CN110209202A - A kind of feas ible space generation method, device, aircraft and aerocraft system - Google Patents
A kind of feas ible space generation method, device, aircraft and aerocraft system Download PDFInfo
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- CN110209202A CN110209202A CN201910559302.5A CN201910559302A CN110209202A CN 110209202 A CN110209202 A CN 110209202A CN 201910559302 A CN201910559302 A CN 201910559302A CN 110209202 A CN110209202 A CN 110209202A
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- 238000005457 optimization Methods 0.000 claims description 11
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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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- 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
- G05D1/12—Target-seeking control
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Abstract
The present embodiments relate to path planning fields, disclose a kind of feas ible space generation method, device, aircraft and aerocraft system, this method generates initial path by obtaining spatial parameter in real time, path point on initial path is extended, it generates and optimizes bounding box set, to obtain the feasible in real-time space of aircraft.Aircraft carries out path planning in the feas ible space, can reduce the risk of collision of barrier in aircraft and space, and can be avoided loss tracking target.
Description
Technical field
The present invention relates to path planning field, in particular to a kind of feas ible space generation method, device, aircraft and flight
Device system.
Background technique
The identification and tracking of moving target are used widely in unmanned plane, and current typical practice is to pass through shifting
Dynamic terminal or remote terminal provide the initial position of tracking target, and then aircraft carries out target by respective track algorithm
Tracking.In the aircraft with advanced barrier avoiding function, aircraft need according to tracking target position and state, keep with
Under the premise of track, avoiding obstacles then proceed to track.
In realizing process of the present invention, inventor's discovery is above, and at least there are the following problems in the related technology: existing route
In planning, majority only considered the collision for how avoiding flight path and barrier, usually after tracing into target position, directly
It plans the flight path between aircraft real time position and target position, barrier can be detected when aircraft is close to barrier
Hinder object, aircraft and the barrier risk of collision in space are higher.And usually after encountering barrier, need to plan flight again
Path easily causes the problem of target is lost at this time since barrier blocks.
Summary of the invention
In view of the above drawbacks of the prior art, the object of the present invention is to provide a kind of applied to the feasible of flight path planning
Space generation method, device, aircraft and aerocraft system, this method are able to solve the avoidance problem in flight path planning,
It solves the problems, such as that tracking target is easily lost, improves aircraft avoidance success rate.
The purpose of the present invention is what is be achieved through the following technical solutions:
In order to solve the above technical problems, in a first aspect, provide a kind of feas ible space generation method in the embodiment of the present invention,
Include:
Spatial parameter is obtained in real time, wherein the spatial parameter includes real-time target position, aircraft real time position, ring
Condition figure and flight relay point；
Initial path is generated according to the spatial parameter and fast marching algorithms；
Each path point on the initial path is extended, bounding box set is generated；
Optimize the bounding box set, generates feas ible space.
In some embodiments, described to obtain the spatial parameter in real time and include:
Obtain the real-time target position in the spatial parameter in real time by tracking system；
Obtain the aircraft real time position in the spatial parameter in real time by flight control system；
Obtain the environmental map in the spatial parameter in real time by binocular vision system；
Passage path planning system obtains the flight relay point in the spatial parameter in real time.
In some embodiments, described that the initial path is generated according to the spatial parameter and the fast marching algorithms
It specifically includes:
Inquire the map state of each position between the aircraft real time position and the flight relay point；
It is mapped between the aircraft real time position and the flight relay point according to the map state of each position
The travel speed of each position；
The initial path is generated according to the travel speed of each position and the fast marching algorithms.
In some embodiments, the map state includes: the state that occupies, free state and unknown state.
In some embodiments, it is described according to the map state of each position map the aircraft real time position and
The travel speed of each position between the flight relay point, comprising:
When the map state of the flight relay point occupies state or the unknown state for described in, then the row is mapped
It is zero into speed；
When the map state of the flight relay point is the free state, then described fly is obtained by ray casting
Each position between row device real time position and the flight relay point whether there is shelter.
In some embodiments, if described when the map state of the flight relay point is the free state, lead to
It crosses ray casting and obtains each position between the aircraft real time position and the flight relay point with the presence or absence of described
Shelter, comprising:
When in each position there are when the shelter, then by the map state mark of the position where the shelter
It is denoted as the state of occupying, and the travel speed of the position where the shelter is mapped as zero；
When the shelter is not present in each position, then there will be no the map shapes of the position of the shelter
State is labeled as free state, and according to the traveling speed of the fast marching algorithms mapping position that the shelter is not present
Degree.
It in some embodiments, is the position of free state for map status indication, the mapping of the travel speed is public
Formula is
V=min (ex-1,vmax)
Wherein, v is the travel speed, and x is distance of the position away from nearest barrier, vmaxMost for travel speed
Big value.
In some embodiments, the flight relay point is at least one, then,
It is described to generate the initial path, packet according to the travel speed of each position and the fast marching algorithms
It includes:
Obtain the travel speed of each position between the aircraft real time position and first flight relay point；
According to the travel speed of each position, the aircraft real time position and first flight relay point,
The initial path is generated by the fast marching algorithms.
In some embodiments, each path point by the initial path is extended, and generates the encirclement
Box set, comprising:
Each path point on the initial path is extended, to obtain the extending space of each path point；
Each position in the extending space of each path point is obtained according to ray casting with the presence or absence of blocking letter
Breath；
The bounding box set is generated according to the block information of all extending spaces.
In some embodiments, the initial path and the extending space are in the environmental map.
In some embodiments, the optimization bounding box set, comprising:
Traverse the bounding box set；
Check whether the current bounding box in the bounding box set is contained in a certain bounding box；
When the current bounding box is contained in remaining described a certain bounding box, then institute is deleted from the bounding box set
State current bounding box.
In order to solve the above technical problems, second aspect, a kind of feas ible space generating means are provided in the embodiment of the present invention,
Include:
Parameter acquisition module, in real time obtain spatial parameter, wherein the spatial parameter include real-time target position,
Aircraft real time position, environmental map and flight relay point；
Path-generating module, for generating initial path according to the spatial parameter and fast marching algorithms；
Bounding box obtains module, for each path point on the initial path to be extended, generates bounding box collection
It closes；
Gather optimization module, for optimizing the bounding box set, generates feas ible space.
In some embodiments, the parameter acquisition module is used for:
Obtain the real-time target position in the spatial parameter in real time by tracking system；
Obtain the aircraft real time position in the spatial parameter in real time by flight control system；
Obtain the environmental map in the spatial parameter in real time by binocular vision system；
Passage path planning system obtains the flight relay point in the spatial parameter in real time.
In some embodiments, the path-generating module is used for:
Inquire the map state of each position between the aircraft real time position and the flight relay point；
It is mapped between the aircraft real time position and the flight relay point according to the map state of each position
The travel speed of each position；
The initial path is generated according to the travel speed of each position and the fast marching algorithms.
In some embodiments, the map state includes: the state that occupies, free state and unknown state.
In some embodiments, the path-generating module is specifically also used to:
When the map state of the flight relay point occupies state or the unknown state for described in, then the row is mapped
It is zero into speed；
When the map state of the flight relay point is the free state, then described fly is obtained by ray casting
Each position between row device real time position and the flight relay point whether there is shelter.
In some embodiments, the path-generating module is also used to:
When in each position there are when the shelter, then by the map state mark of the position where the shelter
It is denoted as the state of occupying, and the travel speed of the position where the shelter is mapped as zero；
When the shelter is not present in each position, then there will be no the map shapes of the position of the shelter
State is labeled as free state, and according to the traveling speed of the fast marching algorithms mapping position that the shelter is not present
Degree.
It in some embodiments, is the position of free state for map status indication, the mapping of the travel speed is public
Formula is
V=min (ex-1,vmax)
Wherein, v is the travel speed, and x is distance of the position away from nearest barrier, vmaxMost for travel speed
Big value.
In some embodiments, the flight relay point is at least one, then, the path-generating module is also used to:
Obtain the travel speed of each position between the aircraft real time position and first flight relay point；
According to the travel speed of each position, the aircraft real time position and first flight relay point,
The initial path is generated by the fast marching algorithms.
In some embodiments, the bounding box obtains module and is used for:
Each path point on the initial path is extended, to obtain the extending space of each path point；
Each position in the extending space of each path point is obtained according to ray casting with the presence or absence of blocking
Block information；
The bounding box set is generated according to the block information of all extending spaces.
In some embodiments, the initial path and the extending space are in the environmental map.
In some embodiments, the set optimization module is used for:
Traverse the bounding box set；
Check whether the current bounding box in the bounding box set is contained in a certain bounding box；
When the current bounding box is contained in remaining described a certain bounding box, then institute is deleted from the bounding box set
State current bounding box.
In order to solve the above technical problems, the third aspect, a kind of aircraft is provided in the embodiment of the present invention, comprising: fuselage,
The horn being connected with the fuselage, the power device being arranged on the horn；And
Flight controller, the flight controller can generate flight path, and send control instruction, described dynamic to control
The controller that power device flies according to the flight path；Wherein, the flight controller is used to generate the flight path
Before, execute the feas ible space generation method as described in above-mentioned first aspect.
In order to solve the above technical problems, fourth aspect, a kind of aerocraft system is provided in the embodiment of the present invention, comprising:
Remote control equipment and aircraft as described above, the aircraft and the remote control equipment communicate to connect, and the remote control equipment is used
In transmission target initial position to the aircraft.
In order to solve the above technical problems, the 5th aspect, described the embodiment of the invention provides a kind of computer program product
Computer program product includes the computer program being stored on non-volatile computer readable storage medium storing program for executing, the computer journey
Sequence includes program instruction, when described program instruction is computer-executed, executes the computer such as above-mentioned first aspect institute
The feas ible space generation method stated.
In order to solve the above technical problems, the 6th aspect, the embodiment of the invention provides a kind of non-volatile computer is readable
Storage medium, the computer-readable recording medium storage have computer executable instructions, and the computer executable instructions are used
In making computer execute feas ible space generation method as described in above-mentioned first aspect.
A kind of feas ible space generation method is provided in the embodiment of the present invention；This method is raw by obtaining spatial parameter in real time
At initial path, the path point on initial path is extended, generate and optimizes bounding box set, to obtain aircraft
Feasible in real-time space.The embodiment of the present invention is expanded initial path by setting initial path preliminary before flight path planning
The bounding box set comprising obstacle information is generated after exhibition, to generate the feas ible space of aircraft, aircraft is in the feasible sky
Interior carry out path planning, can reduce the risk of collision of barrier in aircraft and space, and can be avoided loss tracking mesh
Mark.
Detailed description of the invention
It is illustrated in one or more embodiments by the picture in corresponding attached drawing, these are exemplary
Illustrate not constitute the restriction to embodiment, the element/module and step in attached drawing with same reference numbers label are expressed as
Similar element/module and step, unless there are special statement, composition does not limit the figure in attached drawing.
Fig. 1 is the schematic diagram of one of application environment of feas ible space generation method provided in an embodiment of the present invention；
Fig. 2 is the concrete structure diagram of aircraft in Fig. 1；
Fig. 3 is a kind of flow chart of feas ible space generation method provided in an embodiment of the present invention；
Fig. 4 is the flow chart of step 120 in Fig. 3；
Fig. 5 is the flow chart of step 122 in Fig. 4；
Fig. 6 is the flow chart of step 123 in Fig. 4；
Fig. 7 is the flow chart of step 130 in Fig. 3；
Fig. 8 is the flow chart of step 140 in Fig. 3；
Fig. 9 is a kind of structural schematic diagram of feas ible space generating means provided in an embodiment of the present invention；
Figure 10 is a kind of structural schematic diagram of aircraft provided in an embodiment of the present invention；
Figure 11 is a kind of structural schematic diagram of aerocraft system provided in an embodiment of the present invention.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
It is with reference to the accompanying drawings and embodiments, right in order to which the objects, technical solutions and advantages of the application are more clearly understood
The application is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the application, not
For limiting the application.
It should be noted that each feature in the embodiment of the present invention can be combined with each other, in this Shen if do not conflicted
Within protection scope please.In addition, though having carried out functional module division in device/structural schematic diagram, show in flow charts
Go out logical order, but in some cases, it can be in the module division being different from device/structure or flow chart
Sequence executes shown or described step.
Unless otherwise defined, technical and scientific term all used in this specification is led with technology of the invention is belonged to
The normally understood meaning of the technical staff in domain is identical.Used term is only in the description of the invention in this specification
The purpose of description specific embodiment is not intended to the limitation present invention.Term "and/or" used in this specification includes
Any and all combinations of one or more related listed items.
In addition, as long as technical characteristic involved in the various embodiments of the present invention described below is each other not
Constituting conflict can be combined with each other.
Fig. 1 is the schematic diagram of one of application environment of feas ible space generation method provided in an embodiment of the present invention, Fig. 2
For the concrete structure diagram of aircraft 10 in Fig. 1.Feas ible space generation method of the invention can be applied to a kind of aerocraft system.
Wherein, which includes: aircraft 10 and remote controler 20, and aircraft 10 and remote controler 20 communicate to connect.The aircraft
10 include fuselage 11, the horn 12 being connected with the fuselage 11, the power device 13 for being set to the horn 12, are connected to the machine
(figure is not for the holder 14 of 11 bottom of body, the camera 15 being mounted on holder 14 and the flight controller being set in fuselage 11
Show).
Remote controler 20 and aircraft 10 can be by wired or wireless connections, for example, module foundation is logical by wireless communication
Letter, to realize the data interaction of remote controler 20 Yu aircraft 10.Specifically, the flight controller in remote controler 20 and aircraft 10
It is communicatively coupled, to realize the data interaction of remote controler 20 Yu flight controller.
Wherein, which can be any suitable remote control device.Remote controler 20 is by ground (warship) face or flat in the air
Remote control unit on platform controls aircraft 10 to flight controller by sending control instruction.The remote controler 20 is for carrying out
Data, information or the transfer of instruction.For example, remote controler 20 receives the data that aircraft 10 is sent or information (such as described shooting dress
Set captured image information) after, the data or information can be sent to display equipment, it is winged to show on the display device
The flight information of row device 10, and, image information captured by aircraft 10 is rendered or shown.
Power device 13 is connect with flight controller, to realize that the data between power device 13 and flight controller are handed over
Mutually.For example, flight controller sends flight directive to power device 13, power device 13 obtains the speed and direction instruction of flight
And execute, and will execute flight directive after generated data information be sent to flight controller, so as to flight controller detection
Current flight situation.
Holder 14 is connect with flight controller, to realize the data interaction between holder 14 and flight controller.For example, flying
Line control unit sends yaw instruction to holder 14, and holder 14 obtains the speed of yaw and direction instructs and executes, and will execute inclined
Generated data information is sent to flight controller after boat instruction, so that flight controller detects current yaw situation.
Camera 15 is connect with flight controller, which can be communication connection, to realize that camera 15 and flight are controlled
Data interaction between device processed.For example, acquired image data are sent to flight for acquiring image data by camera 15
Controller, so that flight controller handles the image data received.
Flight controller is the executing subject that feas ible space generation method is executed in the embodiment of the present invention, and flight controller can
Think any suitable chip of feas ible space generation method for being able to achieve the present invention and executing, as microprocessor, micro-control unit,
Single-chip microcontroller, controller etc..Specifically, which can at least obtain data and instruction, processing data and instruction, hair
The chip or device with computing function for sending data and instruction, can be configured according to actual needs.Specifically, the flight
Controller can generate flight path, and send control instruction, be flown with controlling the power device 13 according to the flight path
Capable controller；Wherein, the flight controller is used for before generating the flight path, is executed provided in an embodiment of the present invention
Feas ible space generation method.
Aircraft 10 is used as a kind of flight carrier, is mainly used for completing appointed task, designated place of such as flying to by flight
Aerial mission etc..When aircraft 10 take photo by plane to target following, generally for the needs of 10 planning path of aircraft, need
The spatial parameter of 10 surrounding certain space of aircraft is acquired, which includes, but is not limited to: the reality of tracking target
When target position, aircraft real time position, environmental map, track target real-time target position and aircraft real time position between
Flight relay point specific location.
In order to obtain above-mentioned spatial parameter, firstly, it is necessary to flight controller control holder 14 and camera shooting in aircraft 10
First 15 real-time tracking shooting obtains real-time target position, allows users to observe in real time in remote controler 20, avoids aircraft
10 and user lose tracking target.Secondly, the flight controller in aircraft 10 is needed to control control holder 14 and camera 15
Obtain the environmental map around aircraft 10.Finally, need the flight controller in aircraft 10 with setting on holder 14, or
Person is arranged in the one or more in 10 other structures of aircraft and connects for 10 aspect sensor of sense aircraft, obtains flight
Device real time position, so as to timely update track between the real-time target position of target and aircraft real time position it is opposite away from
From, and then be computed analysis and obtain the flight relay point between the real-time target position and aircraft real time position of tracking target.
For example, the user controllable hovering of aircraft processed 10 is in the sky, and pass through control holder 14 and the rotation acquisition of camera 15
10 surrounding image of aircraft, image of the user in remote controler 20 around real-time observation flight device 10, when finding target, distant
It controls selected target on device 20 and is sent to aircraft 10, aircraft 10 adjusts the angle of holder 14 and camera 15, so that camera shooting
First 15 shooting center is aligned in real time and tracks target.The flight controller of aircraft 10 passes through six axis being arranged on holder 14
Sensor obtains the Eulerian angles (course angle, pitch angle and roll angle) of current flight device 10, and by being arranged on camera 15
Infrared sensor obtain aircraft 10 and track the linear distance of target, flight controller obtains the reality of target after being computed again
When target position.Wherein, the tracking target can be the target that can be moved, and be also possible to static target.Secondly, aircraft
10 again by obtaining the environment on aircraft 10 periphery after camera 15 and the infrared sensor being arranged on aircraft 10 scanning
Figure, and the position sensor by being arranged on aircraft 10 obtains the real time position of current flight device 10.Finally, aircraft 10
Flight controller combination aircraft 10 real time position, track target real-time target position and environmental map analyze to obtain one
A flight relay point or multiple flight relay points.
Based on this, in embodiments of the present invention, flight controller and 20 communication connection of remote controler in aircraft 10, power
Device 13, holder 14 and camera 15 respectively with flight controller communication connection.Firstly, the flight controller in aircraft 10 obtains
Current flight device real time position is taken, and ambient enviroment map is obtained by camera 15.The environmental map is also possible in advance
The actual environmental map importeding into aircraft 10, such as the part map in the figure of mountain range, aircraft 10 get aircraft
After real time position, the specific left side of the current location in actual environment map is judged, extract the environment on 10 periphery of aircraft
Figure.Then, aircraft 10 obtains target image and its feature from remote controler 20, aircraft 10 according to the target image and
Its feature capture target and the real-time target position for tracking target.Finally, aircraft is according to above-mentioned aircraft real time position, reality
When target position and environmental map one or more flight relay points are set.
In addition, aircraft 10 can also by the image taken or video by flight controller be sent to remote controler 20 or
Mobile terminal that person connect with remote controler 20 etc. shows equipment, and user is after observing image or video, if to that can not observe
Target can send the instruction in the adjustment aircraft visual field to aircraft 10, and aircraft 10 re-shoots to obtain newly after adjusting the visual field
Image or video.
With continued reference to FIG. 2, separately below to aircraft 10, fuselage 11, power device 13, holder 14 and camera 15 into
Row specifically describes.
Wherein, above-mentioned aircraft 10 can be any kind of flight equipment.For example, unmanned plane (Unmanned Aerial
Vehicle, UAV), unmanned boat or other movable fixtures etc..The following description of this invention uses unmanned plane as flight
The example of device.For it will be apparent to those skilled in art that other kinds of flight can be used without restriction
Device.The aircraft 10 needs are that above-mentioned power device 13 is this kind of can be controlled heading and flying speed, hold with being similar to
The device in row flight program path, the aircraft 10 also need be be similar to above-mentioned holder 14 it is this kind of can control yaw,
Obtain the device of 10 azimuth information of aircraft.Wherein, unmanned plane is manipulated by remote control equipment or self-contained program's control device, and band is appointed
The not man-carrying aircraft for load of being engaged in.The unmanned plane can be various types of unmanned planes, for example, unmanned plane can be small-sized nothing
It is man-machine.In certain embodiments, unmanned plane can be rotor craft (rotorcraft), for example, being led to by multiple pushing meanss
Air-driven multi-rotor aerocraft is crossed, the embodiment of the present invention is not limited to this, and unmanned plane is also possible to other types of nothing
Man-machine or movable fixture, such as fixed-wing unmanned plane, unmanned airship, umbrella wing unmanned plane, flapping wing unmanned plane.In some implementations
In example, aircraft 10 can be around one or more rotary shaft rotations.For example, above-mentioned rotary shaft may include roll axis, translation
Axis and pitch axis.
One or more horns that the fuselage 11 may include centre frame and connect with centre frame, one or more machines
Arm radially extends from centre frame.In embodiments of the present invention, the quantity of the horn is 4, and one end of each horn connects
It is connected to centre frame, power device 13 is provided on the other end, 11 bottom of fuselage is equipped with holder 14, is equipped with and takes the photograph on holder 14
As head 15.In other some embodiments, the quantity of horn can be 2,4,6 etc..That is, the quantity of horn exists
This is unrestricted.
The power device 13 is the power device of the aircraft 10, is installed on the horn of fuselage 11, on a horn
Multiple power devices 13, power has also can be set in other instances in usually one power device 13 of setting on a horn
The speed that device 13 is flown by the electron speed regulator control being arranged on horn or propeller, one or more propellers are opposite
The needs answered are provided with one or more motors to drive its rotation, and motor should be arranged in electron speed regulator and propeller it
Between.Wherein, it can be brushless motor for controlling the motor of the movement of power device 13, it can also be with brush motor.It is one or
Multiple power devices 13 provide power for the flight of the aircraft 10, which makes the aircraft 10 can be realized one or more
The movement of a freedom degree, such as move forward and backward, move up and down.The quantity of the power device 13 is herein also with no restriction.In addition,
In aircraft 10 shown in Fig. 2, the power device 13 is specially four propellers, is separately positioned on four horns 12.?
In other some embodiments, the quantity of 13/ propeller of power device can be 2,4,6 etc..That is, described
The quantity of 13/ propeller of power device is unrestricted herein.
The holder 14 be it is a kind of shooting additionally arrange it is standby, for carrying video camera 14.Motor is also equipped on holder 14, and (figure is not
Show), flight controller can control holder 14 by motor (not shown), specifically, passing through the fortune of control motor (not shown)
Dynamic (such as revolving speed), to adjust the angle for the image that aircraft 10 is shot.Holder 14 is additionally provided with six axle sensor (not shown), energy
Enough obtain the Eulerian angles (course angle, pitch angle and roll angle) of current flight device 10.Holder 14 can be located at the top of fuselage 11,
The bottom of fuselage 11 can also be located at.In addition, in embodiments of the present invention, holder 14 is a part that aircraft 10 is arranged in.
The camera 15 can be the device that camera, shooting mobile phone, video recorder or video camera etc. are used to acquire image,
Camera 15 can be communicated with flight controller, and be shot under the control of flight controller.For example, flight controller control
Camera 15 processed shoots the filming frequency of image, namely interior shooting how many times per unit time；Alternatively, flight controller passes through cloud
Platform 14 controls camera 15 and shoots the angle of image, the focus for shooting image etc..It also needs to be provided with infrared biography on camera 15
Sensor etc. can measure the sensor of distance, the distance for measuring target to aircraft 10.If also, camera 15 can be
Dry, such as 1,2,34.Several image pickup heads 15 can be identical image capture device, or no
Identical image capture device, to meet the needs of different.For example, by taking comprehensive avoidance of aircraft 10 as an example, aircraft 10
Propulsion and the judgement of downward landing distance be typically the most important, therefore, front view lens and lower visor head use resolution ratio
Higher camera lens, such as the camera lens of 720P, backsight camera lens, upper visor head, left view camera lens, right visor head are relatively low using resolution ratio
Camera lens, such as VGA camera lens.
In addition, being also provided with sensor-based system on fuselage 11, sensor-based system is connected to flight controller, the sensing system
Unite position and status information etc. for measuring 10 all parts of aircraft, as three-dimensional position, three-dimensional perspective, three-dimensional velocity,
Three-dimensional acceleration and three-dimensional angular velocity, flying height etc..For example, sensor-based system reality can be passed through in 10 flight of aircraft
When obtain the current flight information of aircraft, to determine state of flight locating for aircraft in real time.Sensor-based system for example can be with
Including infrared sensor, sonic sensor, gyroscope, electronic compass, Inertial Measurement Unit (Inertial Measurement
Unit, IMU), visual sensor, at least one of sensors such as Global Navigation Satellite System and barometer.For example, the whole world is led
Boat satellite system can be global positioning system (Global Positioning System, GPS).Nothing can be measured by IMU
Attitude parameter in the flight course of man-machine 100' can measure flying for aircraft 10 by infrared sensor or sonic sensor
Row height etc..
Specifically, with reference to the accompanying drawing, the embodiment of the present invention is further elaborated.
Embodiment one
Fig. 3 is a kind of flow diagram of feas ible space generation method provided in an embodiment of the present invention, the feas ible space
Generation method be applied to planning of the aircraft 10 for flight path, to promote the obstacle avoidance ability of aircraft, and can be avoided with
The loss of track target.Wherein, which can be various types of aircraft, for example, the aircraft 10 in Fig. 1 and Fig. 2.
Referring to FIG. 3, the feas ible space generation method includes:
Step 110: obtaining spatial parameter in real time, wherein the spatial parameter includes that real-time target position, aircraft are real-time
Position, environmental map and flight relay point.
In embodiments of the present invention, the spatial parameter included at least under aircraft current flight state with tracking target
Between all parameters relevant to spatial position.The spatial parameter is for obtaining the aircraft current location after being computed
Initial path between target position.The spatial parameter includes but is not limited to: real-time target position, flight real time position,
Environmental map and flight relay point.
Wherein, the real-time target position is the real time position of the aircraft target to be tracked, and can flown by setting
Camera or sensor on row device track target, to obtain the real-time target position.The real-time target position
It sets and can be the absolute position positioned on map, be also possible to the relative position relative to aircraft.The real-time position of flight
It sets and can be the absolute position that aircraft current time positions on map, or be set as coordinate origin.
The flight real time position using the absolute position positioned on map come when indicating, the real-time target position
It is indicated using the absolute position positioned on map.When the flight real time position is set as coordinate origin, the real-time mesh
Cursor position is indicated using the relative position relative to aircraft position (coordinate origin).
The environmental map is the environmental map around aircraft position, and the range of the environmental map includes described
Real-time target position.The environmental map can be a part for prestoring the environmental map of universe in systems, be flown by positioning
Position of the row device in the universe environmental map, thus by the environment in the universe environmental map around aircraft position
Map exports the environmental map as the aircraft.The universe environmental map can be the environmental map of the entire earth,
It can be the environmental map for being currently located country, province, city, street, village etc..The environmental map can also be to be flown by setting
Multiple sensors on row device obtain the various parameters of space environment, the environmental map obtained after modeling.The environmental map can
To be within the scope of certain space comprising owned building and/or air quality and flow velocity and/or other flight equipments and/or water body
Deng one or more environmental parameters with environmental correclation.The environmental map is used to provide the environmental information around aircraft,
So that the aircraft can be extracted for the obstacle information between target.
The flight relay point is the one or more that the aircraft reaches real-time target position from flight real time position
Relay point, the aircraft are set according to barrier of the current flight device at a distance from the real-time target position and on straight line path
Determine quantity and the position of flight relay point.The flight relay point is one or more, and the flight relay point can have can also
Not have, the distance between adjacent described flight relay point can be set to equidistantly be also possible to Unequal distance, specifically, can root
It is configured according to actual needs.
In other some embodiments, the real-time target position, the flight real time position and the environmental map
Obtained according to the actual situation using corresponding carry-on device or system, the position of the flight relay point according to it is described when
The practical selection of target position, the flight real time position and the environmental map is set, the number of the flight relay point
Amount is set at a distance from tracking target according to practical flight device, the acquisition modes of above-mentioned spatial parameter and the aircraft being related to
On structure can be configured according to actual needs, do not need the restriction for sticking to the embodiment of the present invention.
Step 120: initial path is generated according to the spatial parameter and fast marching algorithms.
In embodiments of the present invention, the fast marching algorithms (Fast Marching Method) be it is a kind of it can be considered that
Space any point carries out the paths planning method of path planning in turn with a distance from nearest barrier.The embodiment of the present invention combines
Flight relay point is arranged in real-time target position and environmental parameter in spatial parameter, and then is flown according to fast marching algorithms
Initial path of the device from flight real time position to relay point.Wherein, if the aircraft flight environment is more spacious, environmental map
When the distance of interior flight real time position to real-time target position almost without barrier or aircraft is shorter, and/or it is described
When real-time target is stationary or moving distance is shorter, it can choose and be not provided with flight relay point, at this point, being calculated according to Fast marching
Method obtains aircraft from flight real time position to the initial path of real-time target position.
In other some embodiments, the initial path can choose any flight relay point according to the actual situation and make
For the terminal of the initial path, terminal of the real-time target position as initial path, the initial road can also be directly chosen
Structure, the apparatus and system of aircraft etc. that the selection of diameter beginning and end, the calculating initial path are related to can be according to reality
It needs to be configured, does not need the restriction for sticking to the embodiment of the present invention.
Step 130: each path point on the initial path being extended, bounding box set is generated.
In embodiments of the present invention, when generating initial path by the fast marching algorithms, by the initial path grid
It formats as grid one by one, grid indicates path point one by one, each path point step size on the initial path one by one
It is equal.In embodiments of the present invention, each path point on the initial path is extended, expand on initial path
The identical multiple grid of each path point step size.
Specifically, by each grid (each path point) on the initial path respectively from six towards peripheral expansion,
When encountering barrier, without extension.The barrier can be detected by ray tracing technique.And each path point expands
The distance of the last one lattice spacing of exhibition path point may not exceed safe distance, and the safe distance is one manually set
A value, in safe distance, the flight of aircraft be it is safe, specific value according to the type of different aircrafts change, need root
It is arranged according to experience.The multiple grid and its entrained spatial information after extension constitute the bounding box set.
In other some embodiments, the rasterizing division mode and quantity of the path point on the initial path, institute
The safe distance that each path point on initial path is extended is stated, the detection mode for the barrier that can be encountered when to extension,
The spatial information that the bounding box set needs each grid for including to carry, can be configured according to actual needs, not need
Stick to the restriction of the embodiment of the present invention.
Step 140: optimizing the bounding box set, generate feas ible space.
In embodiments of the present invention, bounding box set is got by extending each path point on the initial path
Afterwards, adjacent or non-conterminous path point can expand the same grid when being extended due to each path point.Therefore, for institute
It states in bounding box set, it, can be to the space of these grid and its carrying if there is identical grid and its spatial information of carrying
Information takes union, to optimize the bounding box set.Finally, the bounding box set after optimization constitutes the feasible of final aircraft
Space.
In other some embodiments, the optimal way of the bounding box set, the representation method of the feas ible space,
The identical grid and its spatial information of carrying take mode of union etc. that can be configured according to actual needs, do not need to adhere rigidly to
In the restriction of the embodiment of the present invention.
A kind of feas ible space generation method is provided in the embodiment of the present invention, in the method, by obtaining space in real time
Parameter generates initial path, is extended to the path point on initial path, generates and optimize bounding box set, so that obtaining can
Row space.The Automatic Target Tracking that row space provided in an embodiment of the present invention generation method can be applied to a variety of flight equipments is appointed
In business or other are needed around sense aircraft in the task of feas ible space.The equipment that the flight equipment can be entity,
Such as unmanned plane, aircraft, fire balloon, aerodone, the flight equipment are also possible to virtual equipment, as in game it is virtual fly
Machine, floating material etc..
The embodiment of the present invention can specifically be applied in the path planning of aircraft, by preliminary before flight path planning
Initial path is set, and generates the bounding box set comprising obstacle information after initial path is extended, to generate aircraft
Feas ible space, aircraft carries out path planning in the feas ible space, can reduce aircraft and touches with barrier in space
Risk is hit, and can be avoided loss tracking target.
In some embodiments, the step 110 specifically includes:
Obtain the real-time target position in the spatial parameter in real time by tracking system；It is real-time by flight control system
Obtain the aircraft real time position in the spatial parameter；It is obtained in the spatial parameter in real time by binocular vision system
The environmental map；Passage path planning system obtains the flight relay point in the spatial parameter in real time.
In embodiments of the present invention, the tracking system, the flight control system, the binocular vision system and the path
Planning system can be made of one or more structures of aircraft, be also possible to by aircraft part-structure and exist with
The device of external environment is constituted, and can also be the software systems being stored in the aircraft storage unit.
For example, the tracking system can be the carry-on holder or camera is incorporated in execution in aircraft
Trace routine realizes the tracking of the real-time target position to tracking target.Specifically, the trace routine can be by getting
Video image, according to general direction of the profile judgement tracking target on the aircraft visual field of tracking target, then by infrared
The equidistant sensor detecting and tracking target of sensor calculates the real-time target position at a distance from aircraft.Alternatively,
The aircraft can also directly scan the characteristic parameter of existing each object around aircraft by radar etc., and matching is wherein
There is the object of same characteristic features parameter with tracking target, then can determine the real-time target position.
The flight control system can be the carry-on all kinds of position sensors and be incorporated in determining for the interior execution of aircraft
Position program, realizes the positioning analysis to aircraft real time position.Specifically, the finder can directly flown by setting
GPS positioning device on row device directly acquires the aircraft real time position.Or the remote control by being connect with aircraft communication
Device sense aircraft real time position.Alternatively, needing to represent the real-time target position in the aircraft real time position
When relative positional relationship, coordinate origin can be set by the aircraft real time position.Or on the contrary, by real-time target position
It installs and is set to coordinate origin.
The binocular vision system can be to be incorporated in by the camera of aircraft, the sensor of all kinds of detection environmental parameters
The environmental modeling program executed in aircraft realizes the Modeling Calculation to the environmental map.Specifically, the environmental modeling journey
Sequence can obtain the information of existing all objects or substance in three-dimensional space around the aircraft by laser radar scanning,
Then the environmental parameter of three-dimensional space is calculated by point cloud algorithm, the environmental map is established according to the environmental parameter
Threedimensional model.The modeling of the environmental map, which can be, establishes two dimensional model, is also possible to establish threedimensional model.Alternatively, described
Environmental modeling program directly transfers the environmental map for being stored in and being currently located environment in aircraft, alternatively, can also by with fly
Row device carries out the remote controler of communication connection or Cloud Server obtains the environmental map for being currently located environment.
The path planning system can be the relay point that executes in aircraft and choose program, realize to it is described in-flight
After the selection of point.Specifically, the relay point is chosen program and is calculated between the real-time target position and aircraft real time position
Linear distance, be greater than certain threshold value in the distance, or detect between the real-time target position and aircraft real time position
Linear distance between there are barrier quantity be more than certain amount threshold value when, in a certain range of straight line path choose flight
Relay point.Conversely, being not provided with flight relay point.The flight relay point can be one, be also possible to multiple.When the flight
When relay point is multiple, the relationship between each flight relay point be can be within the scope of equidistant or certain distance.It is described to fly
Row relay point needs to be selected as the location point of clear.
In other some implementations, the tracking system, the flight control system, the binocular vision system and the road
The specific structure of diameter planning system obtains the real-time target position, the aircraft real time position, the environmental map and institute
Stating programmed algorithm that flight relay point is related to etc. can be configured according to actual needs, not need to stick to the embodiment of the present invention
It limits.
In some embodiments, described referring to FIG. 4, Fig. 4 is the flow diagram of method described in step 120 in Fig. 3
Step 120 specifically includes:
Step 121: inquiring the map state of each position between the aircraft real time position and the flight relay point.
The map state includes: the state that occupies, free state and unknown state.
In embodiments of the present invention, need to obtain each position between the aircraft real time position and the flight relay point
Set, i.e., in straight line path peripheral extent on each path point and surrounding, i.e., be on each grid described in above-mentioned steps 130
No there are barriers, to obtain the map shape of each position between the aircraft real time position and the flight relay point
State.Wherein, the state that occupies refers to that there is barrier in the position, and the free state refers to no barrier, and the unknown state is
Unobserved space.In the present invention, the non-aircraft real time position and the flight relay point linear distance is straight
It is all the unknown state on thread path.
In addition, the embodiment of the present invention obtains map state by ray casting, specifically, the ray casting passes through
Two point A and B are obtained on environmental map, and a line segment is drawn from A point to B point, if encountering barrier C during bracing wire section,
Then stop, and is designated as the map state of the position barrier C point to occupy state.By this method, the embodiment of the present invention is being pacified
It is to occupy state or free state, and the location point for method not being used to detect is marked for map status indication in full distance
For unknown state.
Step 122: according to the map state of each position map the aircraft real time position and it is described in-flight
After the travel speed of position each between point.
In embodiments of the present invention, during running the fast marching algorithms, the travel speed of all positions is needed,
Therefore, it is necessary to map travel speed according to the map state of each position.On the position that travel speed is zero, aircraft without
Method stops on the position.
Step 123: the initial path is generated according to the travel speed of each position and the fast marching algorithms.
In embodiments of the present invention, the position for being zero by screening out travel speed, and by calculating except travel speed is zero
Each position on travel speed, generate initial path.Wherein, the initial path be flight real time position to in-flight after
Path between point.Specifically, the generation initial path, which can be, generates aircraft from initial position to the first relay point
Path is also possible to generate path of the aircraft from initial position to other relay points, can also be that aircraft reaches in a certain
After point, after which is updated to flight real time position, acquisition is currently located relay point to the road of other subsequent relay points
Diameter can be configured according to the actual situation.
In some embodiments, described referring to FIG. 5, Fig. 5 is the flow diagram of method described in step 122 in Fig. 4
Step 122 specifically includes:
Step 1221: when the map state of the flight relay point occupies state or the unknown state for described in, then
Mapping the travel speed is zero.
In embodiments of the present invention, if the map state for inquiring the flight relay point is to occupy state, the position
There are barrier on point, aircraft can not stop on the position, therefore, it is necessary to which the travel speed of the point is mapped as zero, together
When, aircraft chooses flight relay point again.Alternatively, if inquiring the flight relay point is unknown state, the location point
It not in the safe distance of aircraft setting, thus does not observe to changing location point, therefore, it is necessary to by the travel speed of the point
It is mapped as zero, meanwhile, aircraft chooses flight relay point again.
Step 1222: when the map state of the flight relay point is the free state, then passing through ray casting
Each position between the aircraft real time position and the flight relay point is obtained with the presence or absence of shelter.
In embodiments of the present invention, when the map state of the flight relay point is the free state, illustrate in the position
Setting an aircraft can stop or pass through.Continue to obtain the aircraft real time position by above-mentioned ray tracking method and described flies
Each position between row relay point whether there is shelter.Specifically, the flight is obtained in such a way that multi-line section scans
Each position between device real time position and the flight relay point whether there is shelter.Each position includes described flies
Each path point and each path point safety where row device real time position and the flight relay point linear distance on path
The location point of surrounding space in distance range.In embodiments of the present invention, it needs through the ray tracking method, described in acquisition
All location points whether there is shelter within the scope of certain distance between aircraft real time position and the flight relay point.
Step 1223: when in each position there are when the shelter, then by the position where the shelter
Map status indication is to occupy state, and the travel speed of the position where the shelter is mapped as zero.
In embodiments of the present invention, each position between the aircraft real time position and the flight relay point if it exists
It sets, detecting one or more location points, there are shelters, then by the map status indication of one or more of location points
To occupy state, and the travel speed of one or more of location points is mapped as zero.
Step 1224: when the shelter is not present in each position, then will be not present the position of the shelter
The map status indication set is free state, and according to the fast marching algorithms mapping position that the shelter is not present
The travel speed set.
In embodiments of the present invention, in each position detected, shelter is not present in part or all of position,
Then the part or all of position is mapped according to fast marching algorithms and the ray tracking method.Specifically, for ground
Figure status indication is the position of free state, and speed mapping equation is
V=min (ex-1,vmax)
Wherein, x is distance of this away from nearest barrier, vmaxFor the maximum value of speed.
In some embodiments, described referring to FIG. 6, Fig. 6 is the flow diagram of method described in step 123 in Fig. 4
Flight relay point is at least one, then, the step 123 specifically includes:
Step 1231: obtaining each position between the aircraft real time position and first flight relay point
Travel speed.
In embodiments of the present invention, starting point of the aircraft real time position as initial path is usually selected, flight is selected
Terminal of the first flight relay point of device as initial path.And then the flight is mapped according to described 1221 to step 1224
The travel speed of each position between device real time position and first flight relay point.
Step 1232: being flown according to the travel speed of each position, the aircraft real time position and described first
Row relay point generates the initial path by the fast marching algorithms.
In embodiments of the present invention, the start position of the initial path, root are generated according to the aircraft real time position
The final position that the initial path is generated according to first flight relay point, according to the travel speed of each position and
The fast marching algorithms calculate the fastest path that aircraft is moved to final position from start position, which is
The initial path.Specifically, when choosing each path point for constituting the fastest path, the position that travel speed is zero is avoided
Point is chosen and calculates fastest location point of averagely advancing as next path in a certain range around current path point
Point, and so on, obtain final initial path.
In some embodiments, described referring to FIG. 7, Fig. 7 is the flow diagram of method described in step 130 in Fig. 3
Step 130 specifically includes:
Step 131: each path point on the initial path being extended, to obtain the expansion of each path point
Open up space.The initial path and the extending space are in the environmental map.
In embodiments of the present invention, before choosing initial path, need to be arranged distance institute between initial path starting point to the end
Certain distance range around path is safe distance, and the map state of each position is detected in the safe distance and is obtained
The travel speed of each position, and then the initial path is generated according to fast marching algorithms.Due to passing through fast marching algorithms
When generating initial path, the initial path grid is turned into grid (location point one by one) one by one.
When being extended to each path point on the initial path, expand and path point each on initial path
The identical multiple grid of step-length are as extending space.The extending space can be the spacing of the initial path starting point to the end
Whole spaces or segment space from the space in safe distance around the path of place, are also possible to around the place path
It is extended on the basis of space in safe distance.In the extending space and in safe distance around the place path
The map state of the grid (the same grid) of generation intersection in space is due to (each to each grid before generation initial path
A position) inquiry that has carried out map state no longer needs to carry out map when obtaining the map state of each grid of extending space
The inquiry of state.And the grid for not generating intersection then needs to inquire its map state according to above-mentioned ray casting.The place
Space and the extending space around path in safe distance is all in the environmental map.
Step 132: whether depositing each position obtained according to ray casting in the extending space of each path point
In block information.
In embodiments of the present invention, identical as above-mentioned steps 121, the initial path is obtained using ray casting and is caught up with
Each position in the extending space of each path point whether there is shelter, so that the extension for obtaining each path point is empty
Between in each position whether there is block information, and then mark extending space in each position map state.
Step 133: the bounding box set is generated according to the block information of all extending spaces.
It in embodiments of the present invention, can be that is, every in extending space according to the block information of all extending spaces
The map state of a position generates the bounding box set.The bounding box set includes each grid in the extending space
Entrained spatial information.
In some embodiments, described referring to FIG. 8, Fig. 8 is the flow diagram of method described in step 140 in Fig. 3
Step 140 specifically includes:
Step 141: traversing the bounding box set.
Step 142: checking whether the current bounding box in the bounding box set is contained in a certain bounding box.
Step 143: when the current bounding box is contained in remaining described a certain bounding box, then from the bounding box set
It is middle to delete the current bounding box.
Step 144: when the current bounding box is not included in remaining described a certain bounding box, then retaining the current packet
Enclose box.
In embodiments of the present invention, it is also necessary to take the grid that same space information is carried in the bounding box set simultaneously
Collection, i.e. the grid of carrying same space information only needs to retain one, and retains the spatial information of the grid.Specifically, as described
Shown in step 141 to the step 144.
Embodiment two
Fig. 9 is a kind of schematic device of feas ible space generating means 200 provided in an embodiment of the present invention, the device application
In planning of the aircraft for flight path, to promote the obstacle avoidance ability of aircraft, and the loss of tracking target can be avoided.Its
In, which can be various types of aircraft, for example, the aircraft 10 in Fig. 1 and Fig. 2.
Referring to FIG. 9, the feas ible space generating means 200 include: parameter acquisition module 210, path-generating module
220, bounding box obtains module 230 and set optimization module 240.
In embodiments of the present invention, the parameter acquisition module 210 for obtaining spatial parameter in real time, wherein the sky
Between parameter include real-time target position, aircraft real time position, environmental map and flight relay point.The path-generating module
220 connect with the parameter acquisition module 210, for generating initial path according to the spatial parameter and fast marching algorithms.
The bounding box obtains module 230 and connect with the path-generating module 220, for by each path on the initial path
Point is extended, and generates bounding box set.The set optimization module 240 obtains module 230 with the bounding box and connect, and is used for
Optimize the bounding box set, generates feas ible space.
A kind of feas ible space generating means are provided in the embodiment of the present invention passes through parameter acquisition module in the apparatus
210 obtain spatial parameter and the generation initial path of passage path generation module 220 in real time, and it is right to obtain module 230 by bounding box
Path point on initial path is extended, and is generated and is optimized bounding box set by set optimization module 240, so that obtaining can
Row space.The Automatic Target Tracking that row space provided in an embodiment of the present invention generating means can be applied to a variety of flight equipments is appointed
In business or other are needed around sense aircraft in the task of feas ible space.The equipment that the flight equipment can be entity,
Such as unmanned plane, aircraft, fire balloon, aerodone, the flight equipment are also possible to virtual equipment, as in game it is virtual fly
Machine, floating material etc..
In other some embodiments, the parameter acquisition module 210 is used for: described in being obtained in real time by tracking system
The real-time target position in spatial parameter, the aircraft obtained in real time in the spatial parameter by flight control system are real
When position, obtain the environmental map in the spatial parameter, passage path planning system in real time by binocular vision system
The flight relay point in the spatial parameter is obtained in real time.
In other some embodiments, the path-generating module 220 is used for: inquire the aircraft real time position and
The map state of each position between the flight relay point maps the aircraft according to the map state of each position
The travel speed of each position between real time position and the flight relay point, according to the travel speed of each position and institute
It states fast marching algorithms and generates the initial path.The map state includes: the state that occupies, free state and unknown state.
In other some embodiments, the path-generating module 220 is also used to: when the map of the flight relay point
When state occupies state or the unknown state for described in, then mapping the travel speed is zero.When the flight relay point
Map state be the free state when, then by ray casting obtain the aircraft real time position and it is described in-flight after
Each position between point whether there is shelter.
In other some embodiments, the path-generating module 220 is also used to: when there are institutes in each position
It is then to occupy state for the map status indication of the position where the shelter, and by the shelter institute when stating shelter
The travel speed of position be mapped as zero.When the shelter is not present in each position, then will be not present
The map status indication of the position of the shelter is free state, and is not present according to fast marching algorithms mapping
The travel speed of the position of the shelter.It is the position of free state for map status indication, the travel speed is reflected
Penetrating formula is
V=min (ex-1,vmax)
Wherein, v is the travel speed, and x is distance of the position away from nearest barrier, vmaxMost for travel speed
Big value.
In other some embodiments, the flight relay point is at least one, then, and the path-generating module 220
It is also used to: obtaining the travel speed of each position between the aircraft real time position and first flight relay point.
According to the travel speed of each position, the aircraft real time position and first flight relay point, by described
Fast marching algorithms generate the initial path.
In other some embodiments, the bounding box obtains module 230 and is used for: to each of on the initial path
Path point is extended, to obtain the extending space of each path point.Each path is obtained according to ray casting
Each position in the extending space of point, which whether there is, the block information blocked.Letter is blocked according to all extending spaces
Breath generates the bounding box set.The initial path and the extending space are in the environmental map.
In other some embodiments, the set optimization module 240 is used for: traversing the bounding box set.It checks
Whether the current bounding box in the bounding box set, which is contained in a certain bounding box, completely includes.When the current bounding box includes
When remaining described a certain bounding box, then the current bounding box is deleted from the bounding box set.
Embodiment three
Figure 10 is a kind of structural schematic diagram of aircraft 300 provided in an embodiment of the present invention, which can stablize
Target is tracked, executes tracking goal task, and obstacle avoidance ability is strong.Please refer to Figure 10, the aircraft 300 include fuselage 310, with
It the fuselage 310 connected horn 320, the power device 330 that is arranged on the horn 320；And flight road can be generated
Diameter, and control instruction is sent, to control the flight controller 340 that the power device 330 is flown according to the flight path.
Wherein, the flight controller 340 is used for before generating the flight path, is executed as described in above-described embodiment one
Feas ible space generation method.The feas ible space generation side being able to carry out by the flight controller 340 in this present embodiment
The feas ible space generation method that method and embodiment one provide is based on identical inventive concept, and and will not be described here in detail.
The flight controller 340 is a microcomputer, for setting various parameters, obtaining various parameters, storage
Various parameters receive various information, the various information of processing and send various information and instruction.The flight controller 340 is used
Feas ible space is generated in calculating.The flight controller 340 can be the processor with certain memory space, and processor is at least
It is required to establish model and handles artificial intelligence, the data-handling capacity of processor can be selected according to demand, be not required to
Stick to the restriction of the embodiment of the present application.
The embodiment of the invention also provides a kind of storage medium, the storage medium is stored with executable instruction, this can hold
Row instruction is executed by one or more processors, such as: it is executed by the flight controller 340 in Figure 10, may make said one
Or multiple processors execute the feas ible space generation method in above-mentioned any means embodiment one, further, execute above real
Apply method and step 110 to 140, the method and step 121 to 123 in Fig. 4, the method and step in Fig. 5 in Fig. 3 of the description of example one
1221 to 1224, the method and step 1231 to 1232 in Fig. 6, the method and step 131 to 133 in Fig. 7, the method and step in Fig. 8
141 to 144, realize the function of the module 210-240 in Fig. 9.
During the actual aircraft 300 executes the feas ible space generation method as described in embodiment one, tool
Body executes process are as follows: firstly, the flight controller 340 passes through all kinds of devices that are arranged on the aircraft 300 and all kinds of
Sensor obtains the spatial parameter of the aircraft 300 in real time, and then, the flight controller 340 is according to the spatial parameter
And various algorithms generate the feas ible space of the aircraft 300.
In addition, flight controller 340 is set out in the feas ible space according to algorithmic rule after having executed above-mentioned process
The aircraft 300 is from current location to the flight path of tracking target, and finally, the flight controller 340 controls the spiral shell
Revolve the flight path that paddle 320 executes setting.
It should also be noted that, in embodiments of the present invention, provided by the 300 executing method embodiment of aircraft
Feas ible space generation method has the corresponding functional module of execution method and beneficial effect.It is not detailed in aircraft embodiment
The technical detail of description, reference can be made to feas ible space generation method provided by method invention embodiment.
A kind of aircraft is provided in the embodiment of the present invention；The aircraft can obtain spatial parameter in real time, and combine and calculate
Method obtains the feasible in real-time space of aircraft.The embodiment of the present invention in flight path by planning previous existence at the feasible sky of aircraft
Between, further, aircraft carries out path planning in the feas ible space, can reduce aircraft and touches with barrier in space
Risk is hit, and can be avoided loss tracking target.
Example IV
Figure 11 is a kind of structural schematic diagram of aerocraft system 400 provided in an embodiment of the present invention, wherein the aircraft system
System 400 includes: aircraft 300 and remote control equipment 410, and the aircraft 300 is communicated to connect with the remote control equipment 410, described
For sending control instruction to the aircraft 300, the aircraft 300 can be described in embodiment two remote control equipment 410
Aircraft 300.
It should be noted that being based on phase by the aircraft 300 that aircraft 300 in this present embodiment is provided with embodiment two
Same inventive concept, therefore, the corresponding contents in embodiment two are equally applicable to the present embodiment, and and will not be described here in detail.
In embodiments of the present invention, the remote control equipment 410 is a kind of device of the artificially controllable aircraft 300, and
Data communication can be carried out with the aircraft 300.The remote control equipment 410 and the aircraft 300 can by wired connection,
For example, it may be by WIFI connection, or bluetooth connection can also be passed through by being wirelessly connected.The remote control equipment 410
For what is operated with display screen and the picture that can be shown to the display screen, and can be with the aircraft 300
The control device of communication connection is established, for example, it may be remote controler, mobile device terminal with display screen and handle, even
VR glasses etc..Specifically, selection and the setting of communication modes can be carried out to remote control equipment 410 according to actual needs, does not need to arrest
Mud is in the restriction of the embodiment of the present invention.
Specifically, in embodiments of the present invention, user can set tracking target by the remote control equipment 410, and will
Tracking clarification of objective information is sent to the aircraft 300, and the aircraft 300 gets tracking clarification of objective information
Afterwards, obtain aircraft 300 spatial parameter information, analysis generate from the aircraft 300 to it is described tracking target can
Row space.The tracking clarification of objective information can be the image information of tracking target, track the volume and shape letter of target
Breath, or the initial position etc. of tracking target.User can set tracking target by the remote control equipment 410 and can be in institute
It states and directly chooses the tracking target on the picture of the display screen presentation of remote control equipment 410, it can also be directly in the remote control
The tracking clarification of objective information is inputted by input units such as keyboards in equipment 410.
The embodiment of the invention provides a kind of computer program product, the computer program product is non-easy including being stored in
Computer program on the property lost computer readable storage medium, the computer program includes program instruction, when described program refers to
When order is computer-executed, the computer is made to execute feas ible space generation method as described above.For example, executing above description
Fig. 3 in method and step 110 to 140, the method and step 121 to 123 in Fig. 4, the method and step 1221 to 1224 in Fig. 5,
The method and step 131 to 133 in method and step 1231 to 1232, Fig. 7, the method and step 141 to 144 in Fig. 8 in Fig. 6, it is real
The function of module 210-240 in existing Fig. 9.
The embodiment of the invention provides a kind of non-volatile computer readable storage medium storing program for executing, the computer-readable storage mediums
Matter is stored with computer executable instructions, and the computer executable instructions are for making computer execute feasible sky as described above
Between generation method.For example, execute the method and step 110 to 140 in Fig. 3 described above, the method and step 121 in Fig. 4 to
123, the method and step 1221 to 1224 in Fig. 5, the method and step 1231 to 1232 in Fig. 6, the method and step 131 in Fig. 7 to
133, the function of the method and step 141 to 144 in Fig. 8 and the flight controller 340 in realization Figure 10.
The embodiment of the present invention provides a kind of aerocraft system, which includes aircraft and remote control equipment, at this
In aerocraft system, aircraft is able to carry out the feas ible space generation method as described in embodiment one, and the aircraft includes real
Apply whole features of aircraft described in example two, aerocraft system obstacle avoidance ability provided in an embodiment of the present invention is strong, and execute with
It can be avoided loss tracking target when track task.
A kind of feas ible space generation method, device, aircraft and aerocraft system are provided in the embodiment of the present invention；Its
In, this method generates initial path by obtaining spatial parameter in real time, is extended to the path point on initial path, generates simultaneously
Optimize bounding box set, to obtain the feasible in real-time space of aircraft.The embodiment of the present invention passes through before flight path is planned
Preliminary setting initial path, and the bounding box set comprising obstacle information is generated after initial path is extended, fly to generate
The feas ible space of row device, aircraft carry out path planning in the feas ible space, can reduce barrier in aircraft and space
Risk of collision, and can be avoided loss tracking target.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；At this
Under the thinking of invention, it can also be combined between the technical characteristic in above embodiments or different embodiments, and exist as above
Many other variations of the different aspect of the invention, for simplicity, they are not provided in details；Although referring to before
Stating embodiment, invention is explained in detail, those skilled in the art should understand that: it still can be to preceding
It states documented technical solution in each embodiment to modify, or wherein regional development and technology feature is equivalently replaced；And this
It modifies or replaces, the range of technical solution in various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (24)
1. a kind of feas ible space generation method characterized by comprising
Spatial parameter is obtained in real time, wherein the spatial parameter includes real-time target position, aircraft real time position, environment
Figure and flight relay point；
Initial path is generated according to the spatial parameter and fast marching algorithms；
Each path point on the initial path is extended, bounding box set is generated；
Optimize the bounding box set, generates feas ible space.
2. feas ible space generation method according to claim 1, which is characterized in that described to obtain the space ginseng in real time
It counts, includes:
Obtain the real-time target position in the spatial parameter in real time by tracking system；
Obtain the aircraft real time position in the spatial parameter in real time by flight control system；
Obtain the environmental map in the spatial parameter in real time by binocular vision system；
Passage path planning system obtains the flight relay point in the spatial parameter in real time.
3. feas ible space generation method according to claim 2, which is characterized in that described according to the spatial parameter and institute
It states fast marching algorithms and generates the initial path, comprising:
Inquire the map state of each position between the aircraft real time position and the flight relay point；
It is mapped according to the map state of each position each between the aircraft real time position and the flight relay point
The travel speed of position；
The initial path is generated according to the travel speed of each position and the fast marching algorithms.
4. feas ible space generation method according to claim 3, which is characterized in that
The map state includes: the state that occupies, free state and unknown state.
5. feas ible space generation method according to claim 4, which is characterized in that the ground according to each position
Figure state maps the travel speed of each position between the aircraft real time position and the flight relay point, comprising:
When the map state of the flight relay point occupies state or the unknown state for described in, then the traveling speed is mapped
Degree is zero；
When the map state of the flight relay point is the free state, then the aircraft is obtained by ray casting
Each position between real time position and the flight relay point whether there is shelter.
6. feas ible space generation method according to claim 5, which is characterized in that described when the ground of the flight relay point
When figure state is the free state, then the aircraft real time position and the flight relay point are obtained by ray casting
Between each position whether there is the shelter, comprising:
When there are when the shelter, being then by the map status indication of the position where the shelter in each position
State is occupied, and the travel speed of the position where the shelter is mapped as zero；
When the shelter is not present in each position, then there will be no the map state marks of the position of the shelter
It is denoted as free state, and according to the travel speed of the fast marching algorithms mapping position that the shelter is not present.
7. feas ible space generation method according to claim 6, which is characterized in that
It is the position of free state for map status indication, the mapping equation of the travel speed is
V=min (ex-1,vmax)
Wherein, v is the travel speed, and x is distance of the position away from nearest barrier, vmaxFor the maximum value of travel speed.
8. feas ible space generation method according to claim 3, which is characterized in that the flight relay point is at least one
It is a, then,
It is described that the initial path is generated according to the travel speed of each position and the fast marching algorithms, comprising:
Obtain the travel speed of each position between the aircraft real time position and first flight relay point；
According to the travel speed of each position, the aircraft real time position and first flight relay point, pass through
The fast marching algorithms generate the initial path.
9. feas ible space generation method according to claim 2, which is characterized in that it is described will be every on the initial path
A path point is extended, and generates the bounding box set, comprising:
Each path point on the initial path is extended, to obtain the extending space of each path point；
Each position in the extending space of each path point is obtained according to ray casting with the presence or absence of block information；
The bounding box set is generated according to the block information of all extending spaces.
10. feas ible space generation method according to claim 9, which is characterized in that
The initial path and the extending space are in the environmental map.
11. feas ible space generation method according to claim 1, which is characterized in that the optimization bounding box set,
Include:
Traverse the bounding box set；
Check whether the current bounding box in the bounding box set is contained in remaining a certain bounding box；
When the current bounding box is contained in remaining described a certain bounding box, then work as described in deletion from the bounding box set
Preceding bounding box.
12. a kind of feas ible space generating means characterized by comprising
Parameter acquisition module, for obtaining spatial parameter in real time, wherein the spatial parameter includes real-time target position, flight
Device real time position, environmental map and flight relay point；
Path-generating module is connect with the parameter acquisition module, for raw according to the spatial parameter and fast marching algorithms
At initial path；
Bounding box obtains module, connect with the path-generating module, for clicking through each path on the initial path
Row extension, generates bounding box set；
Gather optimization module, obtains module with the bounding box and connect, for optimizing the bounding box set, generate feasible sky
Between.
13. feas ible space generating means according to claim 12, which is characterized in that the parameter acquisition module is used for:
Obtain the real-time target position in the spatial parameter in real time by tracking system；
Obtain the aircraft real time position in the spatial parameter in real time by flight control system；
Obtain the environmental map in the spatial parameter in real time by binocular vision system；
Passage path planning system obtains the flight relay point in the spatial parameter in real time.
14. feas ible space generating means according to claim 13, which is characterized in that the path-generating module is used for:
Inquire the map state of each position between the aircraft real time position and the flight relay point；
It is mapped according to the map state of each position each between the aircraft real time position and the flight relay point
The travel speed of position；
The initial path is generated according to the travel speed of each position and the fast marching algorithms.
15. feas ible space generating means according to claim 14, which is characterized in that
The map state includes: the state that occupies, free state and unknown state.
16. feas ible space generating means according to claim 15, which is characterized in that the path-generating module is also used
In:
When the map state of the flight relay point occupies state or the unknown state for described in, then the traveling speed is mapped
Degree is zero；
When the map state of the flight relay point is the free state, then the aircraft is obtained by ray casting
Each position between real time position and the flight relay point whether there is shelter.
17. feas ible space generating means according to claim 16, which is characterized in that the path-generating module is also used
In:
When there are when the shelter, being then by the map status indication of the position where the shelter in each position
State is occupied, and the travel speed of the position where the shelter is mapped as zero；
When the shelter is not present in each position, then there will be no the map state marks of the position of the shelter
It is denoted as free state, and according to the travel speed of the fast marching algorithms mapping position that the shelter is not present.
18. feas ible space generating means according to claim 17, which is characterized in that
It is the position of free state for map status indication, the mapping equation of the travel speed is
V=min (ex-1,vmax)
Wherein, v is the travel speed, and x is distance of the position away from nearest barrier, vmaxFor the maximum value of travel speed.
19. feas ible space generating means according to claim 14, which is characterized in that the flight relay point is at least one
A, then, the path-generating module is also used to:
Obtain the travel speed of each position between the aircraft real time position and first flight relay point；
According to the travel speed of each position, the aircraft real time position and first flight relay point, pass through
The fast marching algorithms generate the initial path.
20. feas ible space generating means according to claim 13, which is characterized in that the bounding box obtains module and uses
In:
Each path point on the initial path is extended, to obtain the extending space of each path point；
Each position in the extending space of each path point is obtained according to ray casting with the presence or absence of there is the screening blocked
Keep off information；
The bounding box set is generated according to the block information of all extending spaces.
21. feas ible space generating means according to claim 20, which is characterized in that
The initial path and the extending space are in the environmental map.
22. feas ible space generating means according to claim 12, which is characterized in that the set optimization module is used for:
Traverse the bounding box set；
Check whether the current bounding box in the bounding box set is contained in a certain bounding box；
When the current bounding box is contained in remaining described a certain bounding box, then work as described in deletion from the bounding box set
Preceding bounding box.
23. a kind of aircraft characterized by comprising fuselage, is arranged on the horn horn being connected with the fuselage
Power device；And
Flight controller, the flight controller can generate flight path, and send control instruction, to control the power dress
Set the controller to fly according to the flight path；Wherein, the flight controller is used for before generating the flight path, is held
Row such as the described in any item feas ible space generation methods of claim 1-11.
24. a kind of aerocraft system characterized by comprising remote control equipment and aircraft as claimed in claim 23, it is described
Aircraft and the remote control equipment communicate to connect, and the remote control equipment is for sending target initial position to the aircraft.
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