CN112130577A - Path planning method and device for unmanned flight equipment, unmanned flight equipment and storage medium - Google Patents
Path planning method and device for unmanned flight equipment, unmanned flight equipment and storage medium Download PDFInfo
- Publication number
- CN112130577A CN112130577A CN201910554918.3A CN201910554918A CN112130577A CN 112130577 A CN112130577 A CN 112130577A CN 201910554918 A CN201910554918 A CN 201910554918A CN 112130577 A CN112130577 A CN 112130577A
- Authority
- CN
- China
- Prior art keywords
- flight
- detection
- unmanned aerial
- path
- aerial vehicle
- 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
- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000001514 detection method Methods 0.000 claims abstract description 77
- 238000004088 simulation Methods 0.000 claims abstract description 22
- 230000002452 interceptive effect Effects 0.000 claims description 7
- 238000004422 calculation algorithm Methods 0.000 claims description 6
- 230000036544 posture Effects 0.000 claims description 2
- 239000000523 sample Substances 0.000 claims 1
- 238000007689 inspection Methods 0.000 abstract description 28
- 238000010586 diagram Methods 0.000 description 10
- 230000008901 benefit Effects 0.000 description 5
- 238000004590 computer program Methods 0.000 description 5
- 239000011159 matrix material Substances 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a path planning method and a path planning device for unmanned aerial equipment, the unmanned aerial equipment and a storage medium, wherein a detection module is deployed on the unmanned aerial equipment, and the method comprises the following steps: receiving configuration information of a flight task, wherein the configuration information comprises a flight area and equipment parameters, and the flight area comprises a plurality of detection targets; according to the equipment parameters, carrying out simulation detection on the detection target in a three-dimensional semantic map containing the flight area; and generating a flight path corresponding to the flight mission according to the simulation detection result. According to the invention, under the conditions that satellite signals cannot be received or the satellite signals are interfered and the like, the normal flight or inspection can be still realized by configuring related information in the three-dimensional semantic map and then performing simulated detection to generate a flight path, and all detection targets can be covered during the inspection.
Description
Technical Field
The invention relates to the field of inspection of unmanned aerial vehicles, in particular to a path planning method and device of unmanned aerial vehicles, unmanned aerial vehicles and a storage medium.
Background
When flying or patrolling, a flight device such as an unmanned aerial vehicle generally needs to determine a plurality of waypoints and information of each waypoint in a plane map of a ground station, and then automatically flies. The navigation is performed in automatic flight using Inertial Measurement Units (IMU) and data of Global Navigation Satellite System (GNSS). However, for some special flight missions, for example: in scenes such as power line inspection, mine hole investigation and the like, the problems that satellite signals cannot be received, the satellite signals receive interference, flight tracks cannot be determined on a two-dimensional plane and the like can occur.
Therefore, how to realize normal flight or inspection by the unmanned aerial vehicle under the condition that satellite signals cannot be received is a current technical problem, and all detection targets can be covered in the inspection.
Disclosure of Invention
In view of the above, the present invention has been made to provide a method and an apparatus for path planning for an unmanned aerial vehicle, and a storage medium that overcome or at least partially solve the above problems.
According to an aspect of the present invention, there is provided a path planning method for an unmanned aerial vehicle, where a detection module is deployed on the unmanned aerial vehicle, the method including:
receiving configuration information of a flight task, wherein the configuration information comprises a flight area and equipment parameters, and the flight area comprises a plurality of detection targets;
according to the equipment parameters, carrying out simulation detection on the detection target in a three-dimensional semantic map containing the flight area;
and generating a flight path corresponding to the flight mission according to the simulation detection result.
Optionally, the receiving configuration information of the flight mission includes:
providing an interactive interface of the three-dimensional semantic map;
and determining the flight area according to the flight area marking information received by the interactive interface.
Optionally, the detection module is a camera or a lidar, and the device parameter includes at least one of: fly height, internal references to the camera or lidar and external references to the camera or lidar.
Optionally, the generating a flight path corresponding to the flight mission according to the simulated detection result includes:
and determining the camera or laser radar postures corresponding to each point in the flight path according to the surface normal vector of the detection target.
Optionally, the method further includes: generating a compressed map corresponding to the flight area based on an octree algorithm;
and navigating according to the compressed map and the flight path.
Optionally, the navigating according to the compressed map and the flight path includes:
performing point cloud matching according to the local point cloud image obtained by the detection module, and determining the position of the unmanned aerial vehicle in the compressed map;
and navigating according to the determined position and the flight path.
Optionally, the navigating according to the determined position and the flight path includes:
and if the obstacle is determined according to the local point cloud picture, carrying out local path planning to realize obstacle avoidance.
According to another aspect of the present invention, there is provided a path planning apparatus for an unmanned aerial vehicle, the unmanned aerial vehicle having a detection module deployed thereon, the apparatus including:
the configuration module is suitable for receiving configuration information of a flight mission, wherein the configuration information comprises a flight area and equipment parameters, and the flight area comprises a plurality of detection targets;
the simulation detection module is suitable for performing simulation detection on the detection target in a three-dimensional semantic map containing the flight area according to the equipment parameters;
and the flight path generation module is suitable for generating a flight path corresponding to the flight task according to a simulation detection result.
According to still another aspect of the present invention, there is provided an unmanned aerial vehicle including: a processor; and a memory arranged to store computer executable instructions that, when executed, cause the processor to perform a method as any one of the above.
According to a further aspect of the invention, there is provided a computer readable storage medium, wherein the computer readable storage medium stores one or more programs which, when executed by a processor, implement a method as any one of the above.
According to the technical scheme, the configuration information of the flight mission is received firstly, the configuration information comprises a flight area and equipment parameters, and the flight area comprises a plurality of detection targets; and according to the equipment parameters, carrying out simulation detection on the detection target in a three-dimensional semantic map containing the flight area; and then generating a flight path corresponding to the flight mission according to the simulation detection result. According to the invention, under the conditions that satellite signals cannot be received or the satellite signals are interfered and the like, the normal flight or inspection can be still realized by configuring related information in the three-dimensional semantic map and then performing simulated detection to generate a flight path, and all detection targets can be covered during the inspection.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 shows a schematic flow diagram of a path planning method for an unmanned aerial vehicle according to an embodiment of the invention;
fig. 2 is a schematic structural diagram of a path planning apparatus of an unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 3 illustrates a schematic structural diagram of an unmanned aerial vehicle according to one embodiment of the present invention;
FIG. 4 shows a schematic structural diagram of a computer-readable storage medium according to one embodiment of the invention;
FIG. 5 illustrates an exemplary view of the inspection flight area forming a closed path in accordance with one embodiment of the present invention;
fig. 6 illustrates an exemplary view of inspection photographing using an observation camera according to an embodiment of the present invention;
FIG. 7 illustrates a schematic diagram of forming a flight plan path based on a detected target surface and a safe flying height according to one embodiment of the present invention;
FIG. 8 illustrates a schematic view of a flight path bypassing a wire obstacle, according to one embodiment of the present invention;
FIG. 9 illustrates an exemplary diagram of a compressed three-dimensional semantic map according to one embodiment of the invention;
FIG. 10 shows a schematic diagram representing a relationship between a planned path and an actual path, according to one embodiment of the invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
The method mainly comprises the steps of generating an observation camera in a three-dimensional semantic map to simulate a real camera according to input unmanned flight equipment parameters, flight heights and the like when the unmanned flight equipment and other flight equipment are used for routing inspection, and automatically generating a flight path so that the flight path can cover all detected targets. In addition, the flight path further comprises parameters such as camera attitude and the like, so that the camera is kept parallel to the surface of the detected target during detection, and the detected target can be accurately shot; and the scheme of autonomous navigation, obstacle avoidance and the like is realized by utilizing a compressed three-dimensional semantic map uploaded to the aircraft and a local point cloud map constructed by a camera in real time.
Fig. 1 is a schematic flow chart illustrating a path planning method for an unmanned aerial vehicle according to an embodiment of the present invention, wherein a detection module is deployed on the unmanned aerial vehicle, and the method includes:
step S110, receiving configuration information of the flight mission, wherein the configuration information comprises a flight area and equipment parameters, and the flight area comprises a plurality of detection targets.
For example, information related to a certain inspection flight task is received as configuration information, and a target area to be flown, parameters of equipment including a detection module (such as a camera, a laser radar) and the unmanned flight equipment itself, and the like may be used as configuration information.
In a certain flight inspection, an object to be inspected in a critical manner can be selected as a detection target, such as an electric tower in power line inspection, a photovoltaic panel with critical characteristics, and a critical area in other scenes, wherein the comprehensive inspection of the object to be inspected in the critical manner is an important object of the present invention.
And step S120, performing simulation detection on the detection target in the three-dimensional semantic map containing the flight area according to the equipment parameters.
In a specific implementation manner of this embodiment, a three-dimensional point cloud image formed by laser radar or shooting is selected as a three-dimensional semantic map, and an observation camera is generated in the three-dimensional semantic map to simulate a real camera to shoot according to device parameters such as a camera or laser radar, as shown in fig. 6, the left side in the figure is an actual image in inspection, and the right side is an image shot by the observation camera. By moving the observation camera in the three-dimensional semantic map, all detected objects can be traversed. Thus, from the perspective of the observation camera, it can be known whether the generated path covers all objects within the area.
And step S130, generating a flight path corresponding to the flight mission according to the simulation detection result.
According to the actual situation of the observation camera simulation detection, a plurality of paths can be obtained through different algorithms and rules, then a feasible path with economic benefits is selected, and finally the flight path of the flight inspection is generated and stored.
According to the invention, under the conditions that satellite signals cannot be received or the satellite signals are interfered and the like, the normal flight or inspection can be still realized by configuring related information in the three-dimensional semantic map and then performing simulated detection to generate a flight path, and all detection targets can be covered during the inspection.
In a specific embodiment, in step S110, the receiving configuration information of the mission includes: providing an interactive interface of the three-dimensional semantic map; and determining the flight area according to the flight area marking information received by the interactive interface.
The operations such as configuration information input and the like can be performed in the interactive interface of the three-dimensional semantic map, as shown in fig. 5, a plurality of points are selected as marking information in the three-dimensional semantic map, and a closed area formed according to the plurality of points is used as the flight area range of the flight inspection task.
In one specific embodiment, in step S120, the detection module is a camera or a lidar, and the device parameter includes at least one of: fly height, internal references to the camera or lidar and external references to the camera or lidar.
The detection module may select a lidar or a camera. The laser positioning is accurate, but the cost is high, and rich characteristics cannot be identified; and the camera can obtain comprehensive image information under the illumination condition in the daytime.
In a specific embodiment, camera internal parameters and camera external parameters are selected as camera parameters, so that an accurate shooting structure is obtained, and a shooting task can be well completed. Wherein the camera internal parameters comprise an internal parameter matrix and/or a distortion parameter matrix, and the camera external parameters comprise a rotation matrix and/or a translation matrix.
In addition, the method also comprises the step of setting the effective flight height, so that safe and clear shooting results are realized. The safe altitude is an altitude at which a crash of the aircraft does not occur even when the aircraft is affected by other factors. In the specific parameter configuration, when the input height is larger than the safe height, the input height is used, and when the input height is smaller than the safe height, the safe height is used.
As a specific embodiment, the step S130 of generating a flight path corresponding to the flight mission according to the simulated detection result includes: and determining the camera attitude corresponding to each point in the flight path according to the surface normal vector of the detection target.
Because the observation targets are different and the influence of the terrain, the surface orientation of the detection target is also changed continuously, and in order to obtain an accurate shooting tour result, in the embodiment, the surface of the detection target is kept parallel to the camera, so that a better tour-tour shooting effect is obtained.
Specifically, the surface of the target or the area is obtained by calculating a surface normal vector of the target or the area, and then the camera or the laser radar attitude corresponding to each point in the flight path is determined, so that the camera view angle is perpendicular to the surface of the target or the area. As shown in fig. 7.
As a preferred embodiment, the method further comprises: generating a compressed map corresponding to the flight area based on an octree algorithm; and navigating according to the compressed map and the flight path.
In order to increase the response speed of the unmanned aerial vehicle during flying according to the generated flying path and reduce the running calculation cost and memory load of the unmanned aerial vehicle, in this embodiment, a three-dimensional semantic map of a flying area is compressed, and an example of the compressed map is shown in fig. 9.
As a preferred embodiment, the navigating according to the compressed map and the flight path includes: performing point cloud matching according to the local point cloud image obtained by the detection module, and determining the position of the unmanned aerial vehicle in the compressed map; and navigating according to the determined position and the flight path.
The unmanned aerial vehicle establishes a local point cloud map according to the camera, determines the position of the unmanned aerial vehicle in the compressed three-dimensional semantic map by using point cloud matching, and then realizes autonomous navigation according to a flight planning path and a current path, wherein the relation between an actual path and the flight planning path during inspection is shown in fig. 10.
In a specific embodiment, said navigating according to the determined position and the flight path comprises:
and if the obstacle is determined according to the local point cloud picture, carrying out local path planning to realize obstacle avoidance.
In this embodiment, the surrounding environment is determined based on the local cloud point map, and when an obstacle is found in front of the route, the current path should be re-planned to avoid the obstacle.
In the case of selecting a point cloud as a three-dimensional semantic map, each point belongs to a certain class, for example: vehicles, solar panels, buildings, etc., some points may not be in the sorted list, and their categories are background. For example, a line in a utility pole may not have a complete point in the three-dimensional map for accuracy reasons, and a partial line segment may be considered to be background and therefore the generated planned path may be on the line segment. In the embodiment of the present invention, the actual flight path may determine that the line segment is an obstacle according to the local cloud point map, and should bypass the area between the utility poles, as shown in fig. 8.
Fig. 2 is a schematic structural diagram of a path planning apparatus 200 of an unmanned aerial vehicle according to an embodiment of the present invention; the unmanned aerial vehicle is provided with a detection module, and the device comprises:
the configuration unit 210 is adapted to receive configuration information of the flight mission, where the configuration information includes a flight area and device parameters, and the flight area includes a plurality of detection targets.
For example, relevant information of a certain inspection flight task is received as configuration information, a target area to be flown is taken as the configuration information, and parameters of equipment are taken as the configuration information, wherein the equipment comprises a detection module and unmanned flight equipment.
In a certain flight inspection, an object to be inspected in a key way can be selected as a detection target, such as an electric tower in power line inspection, a photovoltaic panel with key characteristics and the like, and the comprehensive inspection of the object to be inspected in the key way is an important target of the invention.
And the simulation detection unit 220 is suitable for performing simulation detection on the detection target in a three-dimensional semantic map containing the flight area according to the equipment parameters.
In a preferred implementation manner of this embodiment, a three-dimensional point cloud image formed by laser radar or image capture is selected as a three-dimensional semantic map, and an observation camera is generated in the three-dimensional semantic map to simulate a real camera to perform image capture and image capture according to device parameters such as a camera, as shown in fig. 6, the left side in the figure is an actual image in inspection, and the right side is an image captured by the observation camera. All detected objects are traversed by moving the observation camera in the three-dimensional semantic map. Thus, from the perspective of the observation camera, it can be known whether the generated path covers all objects or areas.
The flight path generating unit 230 generates a flight path corresponding to the flight mission according to the simulation detection result.
According to the actual situation of the simulated detection of the observation camera, a plurality of paths capable of covering all detection targets can be obtained through different algorithms, then a feasible path with economic benefit is selected, and finally a flight path is generated and stored.
It should be noted that, for the specific implementation of the above device embodiment, reference may be made to the specific implementation of the corresponding method embodiment, which is not described herein again.
In summary, according to the technical solution of the present invention, configuration information of a flight mission is received, where the configuration information includes a flight area and device parameters, and the flight area includes a plurality of detection targets; and according to the equipment parameters, carrying out simulation detection on the detection target in a three-dimensional semantic map containing the flight area; and then generating a flight path corresponding to the flight mission according to the simulation detection result. According to the invention, under the conditions that satellite signals cannot be received or the satellite signals are interfered and the like, the normal flight or inspection can be still realized by configuring related information in the three-dimensional semantic map and then performing simulated detection to generate a flight path, and all detection targets can be covered during the inspection.
It should be noted that:
the algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose devices may be used with the teachings herein. The required structure for constructing such a device will be apparent from the description above. Moreover, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the invention and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components in the path planning apparatus of the unmanned aerial vehicle according to embodiments of the present invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
For example, fig. 3 shows a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the invention. The unmanned aerial device 300 includes a processor 310 and a memory 320 arranged to store computer executable instructions (computer readable program code). The memory 320 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. The memory 320 has a storage space 330 storing computer readable program code 331 for performing any of the method steps described above. For example, the storage space 330 for storing the computer readable program code may comprise respective computer readable program codes 331 for respectively implementing various steps in the above method. The computer readable program code 331 may be read from or written to one or more computer program products. These computer program products comprise a program code carrier such as a hard disk, a Compact Disc (CD), a memory card or a floppy disk. Such a computer program product is typically a computer readable storage medium such as described in fig. 4. Fig. 4 shows a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present invention. The computer-readable storage medium 400 stores a computer-readable program code 331 for performing the steps of the method according to the invention, which is readable by the processor 310 of the drone 300 and which, when the computer-readable program code 331 is executed by the drone 300, causes the drone 300 to perform the steps of the method described above, in particular the computer-readable program code 331 stored by the computer-readable storage medium may perform the method shown in any of the embodiments described above. The computer readable program code 331 may be compressed in a suitable form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
Claims (10)
1. A path planning method for unmanned aerial vehicle equipment is provided, and a detection module is deployed on the unmanned aerial vehicle equipment, and is characterized by comprising the following steps:
receiving configuration information of a flight task, wherein the configuration information comprises a flight area and equipment parameters, and the flight area comprises a plurality of detection targets;
according to the equipment parameters, carrying out simulation detection on the detection target in a three-dimensional semantic map containing the flight area;
and generating a flight path corresponding to the flight mission according to the simulation detection result.
2. The method of claim 1, wherein the receiving configuration information for a mission comprises:
providing an interactive interface of the three-dimensional semantic map;
and determining the flight area according to the flight area marking information received by the interactive interface.
3. The method of claim 1, wherein the detection module is a camera or a lidar and the device parameters include at least one of: fly height, internal references to the camera or lidar and external references to the camera or lidar.
4. The method of claim 3, wherein generating a flight path corresponding to the mission based on the simulated probe results comprises:
and determining the camera or laser radar postures corresponding to each point in the flight path according to the surface normal vector of the detection target.
5. The method of claim 1, wherein the method further comprises: generating a compressed map corresponding to the flight area based on an octree algorithm;
and navigating according to the compressed map and the flight path.
6. The method of claim 5, wherein the navigating according to the compressed map and the flight path comprises:
performing point cloud matching according to the local point cloud image obtained by the detection module, and determining the position of the unmanned aerial vehicle in the compressed map;
and navigating according to the determined position and the flight path.
7. The method of claim 6, wherein the navigating based on the determined position and the flight path comprises:
and if the obstacle is determined according to the local point cloud picture, carrying out local path planning to realize obstacle avoidance.
8. A path planning device of unmanned aerial vehicle equipment is provided, the unmanned aerial vehicle equipment is disposed with a detection module, and the device is characterized by comprising:
the configuration unit is suitable for receiving configuration information of a flight mission, wherein the configuration information comprises a flight area and equipment parameters, and the flight area comprises a plurality of detection targets;
the simulation detection unit is suitable for performing simulation detection on the detection target in a three-dimensional semantic map containing the flight area according to the equipment parameters;
and the flight path generating unit is suitable for generating a flight path corresponding to the flight mission according to a simulation detection result.
9. An unmanned aerial vehicle device, wherein the unmanned aerial vehicle device comprises: a processor; and a memory arranged to store computer-executable instructions that, when executed, cause the processor to perform the method of any one of claims 1-7.
10. A computer readable storage medium, wherein the computer readable storage medium stores one or more programs which, when executed by a processor, implement the method of any of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910554918.3A CN112130577B (en) | 2019-06-25 | 2019-06-25 | Unmanned aerial vehicle path planning method and device, unmanned aerial vehicle and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910554918.3A CN112130577B (en) | 2019-06-25 | 2019-06-25 | Unmanned aerial vehicle path planning method and device, unmanned aerial vehicle and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112130577A true CN112130577A (en) | 2020-12-25 |
| CN112130577B CN112130577B (en) | 2024-07-12 |
Family
ID=73849436
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910554918.3A Active CN112130577B (en) | 2019-06-25 | 2019-06-25 | Unmanned aerial vehicle path planning method and device, unmanned aerial vehicle and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112130577B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113359865A (en) * | 2021-08-03 | 2021-09-07 | 深圳奥雅设计股份有限公司 | Unmanned aerial vehicle flight path generation method and system |
| CN114610062A (en) * | 2022-03-09 | 2022-06-10 | 广州极飞科技股份有限公司 | Flight risk determination method and device, electronic equipment and storage medium |
| CN115480589A (en) * | 2022-09-06 | 2022-12-16 | 中科云尚(南京)智能技术有限公司 | Method and system for generating fan inspection route based on unmanned aerial vehicle |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104965518A (en) * | 2015-05-21 | 2015-10-07 | 华北电力大学 | Power inspection tour flying robot air route planning method based on three-dimensional digital map |
| US10012996B1 (en) * | 2017-09-15 | 2018-07-03 | Savioke, Inc. | Route planning for a mobile robot using configuration-based preferences |
| CN108646770A (en) * | 2018-03-28 | 2018-10-12 | 深圳臻迪信息技术有限公司 | A kind of UAV Flight Control method, apparatus and system |
| CN109634304A (en) * | 2018-12-13 | 2019-04-16 | 中国科学院自动化研究所南京人工智能芯片创新研究院 | Unmanned plane during flying paths planning method, device and storage medium |
| CN109709977A (en) * | 2017-10-26 | 2019-05-03 | 广州极飞科技有限公司 | The method, apparatus and mobile object of motion track planning |
-
2019
- 2019-06-25 CN CN201910554918.3A patent/CN112130577B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104965518A (en) * | 2015-05-21 | 2015-10-07 | 华北电力大学 | Power inspection tour flying robot air route planning method based on three-dimensional digital map |
| US10012996B1 (en) * | 2017-09-15 | 2018-07-03 | Savioke, Inc. | Route planning for a mobile robot using configuration-based preferences |
| CN109709977A (en) * | 2017-10-26 | 2019-05-03 | 广州极飞科技有限公司 | The method, apparatus and mobile object of motion track planning |
| CN108646770A (en) * | 2018-03-28 | 2018-10-12 | 深圳臻迪信息技术有限公司 | A kind of UAV Flight Control method, apparatus and system |
| CN109634304A (en) * | 2018-12-13 | 2019-04-16 | 中国科学院自动化研究所南京人工智能芯片创新研究院 | Unmanned plane during flying paths planning method, device and storage medium |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113359865A (en) * | 2021-08-03 | 2021-09-07 | 深圳奥雅设计股份有限公司 | Unmanned aerial vehicle flight path generation method and system |
| CN113359865B (en) * | 2021-08-03 | 2021-11-16 | 深圳奥雅设计股份有限公司 | Unmanned aerial vehicle flight path generation method and system |
| CN114610062A (en) * | 2022-03-09 | 2022-06-10 | 广州极飞科技股份有限公司 | Flight risk determination method and device, electronic equipment and storage medium |
| CN115480589A (en) * | 2022-09-06 | 2022-12-16 | 中科云尚(南京)智能技术有限公司 | Method and system for generating fan inspection route based on unmanned aerial vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112130577B (en) | 2024-07-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8996207B2 (en) | Systems and methods for autonomous landing using a three dimensional evidence grid | |
| CN108132678B (en) | Flight control method of aircraft and related device | |
| Cesetti et al. | A visual global positioning system for unmanned aerial vehicles used in photogrammetric applications | |
| US11725940B2 (en) | Unmanned aerial vehicle control point selection system | |
| CN112130577B (en) | Unmanned aerial vehicle path planning method and device, unmanned aerial vehicle and storage medium | |
| CN108955645A (en) | Three-dimensional modeling method and device applied to communication iron tower intelligent patrol detection | |
| CN110244765B (en) | Aircraft route track generation method and device, unmanned aerial vehicle and storage medium | |
| CN102506867B (en) | SINS (strap-down inertia navigation system)/SMANS (scene matching auxiliary navigation system) combined navigation method based on Harris comer matching and combined navigation system | |
| CN111681163A (en) | Method and device for constructing point cloud map, electronic equipment and storage medium | |
| CN112712558A (en) | Positioning method and device of unmanned equipment | |
| Wich et al. | Conservation drones | |
| CN114689046B (en) | Method and system for unmanned aerial vehicle to inspect tunnel | |
| CN108701164A (en) | Obtain method, apparatus, storage medium and the equipment of flight simulation data | |
| US11047690B2 (en) | Automated emergency response | |
| Schleiss et al. | VPAIR--Aerial Visual Place Recognition and Localization in Large-scale Outdoor Environments | |
| Bailey | Unmanned aerial vehicle path planning and image processing for orthoimagery and digital surface model generation | |
| CN113448340B (en) | Unmanned aerial vehicle path planning method and device, unmanned aerial vehicle and storage medium | |
| Spicer et al. | Producing usable simulation terrain data from UAS-collected imagery | |
| Ștefan et al. | THE DRONES ARE COMING. WHAT TO CHOOSE? LOW AND MEDIUM ALTITUDE AERIAL ARCHAEOLOGY ON LIMES TRANSALUTANUS. | |
| KR102515245B1 (en) | Method and apparatus for preventing loss of unmanned air vehicle | |
| CN115494880B (en) | Unmanned aerial vehicle route planning method, system, terminal and storage medium | |
| JP7295321B1 (en) | Information processing device, program, system, and information processing method | |
| Kurdi et al. | Efficient navigation system of mobile robot with thermography image processing system and mapping of quadcopter | |
| Radford | Best Practices when Using Multi-Rotor Consumer UAVs for Photogrammetric Mapping: Limitations and Possible Solutions | |
| Jensen | gRAID: A geospatial real-time aerial image display for a low-cost autonomous multispectral remote sensing platform (AggieAir) |
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 |