CN110530364A - Utilize the method in bird flight path programming unmanned vehicle path - Google Patents
Utilize the method in bird flight path programming unmanned vehicle path Download PDFInfo
- Publication number
- CN110530364A CN110530364A CN201810563566.3A CN201810563566A CN110530364A CN 110530364 A CN110530364 A CN 110530364A CN 201810563566 A CN201810563566 A CN 201810563566A CN 110530364 A CN110530364 A CN 110530364A
- Authority
- CN
- China
- Prior art keywords
- flight
- path
- unmanned vehicle
- those
- optimization
- 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.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Abstract
The present invention discloses a kind of method using bird flight path programming unmanned vehicle path, it includes: a. records more flying qualities: being moved to those flying qualities of one second fixed point from one first fixed point using multiple recording device records, those recording devices are for being installed on more birds；B. it generates a flight optimization path: collecting those flying qualities using an analytical equipment, and integrate those flying qualities and generate a flight optimization path；C. a flight carrier is controlled with flight optimization path flight: the flight optimization path is input in the flight carrier；The biology instinct such as automatic obstacle-avoiding, wind direction of according with one's environment, the air-flow of the present invention using bird in flight, obtain the record point of each safety and clear between two places, it converges again and is made into a flight path, by selecting most short or flight time least flight path in a plurality of flight path.
Description
Technical field
A kind of planing method in unmanned vehicle path, refer in particular to it is a kind of using pigeon racing carry recording device carry out it is winged
Row after obtaining flight path, cooks up suitable path, and suitable path is inputted unmanned vehicle after calculation,
The method for allowing the unmanned vehicle to fly according to pigeon racing flight path.
Background technique
In recent years, the characteristics of unmanned vehicle is more more and more universal, high maneuverability gets over the use of unmanned vehicle
Come more extensive, aerophotogrammetry is an example, and camera or video camera are set up on unmanned vehicle, can go to the mankind
What can not be reached easily is local to monitor every environmental hazard, including earthquake-stricken area, volcano eruption, floods or earth flow, or
The Construction Gereral Situation of vehicle flowrate monitoring, Road Detection, every communal facility is carried out, in city to obtain more and more accurate letter
Breath, and utilize a wide range of shooting of aerophotogrammetry, it is easier to the Long-term change trend for finding out the range, it is appropriate further to discuss and formulate out
Policy.
Transporting kinds of goods with unmanned vehicle is then other an example.The kinds of goods to be transported are carried using unmanned vehicle,
Street bustling with vehicles can be avoided, and by the blocking of traffic lights, can directly fly to specified fixed point and be sent to kinds of goods, save many
Time cost；It is transporting in longer situation, is then more highlighting time saving advantage.
Unmanned vehicle course line programming now, is relatively often used the barrier existed in airspace in more spacious airspace
Hinder object less, less likely has the problem of unmanned vehicle bumps against barrier and damages, but use in the urban district that building stands in great numbers
The unmanned vehicle, can lead to the problem of to dodge barrier and is influenced by high building wind.Although unmanned vehicle is flying
The airspace that can be avoided vehicle and traffic lights when row, but be flown might have barrier presence, comprising high voltage iron tower, cable,
Electric pole, signboard etc. may generate failure, can not fly and drop if the unmanned vehicle knocks these barriers
Unexpected, the part for making the unmanned vehicle directly damage, and fall also is possible to pound pedestrian or other articles, causes people
The problem that body safety and property are damaged.
To avoid the barrier in flight road, the general practice is that the unmanned vehicle is manually operated in user, when
When encountering barrier, the unmanned vehicle is operated using controllers such as rocking bars and is turned, so that it will not knock barrier.But the nothing
People's flight carrier with the controller connection distance limited, when the unmanned vehicle be detached from control range when, just without
Method continues to fly, or can not disturbance in judgement object position and knock, it is necessary to allow user to be maintained at the unmanned vehicle
In maximum connection distance, the unmanned vehicle could be persistently controlled, in other words, user must constantly follow the unmanned flight
Carrier is mobile, actually inconvenient；And user must can be estimated simultaneously to the unmanned vehicle, if the unmanned vehicle enters
Sight blind area, even if user is still difficult to confirm the heading of the unmanned vehicle still in manipulation range.
The method of second of avoiding obstacles is after allowing the unmanned vehicle to set out, directly to fly to higher than high buildings and large mansions
In range, allow the unmanned vehicle can with the aerial of rectilinear flight to destination, in vertical landing, can effectively avoid building it
Between barrier.But if the average height in building is higher, and the flying height of the unmanned vehicle must also be promoted therewith, and one
Increase the energy consumption, two must spend longer time that the unmanned vehicle could will be allowed to fly up to destination, at the same also without
Method avoids height above sea level higher, and ambient windstream is more unstable, increases the probability of unmanned plane damage.
The mode of the third unmanned vehicle planning path is that various extraneous perception dresses are installed on unmanned vehicle
It sets, such as infrared sensor, ultrasonic sensing method, radar light are reached and photographed or mirror for taking photograph head, and by avoidance algorithm
Reason, but planning efficiency of the method in continuation of the journey and path is more low.
Summary of the invention
For unmanned vehicle can be dodged automatically in flight barrier, it is an object of the invention to propose a kind of utilization
The method in bird flight path programming unmanned vehicle path, using being mounted under the recording device records with pigeon racing more
The path that pigeon racing flies between two places recycles analytical equipment to analyze energy avoiding obstacles and the highest path of efficiency, will
This paths inputs in the unmanned vehicle, allows the unmanned vehicle can efficiently and safely round-trip two places.
To reach above-mentioned purpose, the present invention using bird flight path programming unmanned vehicle path method it includes
Following steps:
A. more flying qualities are recorded: being moved to one second fixed point from one first fixed point using multiple recording device records
Those flying qualities, those recording devices are for being installed on more birds；
B. it generates a flight optimization path: collecting those flying qualities using an analytical equipment, and integrate those flight numbers
According at least one flight optimization path of generation；
C. it allows a flight carrier with flight optimization path flight: the flight optimization path is input to the flight carrier
In.
The present invention is to avoid the biological instinct of the barrier on path automatically in flight using pigeon racing, is filled by the analysis
The a plurality of flight path erected between two places is set up, and selects flight road of the optimal flight path as unmanned vehicle
Diameter, wherein optimal standard can or flight time shortest flight path most short using path length as standard, not only can be true
Protecting the unmanned vehicle barrier that can dodge during flight can quickly reach the destination without knocking, while again, save
It saves time and energy cost.
Below in conjunction with the drawings and specific embodiments, the present invention will be described in detail, but not as a limitation of the invention.
Detailed description of the invention
Fig. 1: the present invention utilizes the flow chart of the method in bird flight path programming unmanned vehicle path；
Fig. 2: the circuit block diagram of device therefor of the present invention；
Fig. 3: the first flight path schematic diagram of the invention；
Fig. 4 A: the first flying quality curve graph of the invention；
Fig. 4 B: the second flying quality figure of the invention；
Fig. 5: the partial enlarged view of the first flight path of the invention；
Fig. 6: the curve graph of the first flying quality of the invention；
Fig. 7 A: the present invention coincides the first flight path, the second flight path, third flight path schematic diagram；
Fig. 7 B: the partial enlarged view that the present invention coincides the first flight path, the second flight path, third flight path；
Fig. 8: the 4th flight path schematic diagram of the invention；
Fig. 9: the 4th flight path partial enlarged view of the invention；
Figure 10: the second flying quality figure of the invention；
Figure 11: the second flying quality curve graph of the invention.
Specific embodiment
Structural principle and working principle of the invention are described in detail with reference to the accompanying drawing:
Referring to Figure 1, a kind of method using bird flight path programming unmanned vehicle path of the present invention includes:
S101: more flying qualities are recorded；Multiple recording devices 10 are set up in more by please referring also to Fig. 2 respectively first
On bird, those birds can be pigeon racing, with pigeon racing be hereby below to illustrate example；Then those pigeon racings are released by one first fixed point
It puts, predetermined final is one second fixed point, and in a preferred embodiment, each recording device 10 is a pigeon racing electronic foot ring.It should
A little recording devices 10 can store a Fixed Time Interval in advance, which can be 2 seconds or 5 seconds, or need according to user
Ask adjustment；During the flight of those pigeon racings, those recording devices 10 are every to be will record one time one by the Fixed Time Interval
Flying quality, to generate more flying qualities, the flying quality include record instantly the longitude, latitude of the pigeon racing position, height,
National standard time (UTC), direction and flying speed.
S102: generate a flight optimization path, wherein the flight optimization path to establish mode as follows:
S211: a plurality of flight path is generated；By taking a wherein pigeon racing as an example, which can carry a recording device 10, from
This first fixed point fly to this second fixed point, during flight, the recording device 10 can it is every by the Fixed Time Interval just
It will record a flying quality, every flying quality which is recorded inputs an analytical equipment 20, analysis dress
A flight path can be integrated into for the connection of each flying quality by setting 20；When there is more pigeon racings to carry more recording devices 10, this point
Each flight number can be integrated into respectively at least one flight path by analysis apparatus 20.
S212: selecting an at least flight optimization track is the flight optimization path；In the present embodiment, the analytical equipment 20
It selects during flying to second fixed point from first fixed point, the flight path that flight time shortest pigeon racing is flown
For the flight optimization path；In a further preferred embodiment, which selects the shortest pigeon racing of flight path and is flown
The flight path be the flight optimization path.
The mode that another establishes an at least flight optimization path is as follows:
S221: more flight optimization data are obtained；The analytical equipment 20 calculates between first fixed point and second fixed point
Shortest distance values, and by this first fixed point with this second fixed point connect into a shortest path, then the analytical equipment select away from
Those flying qualities nearest from the shortest path, become those flight optimization data；
S222: obtain an at least flight optimization path: it is best winged that those flying qualities remittance that will be singled out is made into one
Walking along the street diameter.
S103: one flight carrier 30 of control is with flight optimization path flight；It is best winged that this is picked out from step S202
Walking along the street diameter, and the flight optimization path is inputted into the flight carrier 30, which can be existed with the flight optimization path
It flies between first fixed point and second fixed point.
By taking large-scale flying distance as an example, Fig. 3 is referred to, carries the recording device 10 from first fixed point SP for pigeon racing
Fly to the Actual path of second fixed point FP, when pigeon racing is got redy to start off, the preset Fixed Time Interval is 15 seconds.Come in one
Step A referring to fig. 4, as shown in data, when which carries the recording device 10 to one first record point DP1, the recording device
10 will record the one first flying quality DATA1 of first record point DP1, the record time of the first stroke flying quality DATA1
It is 6 ' 59 " 09, is highly 9 meters；It has been then passed through 15 seconds, pigeon racing flight to one second record point DP2, the recording device
10 record this second record point DP2 one second flying quality DATA2, the record time be 6 ' 59 " 24, be highly 8 meters；By
The first flying quality DATA1 and second flying quality DATA2 shows that the pigeon racing is in the state stopped.
Please further B and Fig. 5 equally will record when pigeon racing flight to one the 29th records point DP29 referring to fig. 4
One the 29th flying quality DATA29 when the 29th record point DP29, the flight time of the pigeon racing is 42 ' 26 at this time,
Apart from 18.97 kilometers of starting point, 42 meters of flying height, speed is 734.41 meters per minute；Then when the pigeon racing flies to one
When the 30th record point DP30, which records one the 30th flying quality of the 30th record point DP30
It is 45 ' 26 that DATA30, the 30th flying quality DAT30, which include the flight time of pigeon racing, apart from 23.23 kilometers of starting point, flight
Highly 53 meters, speed is 1419.62 meters per minute.It records and is flown by first fixed point SP to second fixed point in the above described manner
Those record point sinks are made into first flight path TRACK1 via the analytical equipment 20 by each record point of FP.
Please with further reference to Fig. 6, each flying quality on first flight path TRACK1 in each record point can be via this
Analytical equipment 20 exports one first flying speed curve 31 and one first flying height curve 32 after analyzing, and can calculate mostly into
Order evidence, the number such as most fast speed per hour and average height when those advanced data include the average speed of pigeon racing flight, pigeon racing flight
According to.
Please with further reference to Fig. 7 A, the flying quality that each recording device 10 of different pigeon racings is recorded is respectively via this
Analytical equipment 20 converges whole, can respectively obtain a plurality of flight path, in this example, by taking three flight paths as an example, respectively this
One flight path TRACK1, one second flight path TRACK2, a third flight path TRACK3.It, will please with further reference to 7B
After first flight path TRACK1, the second flight path TRACK2 and third flight path TRACK3 coincide, it can be seen that
Each flight path TRACK1~TRACK3 is all different, and then taking the shortest track of flying distance is optimum trajectory, this example
In, the flying distance of first flight path TRACK1 is most short, then by flight number all in first flight path TRACK1
According in input unmanned vehicle, which can fly according to this flight path.
By taking small-scale flying distance as an example, refer to Fig. 8 and Fig. 9, pigeon racing carry the recording device 10 in urban district by
First fixed point SP flies to second fixed point FP, which notes down the flying quality of each record point, such as one the 50th
The 55th flying quality DATA55 of five record point DP55；0 and Figure 11 referring to Figure 1, the analytical equipment 20 is also by each record
Output data and curve graph after each flying quality analysis remittance of point is whole, wherein the curve graph includes one second flying height curve 41
And one second flying speed curve 42.
The present invention using can dodge automatically when pigeon racing flight barrier the characteristics of, first allow a large amount of pigeon racing carry the record dress
It sets 10 and flies between the first fixed point SP and second fixed point FP, obtain the flight optimization path of point-to-point transmission, then input nobody and fly
In row carrier, which can be flown according to the flight optimization path, when can not only be greatly reduced flight and obstacle
The chance of object collision, also can be shortened flight time and distance, and then save time and energy consumption cost.And the urban district stood in great numbers in building
In, if ten buildings of certain building that make empty bat machine fly to outside three blocks from somewhere Stall, barrier of dodging in flight course
Hinder the ability of object more significant, so that the method better effect in the numerous urban district of barrier.
Further, a large amount of pigeon racings can allowed to carry the recording device 10 flight between different two o'clocks in a region,
Since the fly able region of pigeon racing is mostly safety zone, so that the record point position that the recording device 10 is noted down is similarly this
These record points are integrated, can establish a safe barnyard in this region, the safety by the position that unmanned vehicle can be flown up to
Barnyard includes the History Log point that all pigeon racings can fly up to safely.When the unmanned vehicle must be from selected first fixed point SP
When second fixed point FP for flying to selected, first fixed point SP is picked out first with the analytical equipment 20 and leads to second fixed point FP
The History Log point of shortest path, then those record points are input in the unmanned vehicle, which can
Securely and quickly by this first fixed point SP fly to this second fixed point FP, both can ensure that the unmanned vehicle in flight course
It will not be collided with barrier and cause to damage.
Further, low in cost using bird acquisition trajectories since efficiency is higher, can according to the variation of season environment,
The path of timely replacement planning and safe barnyard, it is ensured that the safety and efficiency in unmanned plane course line are unaffected, reach saving
The effect of energy.
Certainly, the present invention can also have other various embodiments, without deviating from the spirit and substance of the present invention, ripe
It knows those skilled in the art and makes various corresponding changes and modifications, but these corresponding changes and change in accordance with the present invention
Shape all should fall within the scope of protection of the appended claims of the present invention.
Claims (7)
1. a kind of method using bird flight path programming unmanned vehicle path, characterized by comprising:
A. more flying qualities are recorded: being moved to one second more pinpointed from one first fixed point using multiple recording device records
Flying quality, those recording devices for being installed on more birds respectively；
B. it generates a flight optimization path: collecting those flying qualities using an analytical equipment, and drilled from those flying qualities
Calculate at least one flight optimization path；
C. a flight carrier is controlled with flight optimization path flight: the flight optimization path is input in the flight carrier.
2. utilizing the method in bird flight path programming unmanned vehicle path according to claim 1, which is characterized in that
In step a, those recording devices are every to pass through a preset Fixed Time Interval, records longitude, latitude, flight speed instantly
Degree, height, national standard time UTC, direction.
3. utilizing the method in bird flight path programming unmanned vehicle path according to claim 2, which is characterized in that
In step b, further include:
B11. generate a plurality of flight path: multiple record points are integrated in analytical equipment connection, and the connection of each record point is generated should
A little flight paths, each record point are the every position that record is executed by the set time of the recording device；
B12. select a flight optimization track for the flight optimization path: the analytical equipment selects in each flight path path length most
It is flight optimization path that the short or flight time is most short.
4. utilizing the method in bird flight path programming unmanned vehicle path according to claim 2, which is characterized in that
In step b, further include:
B21. obtain more flight optimization data: the analytical equipment calculates the most short distance between first fixed point and second fixed point
A shortest path is connected into from value, and by first fixed point and second fixed point, then the analytical equipment is selected most short apart from this
Those nearest flying qualities of path, become those flight optimization data；
B22. it obtains an at least flight optimization path: will be singled out those flying qualities come remittance and be made into a flight optimization road
Diameter.
5. according to the method using bird flight path programming unmanned vehicle path of claim 3 or 4, feature exists
In the recording device is a birds electronic foot ring.
6. utilizing the method in bird flight path programming unmanned vehicle path according to claim 5, which is characterized in that
Further include in step a:
A1. establish the safe barnyard in a region: those whole flying qualities of remittance, wherein the safe barnyard includes what bird can arrive at
All safe record points.
7. utilizing the method in bird flight path programming unmanned vehicle path according to claim 6, which is characterized in that
Those birds are pigeon racing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810563566.3A CN110530364B (en) | 2018-05-24 | 2018-05-24 | Method for planning unmanned aerial vehicle path by using bird flight path |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810563566.3A CN110530364B (en) | 2018-05-24 | 2018-05-24 | Method for planning unmanned aerial vehicle path by using bird flight path |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110530364A true CN110530364A (en) | 2019-12-03 |
| CN110530364B CN110530364B (en) | 2023-01-10 |
Family
ID=68657315
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810563566.3A Active CN110530364B (en) | 2018-05-24 | 2018-05-24 | Method for planning unmanned aerial vehicle path by using bird flight path |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110530364B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102236918A (en) * | 2010-04-26 | 2011-11-09 | 鸿富锦精密工业（深圳）有限公司 | Unmanned aerial vehicle, and method for collecting data by using the same |
| US20160282131A1 (en) * | 2015-03-23 | 2016-09-29 | Gulfstream Aerospace Corporation | X-band avian radar detection and warning system |
| TWI571719B (en) * | 2015-09-08 | 2017-02-21 | Nat Chin-Yi Univ Of Tech | High-voltage electric obstruction unmanned aerial vehicle automatic cruising path planning and setting method and system |
| CN106950884A (en) * | 2017-04-13 | 2017-07-14 | 南京航空航天大学 | A kind of device and method for the outdoor flight neuromodulation of birds |
| CN107340781A (en) * | 2016-09-30 | 2017-11-10 | 广州亿航智能技术有限公司 | UAV flight control method and system |
-
2018
- 2018-05-24 CN CN201810563566.3A patent/CN110530364B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102236918A (en) * | 2010-04-26 | 2011-11-09 | 鸿富锦精密工业（深圳）有限公司 | Unmanned aerial vehicle, and method for collecting data by using the same |
| US20160282131A1 (en) * | 2015-03-23 | 2016-09-29 | Gulfstream Aerospace Corporation | X-band avian radar detection and warning system |
| TWI571719B (en) * | 2015-09-08 | 2017-02-21 | Nat Chin-Yi Univ Of Tech | High-voltage electric obstruction unmanned aerial vehicle automatic cruising path planning and setting method and system |
| CN107340781A (en) * | 2016-09-30 | 2017-11-10 | 广州亿航智能技术有限公司 | UAV flight control method and system |
| CN106950884A (en) * | 2017-04-13 | 2017-07-14 | 南京航空航天大学 | A kind of device and method for the outdoor flight neuromodulation of birds |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110530364B (en) | 2023-01-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104965518B (en) | Electric inspection process flying robot's flight course planning method based on Three-dimensional Numeric Map | |
| US10883473B2 (en) | Bird or bat detection and identification for wind turbine risk mitigation | |
| CN102707724B (en) | Visual localization and obstacle avoidance method and system for unmanned plane | |
| US9679490B2 (en) | Opportunistic unmanned autonomous vehicle energy harvesting | |
| CN204956914U (en) | Automatic unmanned aerial vehicle of flight is dodged and passes through in three dimensions range finding | |
| CN105048533B (en) | Small-sized multi-rotor unmanned aerial vehicle automatic charging system | |
| CN108007464A (en) | Ultra-high-tension power transmission line inspection robot autonomous navigation method and system | |
| CN105518377A (en) | Gas leakage processing method and apparatus, and air vehicle | |
| CN107709162A (en) | Charging system based on aircraft from main boot | |
| CN106919184A (en) | Double unmanned plane coordinated operation systems and double unmanned plane work compound methods | |
| CN104166355A (en) | Electric unmanned aerial vehicle and intelligent electric quantity protection method | |
| CN104581076A (en) | Mountain fire monitoring and recognizing method and device based on 360-degree panoramic infrared fisheye camera | |
| CN104932533A (en) | Unmanned plane, unmanned plane control method, unmanned plane remote control system and unmanned plane remote control method | |
| CN107479554A (en) | Figure air navigation aid is built in robot system and its open air | |
| CN107783106A (en) | Data fusion method between unmanned plane and barrier | |
| CN201918664U (en) | Line-walking real-time system of unmanned aerial vehicle | |
| US10856542B2 (en) | Unmanned aerial vehicle system for deterring avian species from sensitive areas | |
| CN106568441A (en) | Beidou-based electric power patrol inspection device | |
| EP3326912A1 (en) | Unmanned aerial vehicle landing system | |
| CN108958284B (en) | Unmanned aerial vehicle obstacle avoidance system and method | |
| KR102184693B1 (en) | Automatic landing method of unmanned aerial vehicle into ground-free vehicle, and automatic landing device of unmanned aerial vehicles | |
| CN106848922A (en) | A kind of intelligent electric power line walking device and method | |
| CN104316901B (en) | For the aerial intelligent robot of radio monitoring | |
| CN112684806A (en) | Electric power inspection unmanned aerial vehicle system based on dual obstacle avoidance and intelligent identification | |
| WO2018103716A1 (en) | Composite flight control method and system, aircraft |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |