan the path of making a return voyage of the unmanned plane 100, including：According to the current location, target location to be maked a return voyage and restricted area
Corresponding limit flies height, and path of making a return voyage described in control is avoided being located at the area of space for limiting and flying on height in restricted area, from
And unmanned plane 100 is avoided to fall into the area of space for being limited in restricted area and flying height or more.For example, it is contemplated that the economy in path of making a return voyage
Etc. the path of making a return voyage cooked up after factors need by the restricted area, then to need the path clustering that makes a return voyage positioned at the limit
Fly limit described in area and fly height area of space below, in the economy in the path that ensures to make a return voyage meanwhile, it is capable to prevent nobody
Machine 100 falls into corresponding limit in restricted area and flies the area of space of height or more, and then unmanned plane 100 is avoided to cause public security
It influences, while ensureing the safety of itself of unmanned plane 100.
Further, described according to described current to ensure to avoid restricted area completely during unmanned plane 100 makes a return voyage
Position, target location to be maked a return voyage and the corresponding limit of restricted area fly height, and position in restricted area is avoided in path of making a return voyage described in control
While the limit flies the area of space on height, making a return voyage to limit described in restricted area described in path distance described in control flies height
The minimum range of plane where degree (it is that the limit flies height that the plane, which is parallel to ground level and height) is equal to or more than preset
First early warning distance.Wherein, the first early warning distance can be set according to actual conditions, for example, the first early warning distance is set as
20cm or 50cm prevents unmanned plane 100 from blocking to ensure that unmanned plane 100 can avoid the restricted area when making a return voyage completely
At the edge of restricted area.If being not provided with the first early warning distance, unmanned plane 100 is during making a return voyage, probably due to flying speed
Comparatively fast, cause to avoid due to inertia too late, and then unmanned plane 100 is caused to be stuck in the edge of restricted area.
In some embodiments, no-fly zone, the restricted area can be avoided completely during making a return voyage for guarantee unmanned plane 100
Information includes the corresponding marginal information in no-fly zone.It refers to that nothing is forbidden in a certain region on arbitrary height that the present embodiment, which flies no-fly zone,
Man-machine 100 flight.Wherein, the marginal information can be the latitude and longitude information of no-fly zone, or the navigation mode such as GPS obtains
The location information of the no-fly zone obtained.
It is described according to the current location, mesh to be maked a return voyage to prevent unmanned plane 100 from entering no-fly zone in the present embodiment
Cursor position and preset restricted area information plan the path of making a return voyage of the unmanned plane 100, including：According to the current location,
The no-fly zone is avoided in the corresponding marginal information in target location and the no-fly zone to be maked a return voyage, path of making a return voyage described in control
The area of space of intramarginal arbitrary height, to prevent unmanned plane 100 from causing security risk.
Further, described according to the current location, the corresponding side in target location to be maked a return voyage and the no-fly zone
Edge information, while the area of space of intramarginal arbitrary height of the no-fly zone is avoided in path of making a return voyage described in control, control
The minimum range at the edge of the no-fly zone described in path distance of making a return voyage is equal to or more than preset second early warning distance.Wherein,
Second early warning distance can be set according to actual conditions, for example, the second early warning distance is set as 20cm or 50cm, to ensure
Unmanned plane 100 can avoid the no-fly zone when making a return voyage completely, and unmanned plane 100 is prevented to be stuck in the edge of no-fly zone.If not setting
The second early warning distance is set, then unmanned plane 100 is during making a return voyage, probably due to flying speed is very fast, causes to keep away due to inertia
It allows too late, and then unmanned plane 100 is caused to be stuck in the edge of no-fly zone.
Referring to Fig. 3, in some embodiments, described detect is used to indicate the triggering information that unmanned plane 100 makes a return voyage automatically
Later, further include：Obtain unmanned plane 100 flight the environmental map through region, be currently located region to obtain unmanned plane 100
Environmental information.In the present embodiment, can be flown by unmanned plane 100 that the navigation mode such as GPS obtains the environment through region
Figure, alternatively, the environmental map can be obtained by the image that unmanned plane 100 is shot in flight course.Specifically, described to obtain
Take unmanned plane 100 flight the environmental map through region, including：Obtain unmanned plane 100 flight the cartographic information through region with
And the image that unmanned plane 100 is shot in flight course；According to the cartographic information and described image, the environment is built in real time
Map, i.e., the image shot by general map (map that the navigation mode such as GPS obtains) and 100 vision system of unmanned plane are believed
After breath, high-precision map is obtained, using the high-precision map as the environmental map.Optionally, the environmental map is two-dimensional map.
Optionally, the environmental map is the three-dimensional map for the elevation information for including barrier.
In some embodiments, described according to the current location, target location to be maked a return voyage and preset restricted area
Information is planned the path of making a return voyage of the unmanned plane 100, is further comprised：According to the current location, target position to be maked a return voyage
It sets, preset restricted area information and the environmental map, the path of making a return voyage of the unmanned plane 100 is planned, by considering
Environmental map and restricted area information, so that path of making a return voyage is more reasonable.
Optionally, the areas flight Suo Jing before the flight of the unmanned plane 100 is maked a return voyage through region including at least the unmanned plane 100
Domain, to which the restricted area in environmental map and the environmental map of the flight institute through region before being maked a return voyage according to unmanned plane 100 is believed
It ceases make a return voyage the planning in path so that the safety that unmanned plane 100 makes a return voyage is stronger.
Optionally, the flight of the unmanned plane 100 institute through region include before the unmanned plane 100 makes a return voyage flight institute through region and
Institute is through region during unmanned plane 100 makes a return voyage, and flight institute makes a return voyage process through region and unmanned plane 100 before making a return voyage to unmanned plane 100
It is middle to be considered through region, the accuracy higher of the environmental map of acquisition, for example, 100 current region of unmanned plane exists
Situations such as barrier (such as fire balloon, kite, hot balloon etc.) of real-time change, the present embodiment is more applicable for dynamic change
The planning in the path of making a return voyage of environment so that the safety that unmanned plane 100 makes a return voyage is stronger.
In some embodiments, the environmental map include unmanned flight through the obstacle information in region.Optionally,
Obstacle information may include the location information and elevation information of building etc., wherein the location information can be according to navigation such as GPS
The cartographic information that mode obtains obtains, and the image that the elevation information can be shot according to the vision system of unmanned plane 100 obtains.
To prevent the unmanned plane 100 from colliding barrier during making a return voyage, the intelligent barrier avoiding of unmanned plane 100 is realized
Function, it is described according to the current location, target location to be maked a return voyage, preset restricted area information and the environmental map,
The path of making a return voyage for planning the unmanned plane 100 further includes：According to the obstacle information, path distance institute of making a return voyage described in control
The minimum range for stating the edge of barrier is equal to or more than preset third early warning distance.Wherein, third early warning distance can root
It is set according to actual conditions, for example, third early warning distance is set as 20cm or 50cm, to ensure that unmanned plane 100 is making a return voyage
When can avoid the barrier completely, prevent the damage of unmanned plane 100.If being not provided with third early warning distance, unmanned plane 100
During making a return voyage, probably due to flying speed is very fast, causes to avoid due to inertia too late, and then unmanned plane 100 is caused to touch
Barrier is knocked, is caused damages.
Referring to Fig. 4, in some embodiments, after the path of making a return voyage of the planning unmanned plane 100, may also include with
Lower step：
Step S301：The unmanned plane 100 is controlled to make a return voyage to the target position from current location according to the path of making a return voyage
It sets.
By step S301, realize unmanned plane 100 it is out of control after it is automatic make a return voyage, to ensure unmanned plane 100 and the public
Safety, reduce the possibility of accident.
To further ensure that the safety of unmanned plane 100, in some embodiments, step S301 further comprises：If inspection
Barrier is measured, then controls the unmanned plane 100 and gets around the barrier flight, and then control unmanned plane 100 and realize avoidance work(
Can, prevent the collision of unmanned plane 100 from damaging.It, can be by gravity field method or speed field method to unmanned plane in the present embodiment
100 apply a repulsion opposite with 100 current flight direction of unmanned plane, and the barrier is got around to control unmanned plane 100
The barrier avoiding function of unmanned plane 100 is realized in flight.
Further, while the control unmanned plane 100 gets around the barrier flight, the unmanned plane is controlled
100 minimum range apart from the edge of the barrier is equal to or more than preset third early warning distance, to greatest extent
Ground ensures the safety of unmanned plane 100, prevents 100 collision obstacle of unmanned plane.The third early warning distance of the present embodiment can basis
It is actually needed to set, for example, third early warning distance is set as 20cm or 50cm, to ensure that unmanned plane 100 is making a return voyage
When can avoid the barrier completely, prevent the damage of unmanned plane 100.If being not provided with third early warning distance, unmanned plane 100
During making a return voyage, probably due to flying speed is very fast, causes to avoid due to inertia too late, and then unmanned plane 100 is caused to touch
Barrier is knocked, is caused damages.
Embodiment two
It is corresponding with the paths planning method that makes a return voyage of the unmanned plane described in embodiment one, a kind of nothing provided in an embodiment of the present invention
The man-machine path planning apparatus that makes a return voyage.
Referring to Fig. 5, the unmanned plane path planning apparatus that makes a return voyage may include processor 11, wherein the processor 11 is used
In execute above-described embodiment one described in unmanned plane make a return voyage paths planning method the step of.
In the present embodiment, the processor 11 may be selected to be the controller in a dedicated control device, also may be selected
For the flight controller of unmanned plane 100, it is alternatively chosn to a cradle head controllor.
It is same or similar that its not deployed part please refers to the paths planning method that makes a return voyage of unmanned plane in above example one
Part, details are not described herein again.
Embodiment three
It is corresponding with the paths planning method that makes a return voyage of the unmanned plane described in embodiment one, a kind of nothing provided in an embodiment of the present invention
The man-machine path planning apparatus that makes a return voyage.
Referring to Fig. 6, the unmanned plane path planning apparatus that makes a return voyage may include：
Detection module 10 detects whether to exist and is used to indicate unmanned plane 100 and returns automatically in 100 flight course of unmanned plane
The triggering information of boat；
Acquisition module 20 detects the triggering information for being used to indicate unmanned plane 100 and making a return voyage automatically in the detection module 10
Afterwards, for obtaining 100 current location of unmanned plane and target location to be maked a return voyage；
Planning module 30, for according to the current location, target location to be maked a return voyage and preset restricted area information,
Plan the path of making a return voyage of the unmanned plane 100.
Further, the target location to be maked a return voyage is preset specific position；Alternatively, the target position to be maked a return voyage
It is set to the real time position of the terminal 112 for being remotely controlled the unmanned plane 100.
Further, the detection module 10, which detects, is used to indicate the triggering information that unmanned plane 100 makes a return voyage automatically, packet
It includes：When detecting that unmanned plane 100 interrupts the duration communicated equal to or more than presetting with the terminal 112 for being remotely controlled the unmanned plane 100
It is long；It is used to indicate the user instruction that unmanned plane 100 makes a return voyage automatically alternatively, receiving.
Further, the restricted area information includes that the corresponding limit of restricted area flies height.The planning module 30 is additionally operable to
Fly height according to the current location, target location to be maked a return voyage and the corresponding limit of restricted area, path of making a return voyage described in control is kept away
Open the area of space being located in restricted area on the winged height of the limit.
Further, the planning module 30 is according to the current location, target location to be maked a return voyage and restricted area pair
The limit answered flies height, and the same of the area of space on the winged height of the limit is avoided being located in restricted area in path of making a return voyage described in control
When, be additionally operable to control described in make a return voyage described in restricted area described in path distance limit fly height where plane minimum range be equal to or
More than preset first early warning distance.
Further, the restricted area information includes the corresponding marginal information in no-fly zone.The planning module 30 is additionally operable to
According to the current location, the corresponding marginal information in target location to be maked a return voyage and the no-fly zone, road of making a return voyage described in control
Diameter avoids the area of space of the intramarginal arbitrary height of the no-fly zone.
Further, the planning module 30 is according to the current location, target location to be maked a return voyage and described no-fly
The area of space of the intramarginal arbitrary height of the no-fly zone is avoided in the corresponding marginal information in area, path of making a return voyage described in control
Meanwhile be additionally operable to control described in make a return voyage no-fly zone described in path distance edge minimum range be equal to or more than preset second
Early warning distance.
Further, the detection module 10, which detects, is used to indicate after the triggering information that unmanned plane 100 makes a return voyage automatically,
The acquisition module 20 be additionally operable to obtain unmanned plane 100 flight the environmental map through region.The planning module 30 is used for root
According to the current location, target location to be maked a return voyage, preset restricted area information and the environmental map, planning it is described nobody
The path of making a return voyage of machine 100.
Further, the acquisition module 20 obtain unmanned plane 100 flight the environmental map through region, including：It obtains
The flight of unmanned plane 100 the image that is shot in flight course of cartographic information through region and unmanned plane 100；According to described
Figure information and described image build the environmental map in real time.
Further, the flight of the unmanned plane 100 is flown before making a return voyage including at least the unmanned plane 100 through region and is passed through
Region.
Further, the unmanned plane 100 flight institute through region further include during unmanned plane 100 makes a return voyage institute through region.
Further, the environmental map include unmanned flight through the obstacle information in region.The planning module
30 are additionally operable to according to the obstacle information, and the minimum range at the edge for the barrier described in path distance that makes a return voyage described in control is equal to
Or it is more than preset third early warning distance.
Further, referring to Fig. 7, the unmanned plane path planning apparatus that makes a return voyage further includes：
Control module 40, for control the unmanned plane 100 according to the planning module 30 planned make a return voyage path from
It makes a return voyage to the target location current location.
Further, if the detection module 10 detects that barrier, the control module 40 control the unmanned plane
100 get around the barriers fly and control minimum range of the unmanned plane 100 apart from the edge of the barrier be equal to or
Person is more than preset third early warning distance.
It is same or similar that its not deployed part please refers to the paths planning method that makes a return voyage of unmanned plane in above example one
Part, details are not described herein again.
Example IV
The embodiment provides a kind of computer storage media, have program stored therein finger in the computer storage media
It enables, have program stored therein instruction in the computer storage media, and the unmanned plane that described program executes described in above-described embodiment one makes a return voyage
Paths planning method.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " illustrative examples ",
The description of " example ", " specific example " or " some examples " etc. mean the specific features described in conjunction with the embodiment or example,
Structure, material or feature are included at least one embodiment or example of the invention.In the present specification, to above-mentioned term
Schematic representation may not refer to the same embodiment or example.Moreover, description specific features, structure, material or
Feature can be combined in any suitable manner in any one or more of the embodiments or examples.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein sequence that is shown or discussing can not be pressed,
Include according to involved function by it is basic simultaneously in the way of or in the opposite order, to execute function, this should be by the present invention's
Embodiment person of ordinary skill in the field is understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (system of such as computer based system including processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium " can any can be included, store, communicating, propagating or passing
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium includes following：Electricity with one or more wiring
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can be for example by carrying out optical scanner to paper or other media, then into edlin, interpretation or when necessary with it
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the present invention can be realized with hardware, software, firmware or combination thereof.Above-mentioned
In embodiment, software that multiple steps or method can in memory and by suitable instruction execution system be executed with storage or
Firmware is realized.For example, if realized with hardware, in another embodiment, following skill well known in the art can be used
Any one of art or their combination are realized：With for data-signal realize logic function logic gates from
Logic circuit is dissipated, the application-specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene can compile
Journey gate array (FPGA) etc..
Those skilled in the art are appreciated that realize all or part of step that above-mentioned implementation carries
It is that relevant hardware can be instructed to complete by program, the program can be stored in a kind of computer readable storage medium
In, which includes the steps that one or a combination set of embodiment of the method when being executed.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing module, it can also
That each unit physically exists alone, can also two or more units be integrated in a module.Above-mentioned integrated mould
The form that hardware had both may be used in block is realized, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized in the form of software function module and when sold or used as an independent product, can also be stored in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..Although having been shown and retouching above
The embodiment of the present invention is stated, it is to be understood that above-described embodiment is exemplary, and should not be understood as the limit to the present invention
System, those skilled in the art can be changed above-described embodiment, change, replace and become within the scope of the invention
Type.
Claims (16)
- The paths planning method 1. a kind of unmanned plane makes a return voyage, which is characterized in that the method includes：During unmanned plane during flying, it is used to indicate the triggering information that unmanned plane makes a return voyage automatically if detecting, unmanned plane is obtained and works as Front position and target location to be maked a return voyage；According to the current location, target location to be maked a return voyage and preset restricted area information, returning for the unmanned plane is planned Bit path.
- 2. according to the method described in claim 1, it is characterized in that, the restricted area information, which includes the corresponding limit of restricted area, flies height Degree；It is described according to the current location, target location to be maked a return voyage and preset restricted area information, plan the unmanned plane Path of making a return voyage, including：Fly height according to the current location, target location to be maked a return voyage and the corresponding limit of restricted area, road of making a return voyage described in control Diameter is avoided being located at the area of space on the winged height of the limit in restricted area.
- 3. according to the method described in claim 2, it is characterized in that, the target position according to the current location, to be maked a return voyage It sets and the corresponding limit of restricted area flies height, path of making a return voyage described in control is avoided flying on height positioned at the limit in restricted area The minimum range for plane where limiting winged height described in restricted area described in path distance of making a return voyage while area of space, described in control Equal to or more than preset first early warning distance.
- 4. according to the method described in claim 1, it is characterized in that, the restricted area information includes the corresponding edge letter in no-fly zone Breath；It is described according to the current location, target location to be maked a return voyage and preset restricted area information, plan the unmanned plane Path of making a return voyage, including：According to the current location, the corresponding marginal information in target location to be maked a return voyage and the no-fly zone, returned described in control Bit path avoids the area of space of the intramarginal arbitrary height of the no-fly zone.
- 5. according to the method described in claim 4, it is characterized in that, the target position according to the current location, to be maked a return voyage It sets and the corresponding marginal information in the no-fly zone, the intramarginal arbitrary height of the no-fly zone is avoided in path of making a return voyage described in control While the area of space of degree, the minimum range at the edge for no-fly zone described in path distance of making a return voyage described in control is equal to or more than in advance If the second early warning distance.
- 6. according to the method described in claim 1, it is characterized in that, described detect that be used to indicate that unmanned plane makes a return voyage automatically touches After photos and sending messages, further include：Obtain unmanned plane during flying the environmental map through region；It is described according to the current location, target location to be maked a return voyage and preset restricted area information, plan the unmanned plane Path of making a return voyage, further comprise：According to the current location, target location to be maked a return voyage, preset restricted area information and the environmental map, institute is planned State the path of making a return voyage of unmanned plane.
- 7. according to the method described in claim 6, it is characterized in that, the acquisition unmanned plane during flying the environment through region Figure, including：Obtain unmanned plane during flying the image that is shot in flight course of cartographic information through region and unmanned plane；According to the cartographic information and described image, the environmental map is built in real time.
- 8. the method according to the description of claim 7 is characterized in that unmanned plane during flying institute includes at least the nothing through region It is man-machine make a return voyage before flight institute through region.
- 9. according to the method described in claim 8, it is characterized in that, unmanned plane during flying institute through region further includes that unmanned plane returns Institute is through region during boat.
- 10. according to the method described in claim 6, it is characterized in that, the environmental map include unmanned flight institute through in region Obstacle information；It is described according to the current location, target location to be maked a return voyage, preset restricted area information and the environmental map, rule The path of making a return voyage for drawing the unmanned plane further includes：According to the obstacle information, the minimum range at the edge for the barrier described in path distance that makes a return voyage described in control be equal to or More than preset third early warning distance.
- 11. the method according to any of claims 1 to 10, which is characterized in that described to plan making a return voyage for the unmanned plane After path, further include：The unmanned plane is controlled to make a return voyage to the target location from current location according to the path of making a return voyage.
- 12. according to the method for claim 11, which is characterized in that the control unmanned plane is according to the path of making a return voyage It makes a return voyage to the target location, further comprises from current location：If detecting barrier, controls the unmanned plane bypass barrier and fly and control described in the unmanned plane distance The minimum range at the edge of barrier is equal to or more than preset third early warning distance.
- 13. according to the method described in claim 1, it is characterized in that, described detect is used to indicate what unmanned plane maked a return voyage automatically Information is triggered, including：Detect that the duration that unmanned plane is communicated with the terminal aborts for being remotely controlled the unmanned plane is equal to or more than preset duration；Alternatively,It receives and is used to indicate the user instruction that unmanned plane makes a return voyage automatically.
- 14. according to the method described in claim 1, it is characterized in that,The target location to be maked a return voyage is preset specific position；Alternatively, the target location to be maked a return voyage is the real time position of the terminal for being remotely controlled the unmanned plane.
- The path planning apparatus 15. a kind of unmanned plane makes a return voyage, which is characterized in that described device includes processor, wherein the processing Device makes a return voyage paths planning method for executing 1 to 14 any one of them unmanned plane of the claims.
- 16. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor When execution realize claim 1 to 14 any one of them unmanned plane make a return voyage paths planning method the step of.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/086633 WO2018218516A1 (en) | 2017-05-31 | 2017-05-31 | Unmanned aerial vehicle return route planning method and apparatus |
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| CN108496134A true CN108496134A (en) | 2018-09-04 |
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| WO (1) | WO2018218516A1 (en) |
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