CN112214143B - Visual display method and device for safe take-off and landing area of unmanned aerial vehicle - Google Patents
Visual display method and device for safe take-off and landing area of unmanned aerial vehicle Download PDFInfo
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Abstract
The invention discloses a visual display method for a safe take-off and landing area of an unmanned aerial vehicle, which belongs to the field of surveying and mapping of vertical take-off and landing fixed wing unmanned aerial vehicles, and the visual display method is implemented according to the following steps: s00: and inserting the coordinates of the lifting point and the preset sampling radius. S10: the area calculation unit generates a geographical elevation sampling point set according to the coordinates of the lifting points and the sampling radius, and verifies the validity of each spiral point in the geographical elevation sampling point set through a sampling point verification algorithm to generate a safety coordinate set and a risk coordinate set. S20: and the three-dimensional terrain modeling unit generates a safety region and a risk region according to the safety coordinate set and the risk coordinate set. S30: and the human-computer interaction unit displays the safety area and the risk area on a map interface of a digital terrain model. The visual display method can visually and visually display the safety region corresponding to the effective spiral point of the fixed-wing unmanned aerial vehicle, and avoids the user from placing the wrong spiral point by operating the limiting parameter parameters, so that the misoperation of the user is effectively prevented.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle surveying and mapping methods, in particular to a visual display method for a safe take-off and landing area of an unmanned aerial vehicle and a visual display device for the visual display method.
Background
To the fixed wing unmanned aerial vehicle that has the VTOL function, often need both select the point of circling in survey and drawing area, the point of circling is including circling the climbing point and circling the high point of falling, fixed wing unmanned aerial vehicle adopts rotor flight mode vertical flight to still need to rotate the climbing point round circling after truning into the fixed wing flight mode after a period and climb, fixed wing unmanned aerial vehicle need select again to fly back and circle the high point of falling in the mission segment again when returning to the navigation to fixed wing unmanned aerial vehicle can return to the navigation safely. As shown in fig. 7, there are usually two ways for the software system to automatically select and perform field surveys in order to select the appropriate hover point. If a mode of software system automatic selection is adopted in the actual surveying and mapping process, the existing software system cannot judge the environment near the safe take-off and landing point in the unmanned aerial vehicle operation construction process, so that the existing software system cannot select the spiral point. For example: chinese patent document CN107168355A is an unmanned aerial vehicle route determining method and device. The method comprises the following steps: determining at least one target space coordinate according to external input data, wherein the target space coordinate comprises longitude and latitude coordinates and flight height of a target point; determining the space coordinate of the take-off and landing point when the unmanned aerial vehicle reaches the flying height according to the starting space coordinate of the unmanned aerial vehicle; and determining a journey-going route of the unmanned aerial vehicle according to the starting space coordinate, the target space coordinate and the take-off and landing point space coordinate. Although this patent discloses a take-off and landing point and a hover point, no further investigation has been made as to how both are selected. Therefore, the existing software system does not have the function of automatically selecting the hovering point, whether a certain area can be inserted into the hovering point or not is often determined by adopting an artificial investigation mode in the actual operation construction process, the use cost of the unmanned aerial vehicle is obviously increased, and due to the limitation of naked eyes and a surveying and mapping instrument, a lot of tests can only be carried out on the ground, and the accuracy is extremely poor.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a visual display method for a safe take-off and landing area of an unmanned aerial vehicle, which can visually display the safe area where a circle point can be placed in the range of the radius of the take-off and landing point of a vertical take-off and landing fixed wing unmanned aerial vehicle, and avoid a user from placing a wrong circle point by operating limiting parameters.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a visual display method for a safe take-off and landing area of an unmanned aerial vehicle, which is implemented according to the following steps:
s00: inserting the coordinates of the lifting point into a map interface of the digital terrain model through the human-computer interaction unit and presetting a sampling radius through the human-computer interaction unit.
S10: the human-computer interaction unit transmits the coordinates of the take-off and landing points and the sampling radius to an area calculation unit, the area calculation unit generates a geographical elevation sampling point set according to the coordinates of the take-off and landing points and the sampling radius, and the area calculation unit verifies the effectiveness of each spiral point in the geographical elevation sampling point set through a sampling point verification algorithm to generate a safety coordinate set and a risk coordinate set.
S20: the region calculation unit transmits the safety coordinate set and the risk coordinate set to a three-dimensional terrain modeling unit, and the three-dimensional terrain modeling unit generates a safety region, a risk region and operation limiting parameters according to the safety coordinate set and the risk coordinate set and transmits the safety region, the risk region and the operation limiting parameters back to the human-computer interaction unit.
S30: and the human-computer interaction unit displays the safety region and the risk region on a map interface of a digital terrain model, and limits the human-computer operation of the user according to the operation limiting parameters.
The further technical solution of the present invention is that, in the step of S10, the calculation steps of the sampling point verification algorithm are as follows:
s101: optionally, a hover point is selected from the set of geographic elevation sampling points, the hover point corresponding to the hover basepoint coordinates.
S102: the preset mode conversion coil height H, the coil radius R and the safety zone early warning height H3.
S103: and calculating the center coordinates of the mode conversion disc coil according to the disc base point coordinates and the height H of the mode conversion disc coil.
S105: calculating the relative distance H between each coordinate in the map data coordinates or the sampling point coordinates and the initial spiral surface, if the relative distance H corresponding to each coordinate is greater than the safety zone early warning height H3, considering the spiral point as a safety point, and if the relative distance H corresponding to one coordinate is less than or equal to the safety zone early warning height H3, considering the spiral point as a risk point;
s106: and repeating the steps S101 to S105, completing the verification of the validity of each spiral point in the geographic elevation sampling point set, forming all the safety points into the safety coordinate set, and forming all the risk points into the risk coordinate set.
S106: and repeating the steps S201 to S205, completing the verification of the validity of each spiral point in the geographic elevation sampling point set, forming all the safety points into the safety coordinate set, and forming all the risk points into the risk coordinate set.
The invention further adopts the technical scheme that the target course height H1 and the hovering height difference H2 of the unmanned aerial vehicle are preset.
The area calculating unit calculates the height H of the mode conversion spiral ring, and the calculation formula is as follows:
and the mode conversion circling height H is equal to the unmanned aerial vehicle target course height H1-the circling height difference H2.
The three-dimensional terrain modeling unit generates a task route according to a preset unmanned aerial vehicle target route height H1, and the three-dimensional terrain modeling unit generates a spiral route according to the mode conversion spiral coil and a plane where the task route is located.
The technical scheme of the invention is that when the coordinates of the take-off and landing points are dragged in a map interface of the digital terrain model through the human-computer interaction unit or different coordinates of the take-off and landing points are selected through clicking, the region calculation unit calculates a safety coordinate set and a risk coordinate set in real time and transmits the safety coordinate set and the risk coordinate set to the three-dimensional terrain modeling unit, a safety region and a risk region are generated in real time through the three-dimensional terrain modeling unit, and the safety region and the risk region corresponding to each coordinate of the take-off and landing points are dynamically displayed in real time in the human-computer interaction unit.
The invention further adopts the technical scheme that the human-computer interaction unit displays the safe area and the risk area through color difference; or the man-machine interaction unit carries out hiding operation on the risk area, and a spiral point can be dragged or inserted at any position of the safety area through the man-machine interaction unit.
The invention further adopts the technical scheme that the operation limiting parameter is configured to be limited by the boundary of the safe area, and a cursor dragging or inserting a spiral point is prohibited from exceeding the boundary of the safe area; or the operation limiting parameter is configured as an overrun popup window of the safety area, and the overrun popup window records the overrun range of the spiral point.
The invention further adopts the technical scheme that the circling height difference H2 is adjusted through a progress bar of the human-computer interaction unit or an input numerical value, the circling height difference H2 is adjusted to change, and then the mode conversion circling height H is adjusted, so that the risk point in the step S10 is converted into a safety point until the risk coordinate set is converted into the safety coordinate set.
The technical scheme of the invention is that the three-dimensional terrain modeling unit generates a spiral flight path with the length of L1 and a transition flight path between the end point of the spiral flight path with the distance of L2 and the start point of the task flight path, the three-dimensional terrain modeling unit carries out shortest path calculation on the safety coordinate set and then sorts the safety coordinate set, the safety coordinate set is screened according to a first preset proportion to generate a first optimized area, the first optimized area is transmitted to the human-computer interaction unit, and the human-computer interaction unit displays the first optimized area.
The technical scheme of the invention is that the area calculation unit generates a dynamic vertical take-off and landing target height of the unmanned aerial vehicle according to corresponding digital elevation model data in a map interface of a digital terrain model, configures a mode conversion spiral height H as the vertical take-off and landing target height of the unmanned aerial vehicle, the area calculation unit calculates a dynamic spiral height difference H2 according to the vertical take-off and landing target height of the unmanned aerial vehicle, the three-dimensional terrain modeling unit performs screening according to a second preset proportion corresponding spiral height difference set to generate a second optimized area, the second optimized area is transmitted to the human-computer interaction unit, and the human-computer interaction unit displays the second optimized area.
The invention also provides a visual display device for the visual display method for the safe take-off and landing area of the unmanned aerial vehicle, which comprises the following steps:
and the human-computer interaction unit is used for acquiring the coordinate information of the take-off and landing point and displaying the safety area and the risk area.
And the area calculation unit is used for generating a safety coordinate set and a risk coordinate set according to the coordinate information of the take-off and landing points.
And the three-dimensional terrain modeling unit is used for generating a safety region, a risk region and an operation limiting parameter according to the safety coordinate set and the risk coordinate set.
The human-computer interaction unit acquires coordinate information of a lifting point, transmits the coordinate information to the region calculation unit, generates a safety coordinate set and a risk coordinate set through the region calculation unit, transmits the generated safety coordinate set and risk coordinate set to the three-dimensional terrain modeling unit to generate a safety region, a risk region and operation limiting parameters, and transmits the parameters back to the human-computer interaction unit to display the safety region and the risk region and limit human-computer operation.
The invention has the beneficial effects that:
according to the visual display method for the safe take-off and landing area of the unmanned aerial vehicle, the safe coordinate set and the risk coordinate set in the geographic elevation sampling point set can be calculated through the area calculation unit, the safe area, the risk area and the operation limiting parameter are generated through the three-dimensional terrain modeling unit and are transmitted back to the man-machine interaction unit to visually and visually display the safe area and the risk area of the hovering point, so that a user can quickly select the proper hovering point, and the overall process of surveying and mapping operation of the unmanned aerial vehicle is improved. In addition, the visual display method for the safe take-off and landing area of the unmanned aerial vehicle can intelligently hide the unsafe area and is provided with the operation limiting parameters, the misoperation of a user can be avoided through the operation limiting parameters, the wrong spiral point is prevented from being placed, the boundary of the safe area is clear through hiding the unsafe area, the risk area is automatically avoided, the spiral point is more visual, and the overall safety of the planned mission route is greatly improved.
Drawings
FIG. 1 is a flow chart of a visualization display method provided in an embodiment of the present invention;
FIG. 2 is a flowchart of the operation of a blind spot calculation unit provided in an embodiment of the present invention;
fig. 3 is a block diagram of a visual display apparatus provided in an embodiment of the present invention;
FIG. 4 is a schematic illustration of a safe take-off and landing area provided in an embodiment of the present invention;
FIG. 5 is a schematic cross-sectional view of a safety takeoff and landing area provided in an embodiment of the present invention;
FIG. 6 is a schematic illustration of an interface for a secure take-off and landing area provided in an embodiment of the present invention;
FIG. 7 is a schematic illustration of the safe take-off and landing area insertion hover point provided in the background of the invention.
In the figure:
11. a human-computer interaction unit; 12. a region calculation unit; 13. a three-dimensional terrain modeling unit.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
Example one
As shown in fig. 1, fig. 2, fig. 3, and fig. 4, the visual display method for the safe takeoff and landing area of the unmanned aerial vehicle provided in this embodiment is implemented according to the following steps:
and step S00: the coordinates of the lifting point are inserted into a map interface of the digital terrain model through the human-computer interaction unit 11, and the sampling radius is preset through the human-computer interaction unit 11. The human-computer interaction unit 11 is typically an interaction device with a display, for example: the human-computer interaction unit 11 is used for inputting user instructions and displaying visual digital terrain models, and a safety region and a risk region can be visually seen through a display in the human-computer interaction unit 11. The user can input the sampling radius through the man-machine interaction unit 11, and can also calculate and generate automatically according to the basic parameters of the unmanned aerial vehicle and the area of the effective mapping area. The digital terrain model DEM or DTM is mainly used for describing the fluctuation condition of the ground, can extract various terrain parameters such as gradient, slope direction, roughness and the like, and performs application analysis such as visual analysis and watershed structure generation, and the DEM can be expressed in a grid mode, a contour line mode, a triangular network mode and the like.
And step S10: the user transmits the coordinates of the take-off and landing points and the sampling radius to the area calculation unit 12 through the human-computer interaction unit 11, the area calculation unit 12 generates a geographical elevation sampling point set according to the coordinates of the take-off and landing points and the sampling radius, the more sampling points in the geographical elevation sampling point set, the higher the precision of a safety area and a risk area in principle, but the corresponding calculation amount is increased, so that the reasonable spiral point density can be set according to the actual area and proportion of a map interface, and the relationship between the two can be obtained through experiments. The area calculation unit 12 verifies the validity of each spiral point in the geographic elevation sampling point set through a sampling point verification algorithm, and generates a safe coordinate set and a risk coordinate set. The map interface of the digital terrain model is usually rugged, so that the difficulty of calculating the safe region and the risk region by adopting a curved surface modeling mode is high, the practical operability and practicability are higher by adopting a sampling mode to calculate the boundary of the safe region and the risk region, and the boundary of the safe region and the risk region can be rapidly obtained by drawing a line on the boundary.
In order to ensure the safety of the unmanned aerial vehicle in the whole hovering area and further improve the reliability of the safe area, further, in the step S10, the calculation steps of the sampling point verification algorithm are as follows:
s101, a step: the area calculation unit 12 selects any one of the set of geographic elevation sampling points as a hover point and obtains hover basepoint coordinates corresponding to the hover point. The selection of the hover point may be randomly selected by the region calculation unit 12 or may be selected in some order, for example: the selections are sorted by height data size. It is worth noting that the validity of the circling point is completed, selection is not needed, and the validity check of the whole geographical elevation sampling point set is completed after the validity check is performed on each point in the geographical elevation sampling point set.
S102, a step: the mode is preset to convert the height H of the spiral ring, the spiral radius R and the early warning height H3 of the safety zone through the man-machine interaction unit 11. Further, according to the mode conversion convolution height H, which is the unmanned aerial vehicle target route height H1 — the convolution height difference H2, the unmanned aerial vehicle target route height H1 is only required to be preset by the human-computer interaction unit 11 or generated based on basic data for output, and the mode conversion convolution height H can be calculated by presetting the convolution height difference H2 by the human-computer interaction unit 11. The mode conversion helicoid is a first helicoid when the fixed-wing unmanned aerial vehicle with the vertical take-off and landing function is converted into a fixed-wing flight mode after vertically flying for a period of time in a rotor flight mode, and can also be an initial helicoid.
S103, a step: the area calculation unit 12 calculates the center coordinates of the mode conversion disk based on the disk base point coordinates and the mode conversion disk height H. The coordinate of the center of the pattern conversion spiral, that is, the coordinate of the center of the plane a or the plane B in fig. 5, can be obtained by converting the Z-axis coordinate (i.e., the coordinate in the vertical direction) of the base coordinate of the spiral into the height H of the pattern conversion spiral. The fixed-wing unmanned aerial vehicle with the vertical take-off and landing function can fly in a fixed-wing flight mode after flying to the plane A or the plane B, so that the purpose of power saving is achieved.
And S104: the area calculating unit 12 calculates an initial convolute surface, i.e., an a plane or a B plane, of the mode conversion convolute according to the circle center coordinate and the convolute radius R of the mode conversion convolute, finds a corresponding projection area, i.e., an a curved surface or a B curved surface in the drawing, on the map interface according to the initial convolute surface, the a curved surface or the B curved surface is generated by map interface data, the area calculating unit 12 obtains a map data coordinate or a sampling point coordinate included in the projection area, the map data coordinate contained in the projection area refers to coordinate data of a corresponding original point set in a map interface covered by the a-curved surface or the b-curved surface, the geographic elevation sampling point set contained in the projection area refers to coordinate data of each sampling point in the map interface covered by the a-curved surface or the b-curved surface, and in this embodiment, coordinate data operation of the sampling points is preferably adopted to reduce the calculation amount.
And S105: the area calculating unit 12 calculates a relative distance H between each coordinate in the map data coordinates or the sampling point coordinates and the initial convolute surface, if the relative distance H corresponding to each coordinate is greater than the safety zone early warning height H3, the convolute point is considered to be a safety point, and if the relative distance H corresponding to one coordinate is less than or equal to the safety zone early warning height H3, the convolute point is a risk point, because the risk of the unmanned aerial vehicle being lower than the safety zone early warning height H3 exists when the unmanned aerial vehicle flies around the initial convolute surface, the risk rate of the unmanned aerial vehicle is increased.
S106, a step: the area calculation unit 12 repeats steps S101 to S105, completes verification of validity of each spiral point in the geographic elevation sampling point set, forms all safety points into a safety coordinate set, forms all risk points into a risk coordinate set, that is, the safety coordinate set includes all safety points, and ensures absolute safety of the safety area, and the corresponding risk coordinate set includes all risk points.
And step S20: the region calculation unit 12 transmits the safety coordinate set and the risk coordinate set to the three-dimensional terrain modeling unit 13, and the three-dimensional terrain modeling unit 13 generates a safety region, a risk region and an operation limiting parameter according to the safety coordinate set and the risk coordinate set and transmits the safety region, the risk region and the operation limiting parameter back to the human-computer interaction unit 11. Namely, the three-dimensional terrain modeling unit 13 can generate a digital terrain model with a safe region and a risk region display according to the safe coordinate set, the risk coordinate set and the original digital terrain model data, and then transmit the digital terrain model back to the human-computer interaction unit 11 for visual display, so that the digital elevation model at least comprises the safe region.
And step S30: the human-computer interaction unit 11 displays a safety region and a risk region on a map interface of the digital terrain model, and limits human-computer operation of a user according to the operation limiting parameters. The risk area is usually hidden, and the safety area and the risk area can be represented by different colors, so that the safety area for placing the spiral point can be visually observed, the aim of visually placing the spiral point is fulfilled, and the error rate is reduced.
Preferably, the target course height H1 and the hovering height difference H2 of the drone are preset, and the area calculating unit 12 calculates the mode conversion circling height H according to the following formula: the mode conversion circling height H is equal to the drone target course height H1-circling height difference H2. During the preset principle of the hovering altitude difference H2, under the condition that the hovering altitude difference H2 can avoid the flight risk at the unmanned aerial vehicle, the smaller the hovering altitude difference H2 is, the better, mainly because for the fixed-wing unmanned aerial vehicle with the vertical take-off and landing function, the fixed-wing flying mode is converted in the hovering and climbing process after the rotor mode vertically takes off or the fixed-wing flying mode is converted into the rotor flying mode vertical landing process after the task is completed and the fixed-wing flying mode is hovered and landed, and the power consumption in the vertical take-off and landing process is far greater than that in the hovering and landing process. For example: the power of a conventional mapping fixed-wing drone is 1200w in vertical flight and 500w in hover and climb flight, and even close to 0w in hover and descent flight. The three-dimensional terrain modeling unit 13 generates a task flight path according to the preset target flight path height H1 of the unmanned aerial vehicle, the three-dimensional terrain modeling unit 13 generates a spiral flight path according to the plane where the task flight path is located by the mode conversion spiral coil, and in the process of generating the spiral flight path, the spiral flight path is determined mainly based on the spiral height difference H2, the starting point of the task flight path and the starting point of the spiral flight path. The problem that complex topography is difficult to take off and land can be evaded to fixed wing unmanned aerial vehicle vertical flight function, and when fixed wing unmanned aerial vehicle hovered, power management can be carried out in the optimality again, promotes the holistic mission voyage of fixed wing unmanned aerial vehicle. As shown in fig. 4, 5 and 6 (fig. 6 is a screen shot of an actual map interface, which should not be construed as any limitation on the present application), in a specific use, a safe take-off and landing area is generated by inserting a take-off and landing point coordinate into a map interface of a digital terrain model through the human-computer interaction unit 11 and presetting a sampling radius of 500M through the human-computer interaction unit 11, a safe area early warning height H3 is 50M, a circling radius R of the circling is 200M (the radius of the circling is defaulted to 120M, and an automatic outward 80M calculation is performed to ensure that the safe area is absolutely within the safe range), a mode conversion circling height H is 35M to 120M, which can also be reasonably calculated according to a flight mission of the unmanned aerial vehicle, the area calculation unit 12 only needs to calculate a size relationship between a relative distance H between each coordinate of the map data coordinate or each coordinate of the sampling point coordinate and an initial circling surface and 50M, it is possible to determine whether the sampling point is a safe point, thereby further reducing the amount of calculation and the error rate. As shown in fig. 5, since the relative distance h from the sampling point coordinates in the projection area of the plane a to the initial spiral surface is less than 50M, that is, the spiral point corresponding to the plane a is a risk point, and since the relative distances h from the sampling point coordinates in the projection area of the plane B to the initial spiral surface are both greater than 50M, the spiral point corresponding to the plane B is a safety point.
In order to facilitate real-time dynamic display of the safety zone, further, when the user drags the coordinates of the take-off and landing points in the map interface of the digital terrain model through the human-computer interaction unit 11 or selects different coordinates of the take-off and landing points through clicking, the zone calculation unit 12 calculates the safety coordinate set and the risk coordinate set in real time and transmits the safety coordinate set and the risk coordinate set to the three-dimensional terrain modeling unit 13, the safety zone and the risk zone are generated in real time through the three-dimensional terrain modeling unit 13, that is, the steps from S00 to S30 are repeated to dynamically calculate the safety zone and the risk zone in real time, and the safety zone and the risk zone corresponding to each coordinate of the take-off and landing points are dynamically displayed in real time through the human-computer interaction unit 11, so that the safety zone is dynamically displayed in real time.
For visual presentation of the security area. Further, the human-computer interaction unit 11 displays the safety region and the risk region through color difference, that is, the safety region and the risk region are respectively represented by different colors, for example: the safety area is marked green and the risk area is marked red. Or, further, as shown in fig. 6, the human-computer interaction unit 11 performs a hiding operation on the risk area, and a cursor of the human-computer interaction unit 11 cannot be moved to the risk area by dragging or inserting a spiral point at any position of the safety area through the human-computer interaction unit 11, so as to achieve the purpose of effectively avoiding the risk area. It is further preferred that the operation limiting parameter is configured as a boundary definition of the safe area and the cursor is prohibited from exceeding the boundary of the safe area, which ensures that the cursor is only active in the safe area, i.e. the user cannot insert the hover point in the risk area. Or the operation limiting parameter is configured to be an overrun popup window of the safety area, the overrun window is recorded with the overrun range and the overrun reason of the spiral point, and after the overrun popup window pops up, the spiral point inserting operation is prohibited, so that a user can move to the safety area according to the recorded adjusting mark in the overrun popup window. The insertion area of the hover point can be automatically judged by setting the operation limiting parameter, and the occurrence of wrong hover points is reduced or even avoided.
If the user detects in advance and can properly reduce the preset safety zone early warning height H3 according to the detection result, the hovering height difference H2 is adjusted through the progress bar of the human-computer interaction unit 11 or the input numerical value, the hovering height difference H2 is adjusted to change, and then the mode conversion circling height H is adjusted, so that the risk point in the step S10 is converted into a safety point until the risk coordinate set is converted into a safety coordinate set, and the appropriate hovering height difference H2 is quickly found. When safety zone early warning height H3 can reduce, should increase as far as spiral difference in height H2 to reduce fixed wing unmanned aerial vehicle's power consumption, and then promote fixed wing unmanned aerial vehicle's voyage.
In order to reduce the shortening of the range of the fixed-wing drone. Preferably, the three-dimensional terrain modeling unit 13 generates a spiral flight path with a length of L1 and a transition flight path between an end point of the spiral flight path with a distance of L2 and a start point of the mission flight path, the three-dimensional terrain modeling unit 13 performs shortest path calculation on the safety coordinate set and then sorts the safety coordinate set, and performs screening according to a first preset proportion and the safety coordinate set to generate a first optimized area (not shown in the figure), the first optimized area is transmitted to the human-computer interaction unit 11, and the human-computer interaction unit 11 displays the first optimized area. For example: the first preset proportion can be a safe coordinate set formed by safe coordinates which are 20% away from the top of the ranking, and the user can be helped to quickly find the optimal placing position of the hover point by setting the first optimization area. Further preferably, if the user can obtain the corresponding digital elevation model data in the accurate map interface, the area calculation unit 12 generates a dynamic vertical take-off and landing target height of the unmanned aerial vehicle according to the corresponding digital elevation model data in the map interface of the digital terrain model, the mode conversion circlip height H is configured to be the vertical take-off and landing target height of the unmanned aerial vehicle, the area calculation unit 12 calculates a dynamic circlip height difference H2 according to the vertical take-off and landing target height of the unmanned aerial vehicle, the three-dimensional terrain modeling unit 13 performs screening according to a second preset proportion corresponding to the circlip height difference set to generate a second optimized area (not shown in the drawing), the second optimized area is transmitted to the human-computer interaction unit 11, and the human-computer interaction unit 11 displays the second optimized area. The digital elevation model is a solid ground model representing the elevation of the ground in the form of an ordered array of values, which is often used as a branch of a digital terrain model from which other terrain feature values can be derived. At this time, since the mode switching convolution height H is dynamic, the placement area of the spiral point is preferably an area where the spiral height difference H2 is large. For example: setting the hover height difference H2 at the top 20% of the rank for the second predetermined ratio, it is clear that at the hover point selected in the second optimized region, the fixed wing drone will save more power because the hover height difference H2 is large enough.
Example two
As shown in fig. 3, 4 and 5, the visual display device for the visual display method for the safe take-off and landing area of the unmanned aerial vehicle provided in the embodiment includes a human-computer interaction unit 11, an area calculation unit 12 and a three-dimensional terrain modeling unit 13, where the human-computer interaction unit 11 is configured to obtain coordinate information of a take-off and landing point and display the safe area and a risk area. The area calculation unit 12 is configured to generate a safety coordinate set and a risk coordinate set according to the coordinate information of the take-off and landing point. The three-dimensional terrain modeling unit 13 is configured to generate a safety region, a risk region and an operation limiting parameter according to the safety coordinate set and the risk coordinate set. During specific work, after acquiring coordinate information of a take-off and landing point, the human-computer interaction unit 11 transmits the coordinate information to the area calculation unit 12, generates a safety coordinate set and a risk coordinate set through the area calculation unit 12, transmits the generated safety coordinate set and risk coordinate set to the three-dimensional terrain modeling unit 13 to generate a safety area, a risk area and operation limiting parameters, and transmits the generated safety coordinate set, risk area and operation limiting parameters back to the human-computer interaction unit 11. The visual display method provided in the embodiment can calculate the safety coordinate set and the risk coordinate set in the geographic elevation sampling point set through the area calculation unit 12, generate a safety area, a risk area and an operation limiting parameter through the three-dimensional terrain modeling unit 13, and transmit the parameters back to the man-machine interaction unit 11 to visually and visually display the safety area and the risk area of the spiral point. By the aid of the operation limiting parameters, misoperation of a user can be avoided, wrong spiral points are prevented from being placed, unsafe areas are hidden, and risk areas are automatically avoided.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the spirit and scope of the invention. The present invention is not to be limited by the specific embodiments disclosed herein, and other embodiments that fall within the scope of the claims of the present application are intended to be within the scope of the present invention.
Claims (10)
1. A visual display method for a safe take-off and landing area of an unmanned aerial vehicle is characterized by comprising the following steps:
s00: inserting a lifting point coordinate into a map interface of the digital terrain model through a human-computer interaction unit and presetting a sampling radius through the human-computer interaction unit;
s10: the human-computer interaction unit transmits the coordinates of the take-off and landing points and the sampling radius to an area calculation unit, the area calculation unit generates a geographical elevation sampling point set according to the coordinates of the take-off and landing points and the sampling radius, and the area calculation unit verifies the effectiveness of each spiral point in the geographical elevation sampling point set through a sampling point verification algorithm to generate a safety coordinate set and a risk coordinate set;
s20: the region calculation unit transmits the safety coordinate set and the risk coordinate set to a three-dimensional terrain modeling unit, and the three-dimensional terrain modeling unit generates a safety region, a risk region and operation limiting parameters according to the safety coordinate set and the risk coordinate set and transmits the safety region, the risk region and the operation limiting parameters back to the human-computer interaction unit;
s30: and the human-computer interaction unit displays the safety region and the risk region on a map interface of a digital terrain model, and limits the human-computer operation of the user according to the operation limiting parameters.
2. The visual display method of the unmanned aerial vehicle safety take-off and landing area according to claim 1, wherein:
in step S10, the sampling point checking algorithm is calculated as follows:
s101: selecting a hover point from the set of geographic elevation sampling points, the hover point corresponding to hover basepoint coordinates;
s102: presetting a mode conversion spiral ring height H, a spiral radius R and a safety zone early warning height H3;
s103: calculating the center coordinate of the mode conversion disc coil according to the disc base point coordinate and the height H of the mode conversion disc coil;
s104: calculating an initial spiral surface of the mode conversion spiral ring according to the circle center coordinate of the mode conversion spiral ring and the spiral radius R, finding a corresponding projection area on the map interface according to the initial spiral surface, and acquiring a map data coordinate or a sampling point coordinate contained in the projection area;
s105: calculating the relative distance H between each coordinate in the map data coordinates or the sampling point coordinates and the initial spiral surface, if the relative distance H corresponding to each coordinate is greater than the safety zone early warning height H3, considering the spiral point as a safety point, and if the relative distance H corresponding to one coordinate is less than or equal to the safety zone early warning height H3, considering the spiral point as a risk point;
s106: and repeating the steps S101 to S105, completing the verification of the validity of each spiral point in the geographic elevation sampling point set, forming all the safety points into the safety coordinate set, and forming all the risk points into the risk coordinate set.
3. The visual display method of the unmanned aerial vehicle safety take-off and landing area according to claim 2, wherein:
presetting a target air route height H1 and a hovering height difference H2 of the unmanned aerial vehicle;
the area calculating unit calculates the height H of the mode conversion spiral ring, and the calculation formula is as follows:
the mode conversion circling height H is equal to the unmanned aerial vehicle target route height H1-circling height difference H2;
the three-dimensional terrain modeling unit generates a task route according to a preset unmanned aerial vehicle target route height H1, and the three-dimensional terrain modeling unit generates a spiral route according to the mode conversion spiral coil and a plane where the task route is located.
4. The visual display method of the unmanned aerial vehicle safety take-off and landing area of claim 1, 2 or 3, wherein:
when the coordinates of the take-off and landing points are dragged in a map interface of the digital terrain model through the human-computer interaction unit or different coordinates of the take-off and landing points are selected through clicking, the region calculation unit calculates a safety coordinate set and a risk coordinate set in real time and transmits the safety coordinate set and the risk coordinate set to the three-dimensional terrain modeling unit, the three-dimensional terrain modeling unit generates a safety region and a risk region in real time, and the safety region and the risk region corresponding to each coordinate of the take-off and landing points are dynamically displayed in real time in the human-computer interaction unit.
5. The visual display method of the unmanned aerial vehicle safety take-off and landing area of claim 1, 2 or 3, wherein:
the human-computer interaction unit displays the safety area and the risk area through color difference; or
The human-computer interaction unit carries out hiding operation on the risk area;
a hover point may be dragged or inserted at any position of the safe area through the human-machine interaction unit.
6. The visual display method of the unmanned aerial vehicle safety take-off and landing area according to claim 5, wherein:
the operation limiting parameter is configured to be limited by the boundary of the safe area, and a cursor dragging or inserting a spiral point is prohibited from exceeding the boundary of the safe area; or the operation limiting parameter is configured as an overrun popup window of the safety area, and the overrun popup window records the overrun range of the spiral point.
7. The visual display method of the unmanned aerial vehicle safety take-off and landing area of claim 6, wherein:
and adjusting the spiral height difference H2 through a progress bar of the human-computer interaction unit or an input numerical value, adjusting the spiral height difference H2 to change and further adjusting the mode conversion spiral ring height H, so that the risk points in the step S10 are converted into safety points until the risk coordinate set is converted into the safety coordinate set.
8. The visual display method of the unmanned aerial vehicle safety take-off and landing area according to claim 3, wherein:
the three-dimensional terrain modeling unit generates a spiral flight path with the length of L1 and a transition flight path between the end point of the spiral flight path with the distance of L2 and the starting point of the mission flight path;
the three-dimensional terrain modeling unit carries out shortest path calculation on the safe coordinate set through a shortest path algorithm and then sorts the safe coordinate set, and the safe coordinate set is screened according to a first preset proportion to generate a first optimized area;
and transmitting the first optimization area to the human-computer interaction unit, and displaying the first optimization area by the human-computer interaction unit.
9. The visual display method of the unmanned aerial vehicle safety take-off and landing area according to claim 1, wherein:
the area calculation unit generates a dynamic vertical take-off and landing target height of the unmanned aerial vehicle according to height data of a corresponding digital elevation model in a map interface of the digital terrain model, and configures a mode conversion circling height H as the vertical take-off and landing target height of the unmanned aerial vehicle;
the area calculation unit calculates a dynamic hovering height difference H2 according to the height of the vertical take-off and landing target of the unmanned aerial vehicle, and the three-dimensional terrain modeling unit performs screening according to a hovering height difference set corresponding to a second preset proportion to generate a second optimized area;
and transmitting the second optimized area to the human-computer interaction unit, and displaying the second optimized area by the human-computer interaction unit.
10. A visual display device for the visual display method of the safe take-off and landing area of the unmanned aerial vehicle according to any one of claims 1 to 9, comprising:
the human-computer interaction unit is used for acquiring the coordinate information of the take-off and landing point and displaying a safety region and a risk region;
the area calculation unit is used for generating a safety coordinate set and a risk coordinate set according to the coordinate information of the take-off and landing points;
the three-dimensional terrain modeling unit is used for generating a safety region, a risk region and operation limiting parameters according to the safety coordinate set and the risk coordinate set;
the human-computer interaction unit acquires coordinate information of a lifting point, transmits the coordinate information to the region calculation unit, generates a safety coordinate set and a risk coordinate set through the region calculation unit, transmits the generated safety coordinate set and risk coordinate set to the three-dimensional terrain modeling unit to generate a safety region, a risk region and operation limiting parameters, and transmits the parameters back to the human-computer interaction unit to display the safety region and the risk region and limit human-computer operation.
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