CN108513643A - A kind of paths planning method, aircraft, flight system - Google Patents
A kind of paths planning method, aircraft, flight system Download PDFInfo
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- CN108513643A CN108513643A CN201780004776.2A CN201780004776A CN108513643A CN 108513643 A CN108513643 A CN 108513643A CN 201780004776 A CN201780004776 A CN 201780004776A CN 108513643 A CN108513643 A CN 108513643A
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- 238000013439 planning Methods 0.000 title claims abstract description 39
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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Abstract
A kind of paths planning method, aircraft, flight system, wherein method include：It is fitted to obtain working edge line according to the depth map, the working edge line is used to identify the edge for waiting for operating area；According to the working edge line that the current location information of the aircraft and fitting obtain, object edge line is determined；It is drawn according to the object edge line gauge and obtains guidance path, wherein the guidance path is located at the top for waiting for operating area；The aircraft flight is controlled according to the guidance path, to wait for that operating area executes Mission Operations to described, the degree of automation of aircraft can be promoted, improve the operating efficiency of aircraft.
Description
Technical field
The present invention relates to electronic technology field more particularly to a kind of paths planning method, aircraft, flight systems.
Background technology
With the continuous development of electronic technology, aircraft (such as unmanned plane, remote control distributor device, aerial device etc.) also obtains
To developing on a large scale very much.
Currently, aircraft usually when carrying out Mission Operations, needs to rely on operator's craft flight operation, or execute one
A little relatively simple navigation path plannings, such as wait on operating area (such as farmland, tea place, terraced fields) along rectilinear flight at this
Etc..However, path planning mode the degree of automation of above-mentioned aircraft is relatively low, the operating efficiency of aircraft is low.
Invention content
The embodiment of the invention discloses a kind of paths planning method, aircraft, flight system, aircraft oneself can be promoted
Dynamicization degree improves the operating efficiency of aircraft.
First aspect of the embodiment of the present invention discloses a kind of path specification method, including：
It is fitted to obtain working edge line according to the depth map, the working edge line described waits for operating area for identifying
Edge；
According to the working edge line that the current location information of the aircraft and fitting obtain, object edge is determined
Line；
It is drawn according to the object edge line gauge and obtains guidance path, wherein the guidance path waits for operation area positioned at described
The top in domain；
The aircraft flight is controlled according to the guidance path, to wait for that operating area executes Mission Operations to described.
Second aspect of the embodiment of the present invention discloses a kind of aircraft, including：Memory and processor；
The memory, for storing program instruction；
The processor, the program instruction for executing memory storage, when program instruction is performed, the place
Reason device is used for：
It is fitted to obtain working edge line according to the depth map, the working edge line described waits for operating area for identifying
Edge；
According to the working edge line that the current location information of the aircraft and fitting obtain, object edge is determined
Line；
It is drawn according to the object edge line gauge and obtains guidance path, wherein the guidance path waits for operation area positioned at described
The top in domain；
The aircraft flight is controlled according to the guidance path, to wait for that operating area executes Mission Operations to described.
The present embodiment third aspect discloses a kind of flight system, including：
At least one photographic device；
Aircraft as described in second aspect.
In the embodiment of the present invention, aircraft can be fitted to obtain working edge line according to depth map, then according to current
Location information and the working edge line, determine object edge line, are finally drawn according to the object edge line gauge and obtain navigation road
Diameter executes Mission Operations according to the guidance path, can effectively cover and wait for operating area range, promotes the operation effect of aircraft
Rate, and do not need excessive manual intervention meets the automating of user, intelligent demand.
Description of the drawings
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without having to pay creative labor, others are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is a kind of scene schematic diagram for path planning provided in an embodiment of the present invention；
Fig. 2 is another scene schematic diagram for being used for path planning provided in an embodiment of the present invention；
Fig. 3 is a kind of flow diagram of paths planning method provided in an embodiment of the present invention；
Fig. 4 is the flow diagram of another paths planning method provided in an embodiment of the present invention；
Fig. 5 is a kind of structural schematic diagram of aircraft provided in an embodiment of the present invention；
Fig. 6 is a kind of structural schematic diagram of flight system provided in an embodiment of the present invention.
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.
When aircraft (such as unmanned plane etc.) need wait for operating area (such as tea place, terraced fields etc.) sprayed insecticide,
When irrigating the Mission Operations such as plant, it is often necessary to fly according to guidance path, efficiently to complete Mission Operations.
The path planning mode of aircraft usually has following two modes：
A kind of mode is to rely on operator's hand-guided flight operation, i.e. operator is come far using remote controls such as remote controlers
Process control aircraft flight.However, this mode is horizontal dependent on the operation of operator, amateur aircraft user is come
It says, in operation aircraft flight, while needing effective covering to wait for the range of operating area, also to take into account control aircraft and keep
Mission Operations are executed in certain altitude range, it is undoubtedly very difficult, reduce the operating efficiency of aircraft, and aircraft
The degree of automation is relatively low.
Another way is to wait in shape more rule and smoothly operating area (generally-straight arrangement, such as polygon
Rice field) etc., operating area is chosen out by polygon and mark point on map by operator first, then aircraft root again
Polygon is crossed according to this and mark point automatically generates some line navigation paths parallel to each other (such as Z-shaped loopback path), to cover
Lid operating area.
For example, as shown in Figure 1, waiting for that operating area is the rice field of a hexagon.Operator can be first on map
This is waited for that the shape profiling of operating area comes out, is then marked a little in the apex for waiting for operating area again, in Fig. 1, operation
Person depict this wait for that the shape of operating area indicates that the mark point is indicated with circle with the solid black lines.Then, aircraft can
With waited for according to this operating area mark point and this wait for the shape of operating area, covered with rule straight line parallel to each other
Entirely wait for operating area, rule straight line parallel to each other is guidance path, is represented by dashed line in Fig. 1.
However, aforesaid way still needs human intervention, and it is only applicable to shape more rule and smoothly waits for operation area
Operating area (such as terraced fields, tea place are waited in domain for (usually not linearly arrange) in irregular shape, and with height change
Deng), if directly by the way of line navigation path, due to its height change and irregular shape, being bound to cannot be effective
Covering entirely waits for that the range of operating area, the degree of automation of aircraft are relatively low.
In order to solve technical problem set forth above, the degree of automation of aircraft is improved, an embodiment of the present invention provides
A kind of paths planning method, aircraft, flight system.In order to better illustrate, referring to Fig. 2, being provided for the embodiment of the present invention
Another kind be used for path planning scene schematic diagram.
In fig. 2, photographic device can be provided on aircraft, which can be used for shooting below the aircraft
Include waiting for the depth map of operating area.Wherein, the photographic device is such as can be binocular camera, aerial camera.
Wherein, which can regard depth map to be lower, i.e. aircraft waits for operation area from what top shooting lower section was got
The depth map in domain.
It should be noted that waiting for that operating area can be the part for waiting for operating area in the depth map, that is to say, that
The depth map can only include the part for waiting for operating area.This waits for that operating area can be the region of curved arrangement, but
Wait for the part of operating area, it is arranged in a straight line that can be approximately considered the edge for waiting for operating area.
Can refer to that tea place or terraced fields etc. are deposited it should also be noted that, waiting for operating area described in the embodiment of the present invention
In the region of manipulating object (such as the tea tree planted in tea place, the crops etc. planted in terraced fields).
In one embodiment, aircraft can be using binocular vision system, calling photographic device acquisition depth map, and from
The depth map obtains multiple working edge lines, is indicated with working edge line 1, working edge line 2, working edge line 3 in Fig. 2,
, it should be understood that in other embodiments, the quantity of the working edge line can also be 5,7 etc., and the present invention does not make this any limit
System.
Wherein, field angle (field of view, FOV) bigger, quantity of the working edge line taken of photographic device
Can more and the unmanned plane flying heights it is higher, the quantity of the working edge line taken can also be more.Change sentence
Talk about, the quantity in working edge line in the depth map can depend on photographic device field angle (field of view,
) and the flying height of the unmanned plane FOV.
In one embodiment, which can be since the picture centre region of depth map, to two-sided search depth
Trip point, wherein the depth jump point can refer to the corresponding depth value of point and adjacent one or more depth point institute is right
Difference between the depth value answered reaches predetermined threshold value (such as 2 meters, 3 meters etc.), indicates the depth jump point with circle in Fig. 2
(wherein, the depth jump point of working edge line 3 is not shown).
In one embodiment, which can be fitted according to obtained depth jump point and obtain the working edge line,
The working edge line can be used for identifying the edge for waiting for operating area.In fig. 2, which is respectively working edge
Line 1, working edge line 2, working edge line 3, aircraft can be according to adjacent two apart from the aircraft camera site recently
Working edge line determines the operating area of waiting in depth map, such as in fig. 2, nearest apart from the aircraft camera site
Adjacent two working edge lines are working edge line 1 and working edge line 2, then the working edge line 1 and working edge line 2 are then
Can be object edge line, the region between them can be then that this waits for operating area.
In one embodiment, which can draw according to the object edge line gauge and obtain guidance path, and according to this
Guidance path control aircraft flies automatically, to wait for that operating area executes Mission Operations to this.Wherein, which can be
Center line between two target edge lines, as shown in dashed line in figure 2.Alternatively, the guidance path can also be according to two
Any position that object edge line determines, such as close to position of working edge line 2 etc., the present invention is not intended to be limited in any this.
It should be noted that aircraft flies if it is at lower height (such as 2 meters, 3 meters etc.), the depth come is shot
What degree figure was shown waits for operating area, it may be possible to which this waits for the topography of operating area, may be not easy to find out and wait for walking for operating area
Gesture bending degree, the working edge line generally yielded are straight line, and the guidance path cooked up can also be straight line.Therefore, it flies
The guidance path that device can also be adjusted and obtained in real time.
In one embodiment, aircraft can be controlled according to the guidance path (the first guidance path) obtained from the depth map
Make the aircraft flight, and by the first guidance path that the collected depth map of photographic device is current to this in flight course
It is modified, and predicts to obtain the second guidance path according to revised first guidance path.
In one embodiment, the first guidance path and obtain before which can obtain according to current depth figure
N number of first guidance path (N is the positive integer more than or equal to 1) of the depth map arrived, obtains the shooting position of each depth map first
Camera site coordinate (the i.e. mesh for the depth map that the camera site coordinate distance set coordinate, and seek each depth map is shot earliest
Cursor position point) relative position information, then by current first guidance path and recorded N number of according to the relative position information
First guidance path is mapped under the reference frame of source location place.
In one embodiment, the aircraft can obtain that the aircraft had flown under the reference frame one section
Flight path in time, then, aircraft according to the flight path, can predict the second navigation road of part of not flying
Diameter.
As it can be seen that by the method for above-mentioned path planning, aircraft can be made to carry out path planning automatically, and can be effective
Covering waits for the range of operating area, and according to when preplanning guidance path real time correction and adjust next guidance path,
Improve the degree of automation of aircraft.
For clearer description, paths planning method described in the embodiment of the present invention is described below.Please refer to figure
3, it is a kind of flow diagram of paths planning method provided in an embodiment of the present invention, method shown in FIG. 1 may include：
S301, it is fitted to obtain working edge line according to the depth map.
It should be noted that the executive agent of the embodiment of the present invention can be aircraft, camera shooting is provided on the aircraft
Device, it includes the depth map for waiting for operating area that the photographic device, which is used to shoot below the aircraft,.
Wherein, which can be unmanned plane, remotely-piloted vehicle, aerial photography aircraft etc., and the present invention does not limit this
System.
In some feasible embodiments, which is agriculture unmanned plane.Wherein, the operation pair of the agricultural unmanned plane
As being mainly crops, appoint to execute pesticide spraying, plant irrigation etc. specifically, the agricultural unmanned plane can carry spray appliance
Business operation, it is real to execute Mission Operations, the present invention such as farmland scene capture, monitoring agricultural pest to carry photographic device
Example is applied to be not intended to be limited in any this.
Wherein, which can be aerial camera, camera etc., and present invention comparison is not intended to be limited in any.
It is described to wait for that there are differences in height in operating area in some feasible embodiments, and be curved arrangement.
It should be noted that this waits for that operating area can refer to the region that aircraft executes Mission Operations, the Mission Operations example
Such as can be pesticide spraying, plant irrigation, scene capture etc., the invention is not limited in this regard.
It should also be noted that, this waits for may exist difference in height in operating area, such as wait for that the ground of operating area is recessed
The ground of convex injustice or this wait in operating area that growing plants has difference in height, for example, this is waited in operating area
Growing plants can be up to 3 meters at edges of regions, be up to 1 meter etc. at edges of regions.Also, this waits for operation area
It domain can be according to curved arrangement.
Wherein, this waits for that operating area can be any one or more of tea place, terraced fields.
It should also be noted that, the depth map can be photographic device shoot it is lower regard depth map.
Wherein, which can be used for identifying the edge for waiting for operating area.For example, operating area and its are waited for
He may exist interval (such as gully etc.) in region, which can be in the interval, for indicating that this waits for operation area
The edge in domain.
In some feasible embodiments, this is fitted to obtain working edge line according to the depth map, including：According to the depth
Degree figure determines the depth jump point in the depth map；Line section is clicked through according to the depth jump to be fitted to obtain working edge line.
Wherein, the depth value corresponding to the depth jump point and the depth corresponding to one or more adjacent depth point
Difference between value reaches predetermined threshold value.
It should be noted that aircraft can extract the depth information in the depth map first according to the depth map, such as
Depth difference between each depth point, change in depth situation, depth difference range etc., and this is determined according to the depth information
Depth jump point in depth map, such as the depth point a in depth map and the difference between adjacent depth point b and depth point c
It is 3 meters, has reached predetermined threshold value (assuming that predetermined threshold value is 2 meters herein), then the aircraft can determines that depth point a is deep
Spend trip point.
In one embodiment, which can click through the fitting of line section according to the depth jump determined, obtain
Working edge line.For example, as shown in Fig. 2, working edge line 1 can be fitted to obtain according to the depth jump point near it.
In one embodiment, the concrete mode of aircraft fitting operation edge line can be the operation side that fitting obtains
The distance of depth jump point near edge linear distance is all within a preset range (such as in 0.1 meter, in 0.2 meter etc.).
It should also be noted that, the working edge line that the aircraft obtains can wait for operation in the depth map range
The line segment of the working edge in region.Alternatively, the working edge line can also be according to this wait for operating area working edge line
The not working edge in the depth map range that section speculates, in other words, which can also exceed the depth map
The range of shooting.
S302, the working edge line obtained according to the current location information of the aircraft and fitting, determine target
Edge line.
In one embodiment, the location information that aircraft can also be currently located according to the aircraft determines that distance should
The nearest operating area of aircraft is to wait for operating area, and determine that this waits for that the working edge line at operating area edge is object edge
Line.Such as in Fig. 2, nearest from the aircraft waits for that operating area can be the maximum operating area of range in entire depth image
(operating area between working edge line 1 and working edge line 2), then the working edge line 1 and working edge line 2 can
To be the object edge line chosen from working edge line.
In one embodiment, the aircraft can also according to the working edge line is smoothed, noise filter
Processing etc., and working edge line obtains object edge line according to treated.
Wherein, in a depth map, the quantity of the working edge line which obtains can be any amount, for example, 2
Item, 3,5 etc., the embodiment of the present invention is not intended to be limited in any this.
S303, guidance path is obtained according to the object edge line gauge stroke.
Wherein, the guidance path is located at the top for waiting for operating area.
In one embodiment, which can select the surface of the object edge line for guidance path, alternatively, should
Aircraft can also select the surface of any position between two target edge lines for guidance path.
In one embodiment, which can determine the center line between two target edge lines, and according to the center
Line determines guidance path.For example, as shown in Fig. 2, dotted portion indicates the center of working edge line 1 and working edge line 2
Line, the aircraft can be using the corresponding surfaces of the center line as the guidance path of the aircraft.
In some feasible embodiments, which can be according to random sampling unification algorism (Random sample
Consensus, RANSAC) obtain the center line.For example, as shown in Fig. 2, the aircraft can be somebody's turn to do according to RANSAC
The linear equation of working edge line 1 (i.e. object edge line), linear equation are specifically as follows：
L1：a1x+b1y+c1=0
Wherein, L1It can indicate that the working edge line 1, x can indicate that the abscissa of the working edge line 1, y can indicate
The ordinate of the working edge line 1, a1It can indicate the corresponding coordinate coefficient of abscissa, b1It can indicate the corresponding seat of ordinate
Mark coefficient, c1It can be constant.
Wherein, which can also obtain the straight line side of the working edge line 2 (i.e. object edge line) according to RANSAC
Journey, linear equation are specifically as follows：
L2：a2x+b2y+c2=0
Wherein, L2It can indicate that the working edge line 2, x can indicate that the abscissa of the working edge line 2, y can indicate
The ordinate of the working edge line 2, a2It can indicate the corresponding coordinate coefficient of abscissa, b2It can indicate the corresponding seat of ordinate
Mark coefficient, c2It can be constant.
It is then possible to deduce center line equation by above-mentioned two equation, center line equation can be specifically：
L3：(a1+a2)x+(b1+b2)y+(c1+c2)=0
The aircraft can be by the L as a result,3The corresponding surface of center line the leading as the aircraft that equation obtains
Bit path.
It should be noted the guidance path, can be that depth map shooting waits for leading in the range of operating area
Bit path.Alternatively, the guidance path, the navigation road waited in the range of operating area shot according to the depth map can also be
Diameter, not this in the depth map range predicted wait for the guidance path of operating area, for example, aircraft according to S301 extremely
Guidance path in the range of waiting for operating area that S303 steps obtain shooting in the depth map is dashed line segment shown in Fig. 2
Surface, then the aircraft can extend the dashed line segment, this for obtaining not in the depth map range waits for operation
The guidance path in region.
S304, the aircraft flight is controlled according to the guidance path, to wait for that operating area executes task and makees to described
Industry.
It should be noted that the aircraft can control the aircraft and fly according to the instruction of the guidance path, with
It is waited for above operating area at this, operating area, which executes Mission Operations, is waited for this.
Wherein, which for example can be plant irrigation, pesticide spraying, scene capture etc..
In some feasible embodiments, the depth map includes that the aircraft waits for the opposite of operating area with described
Elevation information.
It should be noted that the aircraft waits for that the relative altitude information of operating area can be the height above sea level of the aircraft with this
Height waits for the altitude difference between the height above sea level of the crop (such as rice, tea tree etc.) in operating area with this.
For example, the height above sea level of the aircraft is 2305 meters, this waits for that the height above sea level of the crop in operating area is 2300
Rice, then the aircraft can be with the relative altitude information for waiting for operating area：The two relative altitude is 5 meters.
In some feasible embodiments, the method further includes：Fly according to relative altitude information adjustment is described
The height of row device is target relative altitude, is flown so that the aircraft is maintained in the target relative altitude.
It should be noted that the target relative altitude for example can be relative altitude be 3 meters, 4 meters etc., the present invention to this not
It is restricted.
In some feasible embodiments, which can pre-set the target relative altitude, when detecting phase
When being more than or less than the target relative altitude to the relative altitude indicated in elevation information, so that it may to adjust the height of the aircraft
Degree, to keep the aircraft and this to wait for that operating area is maintained in the target relative altitude.
For example, it is 3 meters which, which can pre-set the target relative altitude,.Then, which can be from
In the depth map got, the relative altitude information is obtained, if the relative altitude information indicates that current relative altitude is 5
Rice is more than 2 meters of the target relative altitude, then, which, which can adjust the flying height of itself, reduces by 2 meters, to be maintained at
It flies in the target relative altitude.
In some feasible embodiments, which can also preset the range of setting target relative altitude, such as 2
In -4 meters of rice.Then, if the relative altitude information that the aircraft is obtained from depth map indicates that current relative altitude is 3
Rice, within the scope of the target relative altitude, then, which can not have to adjust the flying height of itself, be continually maintained in
It flies in the current flying height.
As it can be seen that in embodiments of the present invention, aircraft can be fitted to obtain working edge line according to depth map, and according to this
Working edge line and the current location information of the aircraft, determine object edge line, finally according to the object edge line gauge
It draws and obtains guidance path, and the aircraft flight is controlled according to the guidance path, aircraft may be implemented and plan navigation road automatically
Diameter improves the degree of automation of aircraft to a certain extent, and aircraft is made to execute task according to the guidance path that planning obtains
Operation is not necessarily to human intervention, improves the Mission Operations efficiency of aircraft.
Referring to Fig. 4, being the flow diagram of another paths planning method provided in an embodiment of the present invention.Such as Fig. 4 institutes
The method shown may include：
S401, it is fitted to obtain working edge line according to the depth map.
Wherein, the working edge line is used to identify the edge for waiting for operating area.
S402, the working edge line obtained according to the current location information of the aircraft and fitting, determine target
Edge line.
It should be noted that the specific implementation process of the S401 and S402 steps in the embodiment of the present invention can refer to aforementioned side
S301 and S302 steps in method embodiment, therefore not to repeat here.
S403, the first current guidance path is determined according to the object edge line.
Wherein, first guidance path is the guidance path in the coverage of the depth map.
For example, as shown in Fig. 2, the aircraft can determine that the working edge line 1 and the working edge line 2 are to be somebody's turn to do
Object edge line, and the line segment being represented by dashed line that the object edge line is determined is as in the coverage of the depth map
Guidance path, that is, first guidance path.
Optionally, the object edge line selected from the working edge line that fitting obtains includes two, the basis
The object edge line determines the first current guidance path, including：Determine the center line between two target edge lines, and according to
The center line determines the first current guidance path.
In some feasible embodiments, which can select two operations from a plurality of working edge line
Edge line is as the object edge line, such as the working edge line 1 in Fig. 2 and the working edge line 2, then, the aircraft
It can determine that the center line segment of two target edge lines is the first current guidance path of the aircraft, void as shown in Figure 2
Line segment can be with for first guidance path.
S404, the second guidance path is obtained according to the first current navigation path planning.
Wherein, second guidance path is the not guidance path in the coverage of the depth map.
It does not shoot to obtain this of depth map also it should be noted that second guidance path can be the aircraft and waits for operation
The guidance path in region.For example, aircraft is in current time 15:30 points of shootings obtain depth map a, can predict that the aircraft exists
15:35 points also need to wait for executing Mission Operations on operating area at this, but at this moment there is no shootings to obtain 15:Depth when 35
Figure, therefore, which can be according to current time 15:30 points of shootings obtain the first guidance path that depth map a is obtained, planning
Obtain 15:The guidance path that the aircraft may fly when 35.
It should also be noted that, second guidance path can be directly obtained according to the first current guidance path.Example
Such as, phantom line segments as shown in Figure 2 are the first guidance path that the aircraft is directed to that the depth map obtains, which can be direct
The phantom line segments are subjected to linear extension, the straight line extended can be used as second guidance path.
Optionally, described that second guidance path is obtained according to the first current navigation path planning, including：
The aircraft flight is controlled according to the first current guidance path；It is filled according to being imaged described in flight course
Collected depth map is set to be modified the first current guidance path；It is predicted according to revised first guidance path
Obtain the second guidance path.
In some feasible embodiments, which can fly according to first guidance path, due to this first
Guidance path has certain navigation distance value, and therefore, unmanned plane awing constantly can obtain depth map in way, then basis
The depth map is modified the part that do not fly also of first guidance path, and according to current revised first navigation road
Diameter predicts next section of guidance path, i.e. the second guidance path.
For example, the aircraft is according to first guidance path during flying, since first guidance path can be with
For a navigation section, which has certain navigation distance value (being, for example, 5 meters), which can be in flight to 1
When the position of rice, photographic device is called to get depth map b, which can call camera shooting at position of the flight to 2 meters
Device gets depth map c and (flies on the way according to the first guidance path that is, depth map b and depth map c are aircraft
In the depth map that gets).At this moment, which can plan to obtain a guidance path h according to depth map b, according to this
Depth map c plans to obtain a guidance path f, and (guidance path h and guidance path f can be according to the first guidance paths of planning
Mode obtains, and guidance path h and guidance path f can have the part intersected with the first guidance path.) further,
Since depth map b and depth map c are the image for being separated by not far position and shooting, two depth maps can have weight
Folded part, then the guidance path that the two obtains can also have lap.Two bar navigations that aircraft can obtain planning
The intersection in path overlaps, after being then smoothed two bar navigation paths, to first guidance path
The part that do not fly also is modified (such as being modified to 3 meters after the first guidance path of part), obtains revised
One guidance path.
In one embodiment, the aircraft can according to the flight trend of revised first guidance path, or
The part beyond the first guidance path range in depth map b and depth map c is can be combined with, second navigation is predicted
Path.For example, revised first guidance path is straightway, then, next aircraft, which can speculate, waits for operation at this
The flight trend in region is also along rectilinear flight, and therefore, which can predict that second guidance path is straight line path.
Optionally, described that second guidance path is obtained according to the first current navigation path planning, including：According to institute
N number of first guidance path stated the first current guidance path and recorded, prediction obtain the second guidance path；Wherein, N is big
In the positive integer equal to 1.
It should be noted that the aircraft is obtaining the second guidance path according to the first current navigation path planning
When, it can also use and predict to obtain the second navigation according to the first guidance path currently and N number of first guidance path recorded
The mode in path.
In some feasible embodiments, which can be by the first current guidance path and the N recorded
A first guidance path is integrated together sequentially in time by way of line segment fitting, then according to each navigation road
Each first guidance path is smoothed by the flight trend of diameter, and is integrated and obtained a smooth navigation path, the navigation
Track can be used to indicate that the flight path that the aircraft had flown.
In one embodiment, the aircraft can according to the flight trend that the navigation path shows, predict this second
Guidance path.
Optionally, described according to the first current guidance path and N number of first guidance path recorded, it measures in advance
To the second guidance path, including：By the first current guidance path and N number of first guidance path recorded, reflect
It is mapped under the reference frame where source location；According to current first guidance path and what is recorded N number of first lead
Coordinate position of the bit path under the reference frame, predicts the second guidance path.
In some feasible embodiments, which can be the corresponding depth map of each first guidance path
In, the camera site coordinate corresponding to the earliest depth map of shooting time.
Alternatively, the source location can also be the camera site coordinate corresponding to any one depth map, the present invention couple
This is not intended to be limited in any.
It should also be noted that, the reference frame can be the coordinate system established as origin using the source location.
In some feasible embodiments, the aircraft can obtain first the first current guidance path and it is described
The shooting time of N number of corresponding depth map of first guidance path of record, then selects the earliest target of shooting time
Depth map using the corresponding camera site coordinate of the target depth figure as the source location, and is original with the source location
The coordinate system that point is established.
In one embodiment, which can also be by current the first guidance path and what is recorded N number of first lead
Bit path both maps under the reference frame, and can be in the reference frame, according to flying for each first guidance path
Then row trend, the flight path flown first go out the second guidance path further according to the Flight Trajectory Prediction.
Optionally, described by the first current guidance path and N number of first guidance path recorded, mapping
To under the reference frame where source location, including：Obtain the first navigation bits on the first current guidance path
Set the relative position information a little between source location；The second navigation on N number of first guidance path recorded described in obtaining
The relative position information of location point and source location；According to the relative position information of acquisition by current first guidance path
With N number of first guidance path recorded, under reference frame where being mapped to the source location.
Wherein, the relative position information refers to：Relative displacement between navigation position point and the source location and
Posture rotation relationship.
It should be noted that the navigation position point can be the camera site of the depth map corresponding to first guidance path
Coordinate.
Wherein, the first navigation position point is the camera site of the current corresponding depth map of the first guidance path
Point, the second navigation position point are the camera site of the N number of corresponding depth map of first guidance path recorded
Point.
In some feasible embodiments, the first navigation position point and the two navigation positions point can also be pair
Answer the position coordinates corresponding to the central point of depth map.
Wherein, the posture rotation relationship is according to the corresponding shooting posture of the navigation position point and the target position
Set what a little corresponding shooting posture obtained.
It is shot it should be noted that the shooting posture for example can be the angle that photographic device is overlooked with 90 degree, or
Person with 45 degree of angle shoot etc..
In some feasible embodiments, which can be indicated with attitude quaternion.
Wherein, which can refer to the displacement difference between each navigation position point and the source location, such as
It it is 1 meter, 3 meters etc., the embodiment of the present invention is not intended to be limited in any this.
In some feasible embodiments, which can obtain the navigation on the first current guidance path first
Then posture rotation relationship between location point and source location and relative displacement obtain N number of first guidance path recorded
On navigation position point and source location between posture rotation relationship and relative displacement, it is last according to the posture got rotation
Relationship and relative displacement, obtain coordinate position of each navigation position point under the reference frame, and can by this current
One guidance path and N number of first guidance path recorded, are mapped under the reference frame, and according to obtained coordinate bit
It sets, predicts the second guidance path.
For example, by taking 3 depth maps (depth map 1, depth map 2, depth map 3) as an example, 3 first navigation are corresponded to respectively
Path, depth map 1 corresponds to the first guidance path 1, depth map 2 corresponds to 2 depth map 3 of the first guidance path and corresponds to the first guidance path
3.The first current guidance path is the first guidance path 1, and the first guidance path recorded is respectively 2 He of the first guidance path
First guidance path 3.
In one embodiment, aircraft can obtain the shooting time and shooting coordinate of 3 depth maps first, then
The earliest shooting coordinate of shooting time (being, for example, the shooting coordinate of depth map 3) can be chosen and be used as the source location, and asked
Take remaining two shootings coordinate respectively apart from the relative displacement of the source location, it is assumed that the position coordinates of source location are denoted as
T0, the shooting coordinate of depth map 1 is denoted as T1, the shooting coordinate of depth map 2 is denoted as T2, then, depth map 1 and depth map 2 it is opposite
Displacement can be indicated by following formula respectively：
t10=T1-T0,t20=T2-T0
In one embodiment, which can obtain the shooting time of three depth maps by Inertial Measurement Unit
Attitude quaternion (can indicate shooting posture), and the attitude quaternion of depth map 1 can use Q1It indicates, the posture four of depth map 2
First number can use Q2It indicates, the attitude quaternion of depth map 3 can use Q0It indicates, then depth map 1, depth map 2 are relative to target
The posture rotation relationship of location point can be obtained with following formula respectively：
So, the camera site coordinate P in the depth map 1, depth map 21、P2, project to the ginseng established with source location
The position coordinates in coordinate system are examined, can be respectively：
In one embodiment, which can be according to the position coordinates sought out, by each position coordinates with smoothly
Curve or straight line be fitted, the navigation rail that had flown of the aircraft from depth map 1 to depth map 3 can be obtained
Mark, and can be according to the flight trend of the navigation path, possible guidance path after predicting.For example, this waits for operating area
For terraced fields, the navigation path in a period of time can be close to the larger circular arc of a radius, can by the trend of the circular arc
Real time correction simultaneously adjusts next guidance path.
S405, the aircraft flight is controlled according to the guidance path, to wait for that operating area executes task and makees to described
Industry.
It should be noted that the guidance path may include first guidance path and the second guidance path.Aircraft
The aircraft can be controlled according to first guidance path to fly in current slot, and predict second guidance path,
Then, which can control the aircraft according to second guidance path and fly in lower certain time.
As it can be seen that in embodiments of the present invention, aircraft can be fitted to obtain working edge line according to depth map, and according to this
Working edge line and the current location information of the aircraft, determine object edge line, then according to the object edge line gauge
It draws and obtains the first guidance path, and the second guidance path is obtained according to the first navigation path planning, then according to guidance path control
The aircraft flight is made, the guidance path for correcting and adjusting aircraft may be implemented, aircraft is realized and plans navigation road automatically
Diameter improves the degree of automation of aircraft to a certain extent, and aircraft is made to execute task according to the guidance path that planning obtains
Operation is not necessarily to human intervention, improves the Mission Operations efficiency of aircraft.
Referring to Fig. 5, being a kind of first embodiment structural schematic diagram of device provided in an embodiment of the present invention.The present embodiment
Described in device, including：
The embodiment of the present invention provides a kind of aircraft.Referring to Fig. 5, being a kind of aircraft provided in an embodiment of the present invention
Structural schematic diagram, the aircraft described in the present embodiment, including：
Memory 501 and processor 502；
The memory 501, for storing program instruction；
The processor 502, the program instruction for executing memory storage are used when program instruction is performed
In：
It is fitted to obtain working edge line according to the depth map, the working edge line described waits for operating area for identifying
Edge；
According to the working edge line that the current location information of the aircraft and fitting obtain, object edge is determined
Line；
It is drawn according to the object edge line gauge and obtains guidance path, wherein the guidance path waits for operation area positioned at described
The top in domain；
The aircraft flight is controlled according to the guidance path, to wait for that operating area executes Mission Operations to described.
In certain embodiments, it is specific to use when the processor 502 is fitted to obtain working edge line according to the depth map
In：
The depth jump point in the depth map is determined according to the depth map；
Line section is clicked through according to the depth jump to be fitted to obtain working edge line.
Depth value corresponding to the depth jump point and the depth value corresponding to one or more adjacent depth point
Between difference reach predetermined threshold value.
In certain embodiments, when the processor 502 obtains guidance path according to the object edge line gauge stroke, specifically
For：
Determine that the first current guidance path, first guidance path are in the depth according to the object edge line
Guidance path in the coverage of figure；
The second guidance path is obtained according to the first current navigation path planning, second guidance path is not exist
Guidance path in the coverage of the depth map.
In certain embodiments, the object edge line selected from the working edge line that fitting obtains includes two, described
When processor 502 determines the first current guidance path according to the object edge line, it is specifically used for：
It determines the center line between two target edge lines, and determines the first current guidance path according to the center line.
In certain embodiments, the processor 502 obtains second according to the first current navigation path planning and leads
When bit path, it is specifically used for：
The aircraft flight is controlled according to the first current guidance path；
The first current guidance path is carried out according to the collected depth map of photographic device described in flight course
It corrects；
It predicts to obtain the second guidance path according to revised first guidance path.
In certain embodiments, the processor 502 obtains second according to the first current navigation path planning and leads
When bit path, it is specifically used for：
According to the first current guidance path and N number of first guidance path recorded, prediction obtains the second navigation
Path；
Wherein, N is the positive integer more than or equal to 1.
In certain embodiments, the processor 502 according to the first current guidance path and recorded N number of the
One guidance path is specifically used for when prediction obtains the second guidance path：
By the first current guidance path and N number of first guidance path recorded, it is mapped to target location
Under reference frame where point；
According to current first guidance path and N number of first guidance path recorded under the reference frame
Coordinate position predicts the second guidance path.
In certain embodiments, the processor 502 by the first current guidance path and it is described recorded it is N number of
First guidance path is specifically used for when being mapped under the reference frame where source location：
Obtain the relative position between the first navigation position point and source location on the first current guidance path
Information；
The opposite position of the second navigation position point and source location on N number of first guidance path recorded described in obtaining
Confidence ceases；
Current first guidance path and N number of first recorded are navigated according to the relative position information of acquisition
Path is mapped under the reference frame of the source location place.
In certain embodiments, the relative position information refers to：Between navigation position point and the source location
Relative displacement and posture rotation relationship.
In certain embodiments, the first navigation position point is the current corresponding depth map of the first guidance path
Camera site point, the second navigation position point be the N number of corresponding depth map of first guidance path recorded
Camera site point.
In certain embodiments, the posture rotation relationship be according to the corresponding shooting posture of the navigation position point and
The source location is corresponding to shoot what posture obtained.
In certain embodiments, the depth map includes that the aircraft is believed with the relative altitude for waiting for operating area
Breath.
In certain embodiments, the processor 502 is additionally operable to adjust the aircraft according to the relative altitude information
Height be target relative altitude fly so that the aircraft is maintained in the target relative altitude.
In certain embodiments, described to wait for that there are differences in height in operating area, and be curved arrangement.
In certain embodiments, described to wait for that operating area is any one or more of tea place, terraced fields.
The embodiment of the present invention provides a kind of flight system.Fig. 6 is that the framework of flight system provided in an embodiment of the present invention shows
It is intended to.As shown in fig. 6, the flight system includes：Aircraft 601, at least one photographic device 602,.
Wherein, which is aircraft disclosed in the embodiments of the present invention, principle and realization method with it is upper
It is similar to state embodiment, details are not described herein again.
Wherein, which can be arranged on the aircraft, for shoot below the aircraft include wait making
The depth map in industry region.
Specifically, flight system can be applied to the equipment such as unmanned plane, telecontrolled aircraft.By taking unmanned plane as an example, photographic device 602
It can be equipped in the main body (i.e. aircraft 601) of unmanned plane by holder or other carrying equipments.Photographic device 602 is used in nothing
Carry out image or video capture in man-machine flight course, including but not limited to multi-spectral imager, hyperspectral imager, visible
Light camera and infrared camera etc., and the photographic device 602 can be one or more than one.Wherein, which can
The photographic device 601 shooting depth map is controlled, and is fitted according to the depth map to obtain working edge line, and according to the aircraft
The working edge line that current location information and fitting obtains, determines object edge line, is drawn according to the object edge line gauge
Guidance path is obtained, the aircraft flight is controlled according to the guidance path, to wait for that operating area executes Mission Operations to this.
It should be noted that the aircraft 601 can be used for executing paths planning method shown in preceding method embodiment,
Specific implementation process can refer to this method embodiment, and therefore not to repeat here.
It should be noted that for each embodiment of the method above-mentioned, for simple description, therefore it is all expressed as to a system
The combination of actions of row, but those skilled in the art should understand that, the present invention is not limited by the described action sequence, because
For according to the present invention, certain some step can be performed in other orders or simultaneously.Secondly, those skilled in the art also should
Know, embodiment described in this description belongs to preferred embodiment, involved action and module not necessarily this hair
Necessary to bright.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can be stored in a computer readable storage medium, storage
Medium may include：Flash disk, read-only memory (Read-Only Memory, ROM), random access device (Random Access
Memory, RAM), disk or CD etc..
A kind of paths planning method, aircraft and flight system is provided for the embodiments of the invention above to have carried out in detail
It introduces, principle and implementation of the present invention are described for specific case used herein, the explanation of above example
It is merely used to help understand the method and its core concept of the present invention；Meanwhile for those of ordinary skill in the art, according to this
The thought of invention, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification is not answered
It is interpreted as limitation of the present invention.
Claims (33)
1. a kind of paths planning method, which is characterized in that be applied to aircraft, be provided with photographic device on the aircraft, institute
It includes the depth map for waiting for operating area to state photographic device and be used to shoot below the aircraft, the method includes：
It is fitted to obtain working edge line according to the depth map, the working edge line is used to identify the side for waiting for operating area
Edge；
According to the working edge line that the current location information of the aircraft and fitting obtain, object edge line is determined；
It is drawn according to the object edge line gauge and obtains guidance path, wherein the guidance path waits for operating area positioned at described
Top；
The aircraft flight is controlled according to the guidance path, to wait for that operating area executes Mission Operations to described.
2. according to the method described in claim 1, it is characterized in that, described be fitted to obtain working edge according to the depth map
Line, including：
The depth jump point in the depth map is determined according to the depth map；
Line section is clicked through according to the depth jump to be fitted to obtain working edge line.
3. according to the method described in claim 2, it is characterized in that, depth value corresponding to depth jump point with it is adjacent
The difference between depth value corresponding to one or more depth point reaches predetermined threshold value.
4. according to claim 1-3 any one of them methods, which is characterized in that described to be drawn according to the object edge line gauge
To guidance path, including：
Determine that the first current guidance path, first guidance path are in the depth map according to the object edge line
Guidance path in coverage；
The second guidance path is obtained according to the first current navigation path planning, second guidance path is not described
Guidance path in the coverage of depth map.
5. according to the method described in claim 4, it is characterized in that, the mesh selected from the working edge line that fitting obtains
It includes two to mark edge line, described to determine the first guidance path currently according to the object edge line, including：
It determines the center line between two target edge lines, and determines the first current guidance path according to the center line.
6. method according to claim 4 or 5, which is characterized in that described to be advised according to the first current guidance path
It draws and obtains the second guidance path, including：
The aircraft flight is controlled according to the first current guidance path；
The first current guidance path is modified according to the collected depth map of photographic device described in flight course；
It predicts to obtain the second guidance path according to revised first guidance path.
7. method according to claim 4 or 5, which is characterized in that described to be advised according to the first current guidance path
It draws and obtains the second guidance path, including：
According to the first current guidance path and N number of first guidance path recorded, prediction obtains the second guidance path；
Wherein, N is the positive integer more than or equal to 1.
8. according to the first current guidance path and having remembered the method according to the description of claim 7 is characterized in that described
N number of first guidance path of record, prediction obtain the second guidance path, including：
By the first current guidance path and N number of first guidance path recorded, it is mapped to source location institute
Reference frame under；
According to the coordinate of current first guidance path and N number of first guidance path recorded under the reference frame
Position predicts the second guidance path.
9. according to the method described in claim 8, it is characterized in that, it is described by the first current guidance path and it is described
N number of first guidance path of record is mapped under the reference frame where source location, including：
Obtain the relative position information between the first navigation position point and source location on the first current guidance path；
The relative position of the second navigation position point and source location on N number of first guidance path recorded described in obtaining is believed
Breath；
According to the relative position information of acquisition by current first guidance path and it is described recorded it is N number of first navigation road
Diameter is mapped under the reference frame of the source location place.
10. according to the method described in claim 9, it is characterized in that, the relative position information refers to：Navigation position point and institute
State the relative displacement between source location and posture rotation relationship.
11. method according to claim 9 or 10, which is characterized in that the first navigation position point is described current
The camera site point of the corresponding depth map of first guidance path, the second navigation position point are N number of first recorded
The camera site point of the corresponding depth map of guidance path.
12. the method according to claim 10 or 11, which is characterized in that the posture rotation relationship is according to the navigation
What the corresponding shooting posture of location point and the corresponding shooting posture of the source location obtained.
13. according to claim 1-12 any one of them methods, which is characterized in that the depth map include the aircraft with
The relative altitude information for waiting for operating area.
14. according to the method for claim 13, which is characterized in that the method further includes：
The height that the aircraft is adjusted according to the relative altitude information is target relative altitude, so that the aircraft is kept
It flies in the target relative altitude.
15. according to the method described in claim 1-14, which is characterized in that it is described to wait for that there are differences in height in operating area, and be
Curved arrangement.
16. according to the method for claim 15, which is characterized in that it is described wait for operating area be tea place, terraced fields it is any one
Kind is a variety of.
17. a kind of aircraft, which is characterized in that be provided with photographic device on the aircraft, the photographic device is for shooting
The depth map including waiting for operating area below the aircraft, including：Memory and processor；
The memory, for storing program instruction；
The processor, the program instruction for executing memory storage, when program instruction is performed, the processor
For：
It is fitted to obtain working edge line according to the depth map, the working edge line is used to identify the side for waiting for operating area
Edge；
According to the working edge line that the current location information of the aircraft and fitting obtain, object edge line is determined；
It is drawn according to the object edge line gauge and obtains guidance path, wherein the guidance path waits for operating area positioned at described
Top；
The aircraft flight is controlled according to the guidance path, to wait for that operating area executes Mission Operations to described.
18. aircraft according to claim 17, which is characterized in that the processor is fitted to obtain according to the depth map
When working edge line, it is specifically used for：
The depth jump point in the depth map is determined according to the depth map；
Line section is clicked through according to the depth jump to be fitted to obtain working edge line.
19. aircraft according to claim 18, which is characterized in that the depth value corresponding to the depth jump point and phase
The difference between depth value corresponding to one or more adjacent depth point reaches predetermined threshold value.
20. according to claim 17-19 any one of them aircraft, which is characterized in that the processor is according to the target
When edge line is planned to obtain guidance path, it is specifically used for：
Determine that the first current guidance path, first guidance path are in the depth map according to the object edge line
Guidance path in coverage；
The second guidance path is obtained according to the first current navigation path planning, second guidance path is not described
Guidance path in the coverage of depth map.
21. aircraft according to claim 20, which is characterized in that the working edge line that the processor is obtained from fitting
The object edge line of middle selection includes two, described when determining the first current guidance path according to the object edge line, tool
Body is used for：
It determines the center line between two target edge lines, and determines the first current guidance path according to the center line.
22. the aircraft according to claim 20 or 21, which is characterized in that the processor is according to described current first
When navigation path planning obtains the second guidance path, it is specifically used for：
The aircraft flight is controlled according to the first current guidance path；
The first current guidance path is modified according to the collected depth map of photographic device described in flight course；
It predicts to obtain the second guidance path according to revised first guidance path.
23. the aircraft according to claim 20 or 21, which is characterized in that the processor is according to described current first
When navigation path planning obtains the second guidance path, it is specifically used for：
According to the first current guidance path and N number of first guidance path recorded, prediction obtains the second guidance path；
Wherein, N is the positive integer more than or equal to 1.
24. aircraft according to claim 23, which is characterized in that the processor is according to the first current navigation
Path and N number of first guidance path recorded are specifically used for when prediction obtains the second guidance path：
By the first current guidance path and N number of first guidance path recorded, it is mapped to source location institute
Reference frame under；
According to the coordinate of current first guidance path and N number of first guidance path recorded under the reference frame
Position predicts the second guidance path.
25. aircraft according to claim 24, which is characterized in that the processor is by the first current navigation road
Diameter and N number of first guidance path recorded, it is specific to use when being mapped under the reference frame where source location
In：
Obtain the relative position information between the first navigation position point and source location on the first current guidance path；
The relative position of the second navigation position point and source location on N number of first guidance path recorded described in obtaining is believed
Breath；
According to the relative position information of acquisition by current first guidance path and it is described recorded it is N number of first navigation road
Diameter is mapped under the reference frame of the source location place.
26. aircraft according to claim 25, which is characterized in that the relative position information refers to：Navigation position point
Relative displacement between the source location and posture rotation relationship.
27. the aircraft according to claim 25 or 26, which is characterized in that the first navigation position point is described current
The camera site point of the corresponding depth map of the first guidance path, the second navigation position point be N number of the recorded
The camera site point of the corresponding depth map of one guidance path.
28. the aircraft according to claim 26 or 27, which is characterized in that the posture rotation relationship is led according to
What the corresponding shooting posture of boat location point and the corresponding shooting posture of the source location obtained.
29. according to claim 17-28 any one of them aircraft, which is characterized in that the depth map includes the flight
Device and the relative altitude information for waiting for operating area.
30. aircraft according to claim 29, which is characterized in that the aircraft is additionally operable to according to the relative altitude
The height that information adjusts the aircraft is target relative altitude, so that the aircraft is maintained in the target relative altitude
Flight.
31. according to the aircraft described in claim 17-30, which is characterized in that it is described to wait for that there are differences in height in operating area, and
For curved arrangement.
32. aircraft according to claim 31, which is characterized in that it is described wait for operating area be tea place, terraced fields it is arbitrary
It is one or more.
33. a kind of flight system, which is characterized in that including：
At least one photographic device；
Such as claim 1-16 any one of them aircraft.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/100034 WO2019041266A1 (en) | 2017-08-31 | 2017-08-31 | Path planning method, aircraft, and flight system |
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| CN108513643A true CN108513643A (en) | 2018-09-07 |
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