CN108594843A - Unmanned plane autonomous flight method, apparatus and unmanned plane - Google Patents
Unmanned plane autonomous flight method, apparatus and unmanned plane Download PDFInfo
- Publication number
- CN108594843A CN108594843A CN201810143891.4A CN201810143891A CN108594843A CN 108594843 A CN108594843 A CN 108594843A CN 201810143891 A CN201810143891 A CN 201810143891A CN 108594843 A CN108594843 A CN 108594843A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- path
- global
- information
- local
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 238000000034 method Methods 0.000 title claims abstract description 46
- 230000007613 environmental effect Effects 0.000 claims abstract description 21
- 230000004888 barrier function Effects 0.000 claims description 25
- 208000010877 cognitive disease Diseases 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 11
- 238000004891 communication Methods 0.000 description 6
- 230000008901 benefit Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000004590 computer program Methods 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of unmanned plane autonomous flight method, apparatus and unmanned planes, are related to air vehicle technique field, and this method includes：According to the environmental information of acquisition, global path is planned；Obstacle information is obtained in flight course；According to the obstacle information and the global path, local avoidance path is generated；The global path is adjusted based on the local avoidance path, until reaching target point.Global path planning can be combined by the present invention with local avoidance, is adjusted accordingly global path according to obstacle information in flight course, more accurately to arrive at, is preferably improved the reliability of unmanned plane autonomous flight.
Description
Technical field
The present invention relates to air vehicle technique field, more particularly, to a kind of unmanned plane autonomous flight method, apparatus and nobody
Machine.
Background technology
Existing unmanned plane is based only on map and simply connects target point and starting point in contexture by self flight path
It is connected into as straight line as flight path.However, unmanned plane is during practical flight, it is more likely that encounter burst obstacle
Object is also only taken in avoidance and meets barrier hovering or the fixed forms such as cut-through object, and flight course will obviously be by
The influence of barrier and the flight path for deviateing former setting, to be difficult to accurately arrive at, the reliability of autonomous flight compared with
Difference.
Invention content
In view of this, the purpose of the present invention is to provide a kind of unmanned plane autonomous flight method, apparatus and unmanned planes, to carry
Rise the reliability of unmanned plane autonomous flight.
To achieve the goals above, technical solution used in the embodiment of the present invention is as follows：
In a first aspect, an embodiment of the present invention provides a kind of unmanned plane autonomous flight method, this method is executed by unmanned plane,
Including：According to the environmental information of acquisition, global path is planned；Obstacle information is obtained in flight course；Believed according to barrier
Breath and global path generate local avoidance path；Global path is adjusted based on local avoidance path, until reaching target point.
Further, the obtaining step of above-mentioned environmental information includes：Detect the starting point and starting flying height of unmanned plane；It connects
Receive the target point of unmanned plane input by user；The global context between starting point and target point is determined by preset three-dimensional map
Information.
Further, the step of starting point of above-mentioned detection unmanned plane and starting flying height, including：Pass through GPS sensor
Position starting point coordinate；The starting flying height of unmanned plane is determined by height sensor.
Further, the step of above-mentioned environmental information according to acquisition, planning global path, including：According to rising for unmanned plane
Global context information between initial point, starting flying height, target point and starting point and target point, planning starting point to mesh
The global path of punctuate.
Further, above-mentioned the step of obstacle information is obtained in flight course, including：In flight course, pass through nothing
Man-machine ranging obstacle avoidance system cognitive disorders object, and dyspoiesis object information.
Further, above-mentioned according to obstacle information and global path, the step of generating local avoidance path, including：It is based on
Global context information and obstacle information determine barrier regional area residing in global path；It is true according to three-dimensional map
Determine the corresponding local environmental information of regional area；Based on local environmental information and global context information, local avoidance path is generated.
Further, the step of above-mentioned adjustment global path based on local avoidance path, including：When according to local avoidance path
It when avoiding barrier, is repositioned, obtains the update position of unmanned plane；According to update position and the global road of target point adjustment
Diameter.
Second aspect, the embodiment of the present invention also provide a kind of unmanned plane autonomous flight device, which is set to unmanned plane
Side, including：Global motion planning module plans global path for the environmental information according to acquisition；Complaint message acquisition module is used
In obtaining obstacle information in flight course；Local obstacle avoidance module, for according to obstacle information and global path, generation office
Portion avoidance path；Module is adjusted, for adjusting global path based on local avoidance path, until reaching target point.
The third aspect, an embodiment of the present invention provides a kind of unmanned planes, including processor, memory and ranging avoidance system
System；Ranging obstacle avoidance system barrier for identification；Memory supports processor to execute any one of first aspect method for storing
Program, processor is configurable for executing the program that stores in memory.
Further, above-mentioned ranging obstacle avoidance system includes binocular vision sensor, millimetre-wave radar sensor and ultrasonic wave thunder
Up to a variety of in sensor.
An embodiment of the present invention provides a kind of unmanned plane autonomous flight method, apparatus and unmanned plane, unmanned plane bases first
The environmental information of acquisition plans global path, then can be according to the obstacle information and the overall situation of acquisition in flight course
Path generates local avoidance path, and then adjusts global path based on local avoidance path, until reaching target point.This nothing
Global path planning can be combined by man-machine autonomous flight mode with local avoidance, according to obstacle information in flight course
Global path is adjusted accordingly, more accurately to arrive at, preferably improve unmanned plane autonomous flight can
By property.
Other feature and advantage of the disclosure will illustrate in the following description, alternatively, Partial Feature and advantage can be with
Deduce from specification or unambiguously determine, or by implement the disclosure above-mentioned technology it can be learnt that.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in being described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, other drawings may also be obtained based on these drawings.
Fig. 1 shows a kind of unmanned plane autonomous flight method flow diagram that the embodiment of the present invention is provided；
Fig. 2 shows a kind of unmanned plane path planning schematic diagrames that the embodiment of the present invention is provided；
Fig. 3 shows a kind of generation method flow chart in local avoidance path that the embodiment of the present invention is provided；
Fig. 4 shows a kind of structure diagram for unmanned plane autonomous flight device that the embodiment of the present invention is provided；
Fig. 5 shows a kind of structural schematic diagram for ranging obstacle avoidance system that the embodiment of the present invention is provided；
Fig. 6 shows a kind of structural schematic diagram for unmanned plane that the embodiment of the present invention is provided.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, shall fall within the protection scope of the present invention.
In view of unmanned plane autonomous flight reliability in the prior art is poor, it is easy to be interfered and cause partially by barrier
From the global path planning initially set up, it is difficult to accurately arrive at, to improve this problem, provided in an embodiment of the present invention one
Kind unmanned plane autonomous flight method, apparatus and unmanned plane, which can be used corresponding software and hardware and realizes, below to this hair
Bright embodiment describes in detail.
Embodiment one：
A kind of unmanned plane autonomous flight method flow diagram shown in Figure 1, this method are executed by unmanned plane, namely from nothing
It illustrates, includes the following steps for man-machine side description：
Step S102 plans global path according to the environmental information of acquisition.
The present embodiment provides a kind of acquisition modes of environmental information, specifically may include following steps：
(1) starting point of detection unmanned plane and starting flying height；When it is implemented, can be positioned by GPS sensor
Starting point coordinate, and determine by height sensor the starting flying height of unmanned plane.Starting point is being positioned using GPS sensor
When coordinate, the starting point coordinate of unmanned plane can be marked in the pre-stored three-dimensional map of unmanned plane, coordinate will be marked
Be determined as the starting point of unmanned plane, in order to the geographical location information that is subsequently embodied based on three-dimensional map since starting point into
Row unmanned plane during flying path planning.
(2) target point (that is, destination) of unmanned plane input by user is received.Specifically, unmanned plane and ground based terminal
Wireless communication connection, ground based terminal can be remote controler, or the mobile terminals such as mobile phone, ipad, are hands with ground based terminal
For machine, user can be directly by inputting target point on mobile phone, and unmanned plane can wireless receiving target point input by user.
(3) the global context information between starting point and target point is determined by preset three-dimensional map.Wherein, global ring
Border information may include the geographic pattern information for covering starting point to the region in path between target point；The geographic pattern information can
To be shown directly in the form of 3D, it may include the location information and elevation information of the fixture for having in region in the geographic pattern information
Deng fixture can be building, or billboard, trees, electric pole etc..It in the specific implementation, can be according to reality
Demand and covering starting point is set to the radial diameter threshold value in the region in path between target point, namely the area to overlay area
Range is rationally arranged.The 3-D view that unmanned plane can be obtained between covering starting point and target point by three-dimensional map is believed
Breath.Compared with two-dimensional map, the height of each building can be clearly known using three-dimensional map, it is complete convenient for more reasonably planning
Office path.In flight course, unmanned plane can be according to passing through each building in the starting flying height of itself and path
Height be adaptively adjusted, certainly, in order to which unmanned plane during flying is more steady, nobody can be kept as possible in the specific implementation
The flying height of machine is constant, or control unmanned plane flying height amplitude of variation in a certain range.
Specifically, can be according to the starting point of unmanned plane, starting flying height, target point and starting point and target point
Between global context information, planning starting point to target point global path.It can be shown on usual three-dimensional map such as each solid
The three-dimensional environments information such as the position of earnest and height, unmanned plane is combinable to be presently in obtained in height and three-dimensional map
Three-dimensional environment information between initial point, target point determines flight path, in physical planning global path, can also will plan road
Diameter is marked on three-dimensional map.
Step S104, obtains obstacle information in flight course.Ranging obstacle avoidance system can be installed on the unmanned plane,
In flight course, by the ranging obstacle avoidance system cognitive disorders object of unmanned plane, and dyspoiesis object information.The ranging avoidance system
The scheme that multiple sensors blend may be used to meet the ranging demand under different scenes in system, and such as built-in binocular vision passes
It is a variety of in sensor, millimetre-wave radar sensor and ultrasonic radar sensor.In one embodiment, binocular vision can be used
Feel sensor and millimetre-wave radar sensor, wherein binocular vision sensor senses millimetre-wave radar as main detector
Device assists binocular to carry out the auxiliary detector that barrier is judged as in the case of glass, minute surface, pure color target, in addition
The combination of other range finders and other detectors also can be used, details are not described herein.
Step S106 generates local avoidance path according to obstacle information and global path.Specifically, it may be determined that barrier
Hinder the local environment residing for object, avoidance path is determined according to the local environment and global context synthesis.
Step S108 adjusts global path, until reaching target point based on local avoidance path.
In one embodiment, it can be repositioned, obtained when according to local avoidance path avoiding barrier
The update position of unmanned plane；Global path is adjusted according to update position and target point.A kind of unmanned plane path shown in Figure 2
It plans schematic diagram, simply illustrates starting point A, target point B and update position X；Dotted arrow illustrates the road planned originally
Diameter is by starting point A to target point B, but encounters in flight course barrier (with the signal of grey square in figure), the barrier
It may be burst barrier, there is no showing in map, then use unmanned plane avoidance measure avoiding barrier at this time, hide barrier
It is repositioned when hindering object, obtains update position X, be based on X and target point B again at this time, global path is adjusted, so as to
In accurately achieving target point B.
In the above method of the present embodiment, unmanned plane according to the environmental information of acquisition, plans global path, then exists first
Local avoidance path can be generated, and then based on part according to the obstacle information and global path of acquisition in flight course
Avoidance path adjusts global path, until reaching target point.This unmanned plane autonomous flight mode can be by global path planning
It is combined with local avoidance, global path is adjusted accordingly according to obstacle information in flight course, so as to more accurate
Arrive at, preferably improve the reliability of unmanned plane autonomous flight.
When specifically executing step S106, reference can be made to a kind of generation method flow chart in local avoidance path shown in Fig. 3,
Include the following steps：
Step S302 is based on global context information and obstacle information, determines barrier office residing in global path
Portion region；It can specifically set with barrier at a distance of the region of the preset range part residing in global path as barrier
Region, such as be set as within the scope of 100 meters of barrier surrounding.
Step S304 determines the corresponding local environmental information of regional area according to three-dimensional map.Specific can also be to utilize
GPS positions barrier local environmental information of location and regional area in global path in three-dimensional map.
Step S306 is based on local environmental information and global context information, generates local avoidance path.
Aforesaid way can be such that local avoidance is combined with global context, also comprehensively in view of the overall situation on the basis of avoidance
Path improves the reliability of unmanned plane autonomous flight in order to can also accurately and reliably be arrived at after avoidance.
Embodiment two：
For the unmanned plane autonomous flight method provided in embodiment one, an embodiment of the present invention provides one kind to be set to
The unmanned plane autonomous flight device of unmanned pusher side, a kind of structure diagram of unmanned plane autonomous flight device shown in Figure 4, packet
It includes：
Global motion planning module 402 plans global path for the environmental information according to acquisition；
Complaint message acquisition module 404, for obtaining obstacle information in flight course；
Local obstacle avoidance module 406, for according to obstacle information and global path, generating local avoidance path；
Module 408 is adjusted, for adjusting global path based on local avoidance path, until reaching target point.
Above-mentioned unmanned plane autonomous flight device provided in an embodiment of the present invention, unmanned plane are believed according to the environment of acquisition first
Breath plans global path, then can generate part according to the obstacle information and global path of acquisition in flight course
Avoidance path, and then global path is adjusted based on local avoidance path, until reaching target point.This unmanned plane autonomous flight side
Global path planning can be combined by formula with local avoidance, be adjusted accordingly entirely according to obstacle information in flight course
Office path preferably improves the reliability of unmanned plane autonomous flight more accurately to arrive at.
The technique effect of the device that the present embodiment is provided, realization principle and generation is identical with previous embodiment, for letter
It describes, device embodiment part does not refer to place, can refer to corresponding contents in preceding method embodiment.
Embodiment three：
Present embodiments provide a kind of unmanned plane, including processor, memory and ranging obstacle avoidance system；Memory and ranging
Obstacle avoidance system is connected with processor；
Ranging obstacle avoidance system barrier for identification；
Memory is used to store the program for supporting that processor executes the unmanned plane autonomous flight method that embodiment one provides, place
Reason device is configurable for executing the program stored in memory.
In a particular application, ranging obstacle avoidance system includes binocular vision sensor, millimetre-wave radar sensor and ultrasonic wave
It is a variety of in radar sensor.
A kind of structural schematic diagram of ranging obstacle avoidance system shown in Figure 5 includes binocular in the ranging obstacle avoidance system
Visual sensor and millimetre-wave radar sensor, unmanned plane are hindered during autonomous flight by the ranging obstacle avoidance system
Physical prospecting is hindered to be surveyed, it can be using binocular vision sensor as main detector, using millimetre-wave radar sensor as auxiliary in practical application
Help detector, millimetre-wave radar sensor that binocular can be assisted to carry out barrier in the case of glass, minute surface, pure color target
Judge.
It is apparent to those skilled in the art that for convenience and simplicity of description, foregoing description nobody
Machine specific work process can refer to the corresponding process in previous embodiment, and details are not described herein.
Fig. 6 is a kind of structural schematic diagram of unmanned plane provided in an embodiment of the present invention, including：Processor 60, memory 61,
Bus 62 and communication interface 63, processor 60, communication interface 63 and memory 61 are connected by bus 62；Processor 60 is for holding
The executable module stored in line storage 61, such as computer program.
Wherein, memory 61 may include high-speed random access memory (RAM, Random Access Memory),
May further include non-labile memory (non-volatile memory), for example, at least a magnetic disk storage.By extremely
A few communication interface 63 (can be wired or wireless connection) is realized between the system network element and at least one other network element
Communication connection, can use internet, wide area network, local network, Metropolitan Area Network (MAN) etc..
Bus 62 can be isa bus, pci bus or eisa bus etc..It is total that bus can be divided into address bus, data
Line, controlling bus etc..For ease of indicating, only indicated with a four-headed arrow in Fig. 6, it is not intended that an only bus or one
The bus of type.
Wherein, memory 61 is for storing program, and processor 60 executes the above method after receiving and executing instruction, preceding
It states the method performed by the device that the stream process that any embodiment of the embodiment of the present invention discloses defines and can be applied to processor 60
In, or realized by processor 60.
Processor 60 may be a kind of IC chip, the processing capacity with signal.During realization, above-mentioned side
Each step of method can be completed by the integrated logic circuit of the hardware in processor 60 or the instruction of software form.Above-mentioned
Processor 60 can be general processor, including central processing unit (Central Processing Unit, abbreviation CPU), network
Processor (Network Processor, abbreviation NP) etc.；It can also be digital signal processor (Digital Signal
Processing, abbreviation DSP), application-specific integrated circuit (Application Specific Integrated Circuit, referred to as
ASIC), ready-made programmable gate array (Field-Programmable Gate Array, abbreviation FPGA) or other are programmable
Logical device, discrete gate or transistor logic, discrete hardware components.It may be implemented or execute in the embodiment of the present invention
Disclosed each method, step and logic diagram.General processor can be microprocessor or the processor can also be to appoint
What conventional processor etc..The step of method in conjunction with disclosed in the embodiment of the present invention, can be embodied directly in hardware decoding processing
Device executes completion, or in decoding processor hardware and software module combination execute completion.Software module can be located at
Machine memory, flash memory, read-only memory, programmable read only memory or electrically erasable programmable memory, register etc. are originally
In the storage medium of field maturation.The storage medium is located at memory 61, and processor 60 reads the information in memory 61, in conjunction with
Its hardware completes the step of above method.
It is apparent to those skilled in the art that the above is only the simple processor, memory, total of showing
Line and communication interface, the unmanned plane of foregoing description should further include multiple sensors, flight driving device etc. it is conventional nobody
Machine component, details are not described herein.
The computer program product of unmanned plane autonomous flight method, apparatus and unmanned plane that the embodiment of the present invention is provided,
Computer readable storage medium including storing program code, the instruction that said program code includes can be used for executing front side
Method described in method embodiment, specific implementation can be found in embodiment of the method, and details are not described herein.
In addition, in the description of the embodiment of the present invention unless specifically defined or limited otherwise, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
Can also be electrical connection to be mechanical connection；It can be directly connected, can also indirectly connected through an intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be expressed in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic disc or CD.
Finally it should be noted that：Embodiment described above, only specific implementation mode of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, it will be understood by those of ordinary skill in the art that：Any one skilled in the art
In the technical scope disclosed by the present invention, it can still modify to the technical solution recorded in previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention, should all cover the protection in the present invention
Within the scope of.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of unmanned plane autonomous flight method, which is characterized in that the method is executed by unmanned plane, including：
According to the environmental information of acquisition, global path is planned；
Obstacle information is obtained in flight course；
According to the obstacle information and the global path, local avoidance path is generated；
The global path is adjusted based on the local avoidance path, until reaching target point.
2. according to the method described in claim 1, it is characterized in that, the obtaining step of the environmental information includes：
Detect the starting point and starting flying height of the unmanned plane；
Receive the target point of the unmanned plane input by user；
The global context information between the starting point and the target point is determined by preset three-dimensional map.
3. according to the method described in claim 2, it is characterized in that, the starting point of the detection unmanned plane and starting are flown
The step of height, including：
Starting point coordinate is positioned by GPS sensor；
The starting flying height of the unmanned plane is determined by height sensor.
4. according to the method described in claim 2, it is characterized in that, the environmental information according to acquisition, plans global path
The step of, including：
According between the starting point of the unmanned plane, starting flying height, target point and the starting point and the target point
Global context information, plan the starting point to the target point global path.
5. according to the method described in claim 1, it is characterized in that, the step for obtaining obstacle information in flight course
Suddenly, including：
In flight course, by the ranging obstacle avoidance system cognitive disorders object of the unmanned plane, and dyspoiesis object information.
6. according to the method described in claim 2, it is characterized in that, described according to the obstacle information and the global road
The step of diameter, generation part avoidance path, including：
Based on the global context information and the obstacle information, barrier part residing in the global path is determined
Region；
The corresponding local environmental information of the regional area is determined according to the three-dimensional map；
Based on the local environmental information and the global context information, local avoidance path is generated.
7. according to the method described in claim 1, it is characterized in that, described adjust the overall situation based on the local avoidance path
The step of path, including：
When according to the local avoidance path avoiding barrier, is repositioned, obtain the update position of the unmanned plane；
The global path is adjusted according to the update position and the target point.
8. a kind of unmanned plane autonomous flight device, which is characterized in that described device is set to unmanned pusher side, including：
Global motion planning module plans global path for the environmental information according to acquisition；
Complaint message acquisition module, for obtaining obstacle information in flight course；
Local obstacle avoidance module, for according to the obstacle information and the global path, generating local avoidance path；
Module is adjusted, for adjusting the global path based on the local avoidance path, until reaching target point.
9. a kind of unmanned plane, including processor, memory and ranging obstacle avoidance system；
Ranging obstacle avoidance system barrier for identification；
The memory is used to store the program for supporting that the processor perform claim requires any one of 1 to 7 the method, described
Processor is configurable for executing the program stored in the memory.
10. unmanned plane according to claim 9, which is characterized in that the ranging obstacle avoidance system includes binocular vision sensing
It is a variety of in device, millimetre-wave radar sensor and ultrasonic radar sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810143891.4A CN108594843A (en) | 2018-02-09 | 2018-02-09 | Unmanned plane autonomous flight method, apparatus and unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810143891.4A CN108594843A (en) | 2018-02-09 | 2018-02-09 | Unmanned plane autonomous flight method, apparatus and unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108594843A true CN108594843A (en) | 2018-09-28 |
Family
ID=63608815
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810143891.4A Withdrawn CN108594843A (en) | 2018-02-09 | 2018-02-09 | Unmanned plane autonomous flight method, apparatus and unmanned plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108594843A (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109582032A (en) * | 2018-10-11 | 2019-04-05 | 天津大学 | Quick Real Time Obstacle Avoiding routing resource of the multi-rotor unmanned aerial vehicle under complex environment |
| CN109634304A (en) * | 2018-12-13 | 2019-04-16 | 中国科学院自动化研究所南京人工智能芯片创新研究院 | Unmanned plane during flying paths planning method, device and storage medium |
| CN110320933A (en) * | 2019-07-29 | 2019-10-11 | 南京航空航天大学 | Unmanned plane avoidance motion planning method under a kind of cruise task |
| CN110362117A (en) * | 2019-08-19 | 2019-10-22 | 广东电网有限责任公司 | A kind of unmanned plane paths planning method, equipment, unmanned aerial vehicle (UAV) control device and storage medium |
| CN110413007A (en) * | 2019-08-30 | 2019-11-05 | 中国科学技术大学 | Control method, system, electronic equipment and the medium in unmanned plane during flying path |
| CN110568862A (en) * | 2019-09-29 | 2019-12-13 | 苏州浪潮智能科技有限公司 | Unmanned aerial vehicle flight path planning method and device and related equipment |
| CN111102984A (en) * | 2020-01-21 | 2020-05-05 | 中南民族大学 | Visualized mountain road navigation method, device, equipment and storage medium |
| CN111752275A (en) * | 2020-06-19 | 2020-10-09 | 五邑大学 | Automatic cruise method and device for robot and storage medium |
| CN111880532A (en) * | 2020-07-13 | 2020-11-03 | 珠海格力电器股份有限公司 | Autonomous mobile device, method, apparatus, device, and storage medium thereof |
| WO2021078164A1 (en) * | 2019-10-21 | 2021-04-29 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle and flight trajectory generation method therefor, and computer readable storage medium |
| CN112748740A (en) * | 2020-12-25 | 2021-05-04 | 深圳供电局有限公司 | Multi-rotor unmanned aerial vehicle automatic route planning method and system, equipment and medium thereof |
| WO2021088681A1 (en) * | 2019-11-08 | 2021-05-14 | 深圳市道通智能航空技术股份有限公司 | Long-distance flight-tracking method and device for unmanned aerial vehicle, apparatus, and storage medium |
| CN112859842A (en) * | 2020-12-31 | 2021-05-28 | 中山大学 | Path following navigation method and system thereof |
| CN113612920A (en) * | 2021-06-23 | 2021-11-05 | 广西电网有限责任公司电力科学研究院 | Method and device for shooting power equipment image by unmanned aerial vehicle |
| CN113741507A (en) * | 2020-05-29 | 2021-12-03 | 广州极飞科技股份有限公司 | Global path trajectory planning method and device for unmanned aerial vehicle, unmanned aerial vehicle and equipment |
-
2018
- 2018-02-09 CN CN201810143891.4A patent/CN108594843A/en not_active Withdrawn
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109582032A (en) * | 2018-10-11 | 2019-04-05 | 天津大学 | Quick Real Time Obstacle Avoiding routing resource of the multi-rotor unmanned aerial vehicle under complex environment |
| CN109582032B (en) * | 2018-10-11 | 2021-10-12 | 天津大学 | Multi-rotor unmanned aerial vehicle rapid real-time obstacle avoidance path selection method in complex environment |
| CN109634304A (en) * | 2018-12-13 | 2019-04-16 | 中国科学院自动化研究所南京人工智能芯片创新研究院 | Unmanned plane during flying paths planning method, device and storage medium |
| CN109634304B (en) * | 2018-12-13 | 2022-07-15 | 中国科学院自动化研究所南京人工智能芯片创新研究院 | Unmanned aerial vehicle flight path planning method and device and storage medium |
| CN110320933A (en) * | 2019-07-29 | 2019-10-11 | 南京航空航天大学 | Unmanned plane avoidance motion planning method under a kind of cruise task |
| CN110320933B (en) * | 2019-07-29 | 2021-08-10 | 南京航空航天大学 | Unmanned aerial vehicle obstacle avoidance movement planning method under cruise task |
| CN110362117A (en) * | 2019-08-19 | 2019-10-22 | 广东电网有限责任公司 | A kind of unmanned plane paths planning method, equipment, unmanned aerial vehicle (UAV) control device and storage medium |
| CN110413007A (en) * | 2019-08-30 | 2019-11-05 | 中国科学技术大学 | Control method, system, electronic equipment and the medium in unmanned plane during flying path |
| CN110413007B (en) * | 2019-08-30 | 2022-04-19 | 中国科学技术大学 | Control method and system for flight path of unmanned aerial vehicle, electronic device and medium |
| CN110568862A (en) * | 2019-09-29 | 2019-12-13 | 苏州浪潮智能科技有限公司 | Unmanned aerial vehicle flight path planning method and device and related equipment |
| WO2021078164A1 (en) * | 2019-10-21 | 2021-04-29 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle and flight trajectory generation method therefor, and computer readable storage medium |
| WO2021088681A1 (en) * | 2019-11-08 | 2021-05-14 | 深圳市道通智能航空技术股份有限公司 | Long-distance flight-tracking method and device for unmanned aerial vehicle, apparatus, and storage medium |
| CN111102984A (en) * | 2020-01-21 | 2020-05-05 | 中南民族大学 | Visualized mountain road navigation method, device, equipment and storage medium |
| CN113741507A (en) * | 2020-05-29 | 2021-12-03 | 广州极飞科技股份有限公司 | Global path trajectory planning method and device for unmanned aerial vehicle, unmanned aerial vehicle and equipment |
| CN111752275A (en) * | 2020-06-19 | 2020-10-09 | 五邑大学 | Automatic cruise method and device for robot and storage medium |
| CN111880532A (en) * | 2020-07-13 | 2020-11-03 | 珠海格力电器股份有限公司 | Autonomous mobile device, method, apparatus, device, and storage medium thereof |
| CN111880532B (en) * | 2020-07-13 | 2022-03-18 | 珠海格力电器股份有限公司 | Autonomous mobile device, method, apparatus, device, and storage medium thereof |
| CN112748740A (en) * | 2020-12-25 | 2021-05-04 | 深圳供电局有限公司 | Multi-rotor unmanned aerial vehicle automatic route planning method and system, equipment and medium thereof |
| CN112859842B (en) * | 2020-12-31 | 2022-06-14 | 中山大学 | Path following navigation method and system thereof |
| CN112859842A (en) * | 2020-12-31 | 2021-05-28 | 中山大学 | Path following navigation method and system thereof |
| CN113612920A (en) * | 2021-06-23 | 2021-11-05 | 广西电网有限责任公司电力科学研究院 | Method and device for shooting power equipment image by unmanned aerial vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108594843A (en) | Unmanned plane autonomous flight method, apparatus and unmanned plane | |
| CN109588060B (en) | Method for controlling a sensor and corresponding device, vehicle, system and computer-readable storage medium | |
| CN106461402B (en) | For determining the method and system of the position relative to numerical map | |
| US10309797B2 (en) | User interface for displaying navigation information in a small display | |
| JP7283005B2 (en) | Point cloud data processing method and point cloud data processing device | |
| KR20180050823A (en) | Generating method and apparatus of 3d lane model | |
| CN109429518A (en) | Automatic Pilot traffic forecast based on map image | |
| CN108362295A (en) | Vehicle route guides device and method | |
| CN110795819A (en) | Method and device for generating automatic driving simulation scene and storage medium | |
| JP2016149132A (en) | System and method for prediction in driver assist system of vehicle | |
| CN110019580A (en) | Map-indication method, device, storage medium and terminal | |
| CN112506225B (en) | Unmanned aerial vehicle obstacle avoidance method and device, unmanned aerial vehicle and storage medium | |
| CN109541535A (en) | A method of AGV indoor positioning and navigation based on UWB and vision SLAM | |
| EP2769181A1 (en) | Reimaging based on depthmap information | |
| CN111324945B (en) | Sensor scheme determining method, device, equipment and storage medium | |
| EP3573013A1 (en) | Method and device for constructing traffic route on basis of longitude/latitude lines and performing map search | |
| CN113570664B (en) | Augmented reality navigation display method and device, electronic equipment and computer medium | |
| US11656090B2 (en) | Method and system for generating navigation data for a geographical location | |
| CN110608746B (en) | Method and device for determining the position of a motor vehicle | |
| JP2016149090A (en) | Autonomous mobile device, autonomous mobile system, autonomous mobile method and program | |
| CN105387857A (en) | Navigation method and device | |
| CN110033497A (en) | Region labeling method, apparatus, electronic equipment and computer readable storage medium | |
| CN113358110B (en) | Method and device for constructing robot obstacle map, robot and storage medium | |
| US20210190529A1 (en) | Adaptive, imitative navigational assistance | |
| CN111240322B (en) | Method for determining working starting point of robot movement limiting frame and motion control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180928 |
|
| WW01 | Invention patent application withdrawn after publication |