CN112379697B - Track planning method, device, track planner, unmanned aerial vehicle and storage medium - Google Patents

Track planning method, device, track planner, unmanned aerial vehicle and storage medium Download PDF

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Publication number
CN112379697B
CN112379697B CN202011479732.5A CN202011479732A CN112379697B CN 112379697 B CN112379697 B CN 112379697B CN 202011479732 A CN202011479732 A CN 202011479732A CN 112379697 B CN112379697 B CN 112379697B
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track
point
preset length
points
obstacle
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CN112379697A (en
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陈曾鸿
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Guangzhou Xaircraft Technology Co Ltd
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Guangzhou Xaircraft Technology Co Ltd
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Priority to PCT/CN2021/137486 priority patent/WO2022127737A1/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The embodiment of the invention provides a track planning method, a track planning device, a unmanned aerial vehicle and a storage medium, wherein the method comprises the following steps: determining a global track point of a working route; taking the starting point of the global track point as the starting point of a first preset length; screening track points covered by the first preset length from the global track points, determining local track points based on the screened track points, and generating local tracks based on the local track points; and controlling the unmanned aerial vehicle to move by a distance of a second preset length based on the local track, taking the next track point of the current position of the unmanned aerial vehicle as a starting point of the first preset length, and returning to the operation of screening the track points covered by the first preset length in the global track point until the global track point is screened, wherein the first preset length is larger than the second preset length. Therefore, when encountering obstacles, the unmanned aerial vehicle can precisely avoid the obstacles, thereby ensuring the safety of the unmanned aerial vehicle and improving the operation efficiency.

Description

Track planning method, device, track planner, unmanned aerial vehicle and storage medium
Technical Field
The embodiment of the invention relates to the field of unmanned aerial vehicle path planning, in particular to a track planning method, a track planning device, a track planner, an unmanned aerial vehicle and a storage medium.
Background
In recent years, with the popularization of unmanned techniques, unmanned aerial vehicles are gradually applied to various fields. Wherein, can be applied to various operations such as patrol and examine, spray to the route point with unmanned aerial vehicle. In the operation process of the unmanned aerial vehicle, a path planning is needed in advance to obtain a path track.
However, in the related art, if an obstacle is encountered in the actual operation process of the unmanned aerial vehicle based on the planned path track, the unmanned aerial vehicle cannot avoid the obstacle well, so that the safety of the unmanned aerial vehicle is affected.
Disclosure of Invention
The embodiment of the invention provides a track planning method, a track planning device, a track planner, an unmanned aerial vehicle and a storage medium, which can precisely avoid an obstacle under the condition of encountering the obstacle, ensure the safety of the unmanned aerial vehicle and improve the operation efficiency.
In a first aspect, an embodiment of the present invention provides a track planning method, including:
determining a global track point of a working route;
taking the starting point of the global track point as the starting point of a first preset length;
Screening track points covered by the first preset length from the global track points, determining local track points based on the screened track points, and generating local tracks based on the local track points;
and controlling the unmanned aerial vehicle to move by a distance of a second preset length based on the local track, taking the next track point of the current position of the unmanned aerial vehicle as a starting point of the first preset length, and returning to the step of screening the track points covered by the first preset length in the global track point until the global track point is screened, wherein the first preset length is larger than the second preset length.
In a second aspect, an embodiment of the present invention further provides a track planning apparatus, including:
the global track point determining module is used for determining global track points of the operation route;
the starting point determining module is used for taking the starting point of the global track point as the starting point of a first preset length;
the local track generation module is used for screening track points covered by the first preset length from the global track points, determining local track points based on the screened track points and generating local tracks based on the local track points;
and the control/return module is used for controlling the unmanned aerial vehicle to move by a distance of a second preset length based on the local track, taking the next track point of the current position of the unmanned aerial vehicle as the starting point of the first preset length, and returning to the step of screening the track points covered by the first preset length in the global track points until the global track points are screened, wherein the first preset length is larger than the second preset length.
In a third aspect, an embodiment of the present invention provides a trajectory planner, including: the track planning device provided by the embodiment of the invention.
In a fourth aspect, an embodiment of the present invention provides an unmanned aerial vehicle, including the trajectory planner provided by the embodiment of the present invention.
In a fifth aspect, embodiments of the present invention provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, provides a method according to embodiments of the present invention.
According to the technical scheme provided by the embodiment of the invention, the starting point of the global track point is used as the starting point of the first preset length by determining the global track point of the operation route, the track point covered by the first preset length is screened in the global track point, the local track point is determined based on the screened track point, the local track is generated, the unmanned aerial vehicle is controlled to move by the second preset length based on the local track, the next track point of the current position of the unmanned aerial vehicle is used as the starting point of the first preset length, and the operation of the track point covered by the first preset length in the global track point is returned until the screening of the global track point is completed; the second preset length is smaller than the first preset length; the local track is generated through the first preset length, the unmanned aerial vehicle is controlled to move for the second preset distance based on the local track, the local track is generated again based on the first preset length, obstacle avoidance processing can be timely performed under the condition that an obstacle is encountered, accurate obstacle avoidance is achieved, and the safety of the unmanned aerial vehicle is guaranteed.
Drawings
FIG. 1a is a flow chart of a track planning method according to an embodiment of the present invention;
FIG. 1b is a schematic illustration of a round trip route;
FIG. 1c is a schematic diagram of a curvilinear work path;
FIG. 1d is a schematic illustration of a work path;
FIG. 1e is a schematic diagram of a waypoint velocity calculation;
FIG. 1f is a global trace point schematic;
FIG. 1g is a schematic diagram of partial trace point screening in the absence of an obstacle on a trace formed by trace points covered by a first predetermined length;
FIG. 1h is a schematic diagram of partial trace point screening in the case where no obstacle is present on a trace formed by trace points covered by a first preset length;
FIG. 2a is a flowchart of a track planning method according to an embodiment of the present invention;
FIG. 2b is a schematic diagram of partial trace point screening in the case where there is an obstacle on a trace formed by trace points covered by a first preset length and the distance between the obstacle and the end point of the first preset length is greater than the first preset distance for obstacle avoidance;
FIG. 3a is a flowchart of a track planning method according to an embodiment of the present invention;
fig. 3b is a schematic diagram of a local trajectory point screening that causes an unmanned aerial vehicle to fail to return to an original trajectory point when an obstacle exists on a trajectory formed by a trajectory point covered by a first preset length and a distance between the obstacle and an end point of the first preset length is smaller than a first preset distance for obstacle avoidance;
FIG. 3c is a schematic diagram of partial trace point screening in the case where there is an obstacle on a trace formed by trace points covered by a first preset length and the distance between the obstacle and the end point of the first preset length is smaller than the first preset distance for obstacle avoidance;
FIG. 4 is a block diagram of a track planning apparatus according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a trajectory planner according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Fig. 1a is a flowchart of a track planning method according to an embodiment of the present invention, where the method may be performed by a track planning apparatus, where the apparatus may be implemented in software and/or hardware, and where the apparatus may be configured in a track planner, where the track planner may be configured on a drone. The unmanned aerial vehicle can be a plant protection unmanned aerial vehicle, a surveying unmanned aerial vehicle, an unmanned vehicle or an unmanned ship, and optionally, the method provided by the embodiment of the invention can be applied to a scene of unmanned aerial vehicle operation.
As shown in fig. 1a, the technical solution provided by the embodiment of the present invention includes:
s110: a global trajectory point of the job route is determined.
In the embodiment of the invention, the global track planning can be performed first, a global track containing all route points is planned, and the position and the speed of the unmanned aerial vehicle at each moment are preliminarily determined. And then carrying out local track planning, wherein in the process of local track planning, the track planner uses the planned global track as a basis, and carries out track planning in a small range and a small time scale by combining the barrier information acquired by the sensor. The operation route may be a flight route of an aircraft, or may be a travel route of a vehicle or a ship.
In the embodiment of the invention, the operation route can be composed of a plurality of route points, and the unmanned aerial vehicle needs to pass through the route points in the operation process. The route point may include location information, speed information, and the like, where the speed of the route point may be understood as the speed of the unmanned aerial vehicle at the route point. For example, there are six route points in the job route as shown in fig. 1 b.
In the embodiment of the invention, before the unmanned aerial vehicle takes off, or before the unmanned aerial vehicle takes off but does not start working, the track planner can acquire all data of the working route in advance, including the number of route points, the coordinates of each route point, the highest speed of each route point and the like, and the track planner can conduct global track planning based on the data of the working route, the obstacle map and the like. The obstacle map can record areas and obstacles which cannot be passed through by the unmanned aerial vehicle geographically. The route points may be formed as round trip routes as shown in fig. 1b, or may be formed as curves as shown in fig. 1 c. The form of the work route is not limited to the above, and may be a 3D work route having a height change.
For simplicity of explanation, it may be assumed that the number of route points of one working route is 3, and the schematic diagram of the working route may refer to fig. 1d, and take the horizontal flight of the unmanned aerial vehicle as an example. As shown in fig. 1d, in the global trajectory planning process, a speed allocation needs to be performed, that is, the unmanned aerial vehicle starts from the route point 1 (when starting t=0), passes through the route point 2, finally reaches the route point 3, and the total time T spent in total needs to be determined, and the position and the speed of the unmanned aerial vehicle need to be determined at each moment in the interval T e (0, T). In order to perform speed distribution, the speed of the unmanned aerial vehicle when passing each route point needs to be set. In the related art, when the unmanned aerial vehicle flies on the basis of the working route, the speed of the unmanned aerial vehicle when passing each route point is set to 0m/s. Therefore, the unmanned aerial vehicle needs to stop when reaching each route point and fly to the next route point, which affects the operation efficiency.
In the embodiment of the invention, in order to improve the operation efficiency, the speed of the unmanned aerial vehicle when passing through the route point can be restrained from being 0, so that the movement of the unmanned aerial vehicle is more coherent, and finally the global track point is determined.
In one implementation of the embodiment of the present invention, optionally, determining the global track point of the job route includes: determining the maximum speed allowed by each route point based on the constraint condition of the route points in the operation route, and taking the maximum speed as the speed of each route point; and determining the position and the speed of the road section between each two adjacent route points based on the speed and the position of each two adjacent route points, and sampling the position of each road section to obtain a global track point.
Wherein optionally, the determining the maximum speed allowed by each route point based on the constraint condition of the route point in the working route includes: the speed of the route point satisfies the following condition, and the maximum value of the speeds satisfying the following condition is determined:
the speed of each route point is less than or equal to the maximum speed allowed by the job;
the speed of the first route point and the last route point is 0;
aiming at the speed of one route point, the speed of the previous route point is satisfied, and the speed is reached by the maximum acceleration allowed by the unmanned aerial vehicle in a whole process or the speed is reached by the maximum acceleration allowed by the unmanned aerial vehicle in a whole process;
aiming at the speed of one route point, the speed of the next route point is reached by the maximum acceleration full-range speed reduction allowed by the unmanned aerial vehicle, or the speed of the next route point is reached by the maximum acceleration full-range speed reduction allowed by the unmanned aerial vehicle;
the forward speed of the route point is determined based on the magnitude of the turn angle.
The speed of the route point is constrained by the constraint condition, and the maximum value of the speeds meeting the constraint condition is taken as the speed of the route point, so that the operation efficiency can be improved.
In an embodiment of the present invention, optionally, the forward speed of the route point is determined based on the magnitude of the rotation angle, including determining the forward speed of the route point based on the following formula:
Wherein v is x For the forward speed of the unmanned aerial vehicle, theta is the angle of rotation, and a 0 And d is the distance between the unmanned aerial vehicle and a route point when the unmanned aerial vehicle decelerates.
Specifically, taking the case shown in fig. 1d as an example, if the vector a and the vector b are in the same direction, the unmanned plane is as if flying through a straight line, and the unmanned plane should not stop at the route point 2, the constraint condition of determining the speed of the route point according to the rotation angle does not play a role in constraint. If vector a and vector b are reversed, the speed of waypoint 2 needs to be limited to 0, because then the speed of the drone needs to be 180 ° turned. Under the condition that an included angle exists between the vector a and the vector b, the position distribution of three route points can be omitted, the formed included angle can be adjusted, as shown in fig. 1e, the front road section and the rear road section form an angle with the included angle being theta, namely the corner is theta. At the moment, the unmanned plane flies along the left side forming an angle, and the speed can be decomposed into v x And v y Two directions are perpendicular. V when the unmanned aerial vehicle reaches the vertex y Should be reduced to zero and v x The unmanned aerial vehicle remains unchanged in the whole process of flying to and away from the vertex. Suppose that the drone begins to decelerate when it is a distance d from the vertex, and accelerates after passing the vertex. Due to the y-direction velocity v at the apex y 0, then velocity v in x direction x I.e. pass the roofThe speed allowed by the point. It should be noted that the trajectory during the whole process is actually a parabola instead of the trajectory shown in fig. 1e, but in the case where d is small, it may be regarded as the trajectory shown in fig. 1 e.
Wherein, the acceleration of the unmanned aerial vehicle is assumed to be a 0 Assuming that the velocity in the y direction is v y The time required for decelerating to 0m/s is t, which is half of the flight d of the unmanned aerial vehicle in the x direction x Time required. v x The method can be obtained by the following formula:
from the above two formulas
In the embodiment of the invention, after the speed of each route point is constrained by the method, the maximum speed meeting the constraint condition is obtained, and as the speed of each route point, the linear track planning can be performed on the road section between each adjacent route point by a trapezoid speed distribution method or a Double S speed distributor. Namely, for the road section formed by two adjacent route points, the time required for flying the road section can be calculated through the positions and the speeds of the two route points, so that the positions and the speeds of the unmanned aerial vehicle at any time in the road section can be calculated, and the positions of the unmanned aerial vehicle are calculated according to the time interval T s And performing position sampling to obtain a global track point. The schematic diagram of the global track point may refer to fig. 1f, where the global track point includes a position, a speed, and corresponding time information of each track point. As shown in FIG. 1f, the time interval of each trace point is T s Therefore, the track points with a short front-back distance represent a small speed, and the track points with a large distance represent a large speed. As shown in fig. 1f, the unmanned plane starts accelerating from the starting point of the lower left corner, track points are denser and lower in speed at the beginning, track points are sparser and higher in speed when reaching the middle of the first road section; and then the unmanned aerial vehicle decelerates to reach the vertex, accelerates again after passing through the vertex, decelerates when the unmanned aerial vehicle is about to reach the end point at the lower right, and finally stops.
In one implementation manner of the embodiment of the present invention, optionally, a global track may be planned based on the position information of the route points in the working route and the information in the obstacle map, and the global track may be position-sampled to obtain global track points. The method of determining the global track point is not limited to the above method, and may be other methods.
S120: and taking the starting point of the global track point as the starting point of the first preset length.
In the embodiment of the invention, the collision-free and smooth local track can be planned through the global track point.
Specifically, the starting point of the global track point may be first used as the starting point of the first preset length. Wherein the start point of the global track point may be the first track point of the start of the global track point. The first preset length can be set according to actual conditions.
S130: and screening the track points covered by the first preset length from the global track points, determining local track points based on the screened track points, and generating local tracks based on the local track points.
In the embodiment of the present invention, the track points covered by the first preset length may include track points corresponding to the start point of the first preset length and track points located after the start point of the first preset length and having a distance from the start point of the first preset length smaller than or equal to the first preset length in the global track.
In the embodiment of the invention, when no obstacle exists on the track formed by the track points covered by the first preset length, that is, when no obstacle exists in the distance range covered by the first preset length, the track points covered by the first preset length can be used as local track points, and the local track can be generated based on the local track points.
In the embodiment of the invention, when an obstacle exists on a track formed by track points covered by a first preset length, that is, when the obstacle exists in a distance range covered by the first preset length and the distance between the obstacle and the end point of the first preset length is greater than the first preset distance, the obstacle avoidance track point can be determined based on the first preset distance, the second preset distance for obstacle avoidance and the information of the obstacle, and the track points in the corresponding global track points are replaced by the obstacle avoidance track point, and the track points which are not replaced in the track points covered by the first preset length and the obstacle avoidance track point are used as local track points. The obstacle information comprises the size and the position information of the obstacle, and the obstacle information can be determined through sensor data on the unmanned aerial vehicle. The first preset distance and the second preset distance may be preset, or may be determined according to a current speed of the unmanned aerial vehicle. The details of this section are described with reference to the following examples.
In the embodiment of the invention, when an obstacle exists on a track formed by track points covered by a first preset length, that is, when the obstacle exists in a distance range covered by the first preset length, and the distance between the obstacle and the end point of the first preset length is smaller than the first preset distance, a third preset length can be added on the basis of the first preset length to obtain a fourth preset length, and the distance between the end point of the fourth preset length and the obstacle is larger than the first preset distance. Determining obstacle avoidance track points according to the first preset distance, the second preset distance for obstacle avoidance and information of the obstacle, and replacing track points in the corresponding global track points with the obstacle avoidance track points; and taking the non-replaced track points and the obstacle avoidance track points in the track points covered by the fourth preset length as local track points, and generating local tracks. This section may be referred to the description of the embodiments below.
S140: and controlling the unmanned aerial vehicle to move by a distance of a second preset length based on the local track.
In one implementation manner of the embodiment of the present invention, the controlling the distance of the second preset length of the unmanned aerial vehicle based on the local track movement includes: determining a control amount of the unmanned aerial vehicle based on the local track; and controlling the unmanned aerial vehicle to move along the local track for a distance of a second preset length based on the control quantity. The control amount may include information such as acceleration and flight angle. The independent variable of the local track can be time, the speed at any moment can be determined based on the local track, and the information such as acceleration, flight angle and the like can be calculated based on the speeds at any two adjacent moments. According to the embodiment of the invention, the local track is determined, the control quantity is determined based on the local track, the unmanned aerial vehicle is controlled to move along the local track based on the control quantity, and the local planning is carried out, so that a small track which is being executed by the unmanned aerial vehicle can be planned in a concentrated manner, a longer global track is not required to be processed each time, and the processing of data is reduced.
In the embodiment of the present invention, the second preset length is smaller than the first preset length, alternatively, the second preset length may be smaller than half of the first preset length, and in other examples, the first preset length and the second preset length may be set as required.
S150: and determining whether the global track points are screened.
If yes, execution is S160, and if no, return to S170.
S160: and controlling the unmanned aerial vehicle to continue to move to the last track point along the local track.
S170: and taking the next track point of the current position of the unmanned aerial vehicle as a starting point of the first preset length, and returning to S130.
In the embodiment of the invention, if the first preset length covers the last track point of the global track points, the screening of the global track points is finished, and the unmanned aerial vehicle can be controlled to move to the last track point along the local track generated last time. If the global track point is not screened, taking the next track point of the current position of the unmanned aerial vehicle as a starting point of the first preset length, and returning to S130.
Wherein, under the condition that no obstacle exists on the track formed by the track points covered by the first preset length, the method generatesThe partial trajectories are described by way of example with reference to the drawings. The track points in fig. 1g are global track points, "×" indicates the position of the unmanned aerial vehicle, as shown in fig. 1g, L min_for_execution For a first preset length, i.e. the length for generating the local track, L replan For the second preset length, that is, the local track is regenerated after the second preset length is flown through, as shown in fig. 1g, the unmanned aerial vehicle is at the starting point of the global track point, in order to generate the local track, the track point needs to be screened from the global track point, and the length of the connecting line of the screened track point is defined by L min_for_execution And (5) determining. Wherein L is min_for_execution The larger the screened trajectory points are, the more. Generating a local track based on the screened track points, determining a control quantity based on the local track, and moving L along the local track based on the control quantity in the unmanned plane replan After the distance of (2), the local planning needs to be performed again. As shown in fig. 1h, the unmanned plane moves along a local track L based on the control quantity replan After the distance of (2), starting to screen from the next track point in front of the current position of the unmanned aerial vehicle, wherein the length of the connecting line of the screened track points meets L min_for_execution After the length of (2), the local track and the control quantity are generated again, and the unmanned aerial vehicle is controlled to move L along the local track based on the control quantity replan And (3) returning to start screening from the next track point in front of the current position of the unmanned aerial vehicle until the global track point is screened. In the case that an obstacle exists on a track formed by track points covered by a first preset length, the method for determining local track points based on the screened track points and generating the local track can be referred to as the following description of embodiments.
In the related art, an unmanned aerial vehicle needs to stop to fly to a next route point when reaching a route point in the process of executing operation route operation, but frequent stopping can influence the operation efficiency when executing operation route generated by characteristics such as terraces, irregularly planted fruit trees and the like; based on the speed and the position of each two adjacent route points, the speed is matched with the road section between each two adjacent route points, and the position of each road section is sampled based on the allocated speed, so that a global track point is obtained, and the local planning is carried out through the global track point, thereby avoiding the frequent stopping condition of the unmanned aerial vehicle and improving the working efficiency.
However, in the related art, if an obstacle is encountered in the actual flight process of the unmanned aerial vehicle based on the planned path track, the unmanned aerial vehicle cannot avoid the obstacle well, so that the safety of the unmanned aerial vehicle is affected.
According to the technical scheme provided by the embodiment of the invention, the starting point of the global track point is used as the starting point of the first preset length by determining the global track point of the operation route, the track point covered by the first preset length is screened in the global track point, the local track point is determined based on the screened track point, the local track is generated, the unmanned aerial vehicle is controlled to move by the second preset length based on the local track, the next track point of the current position of the unmanned aerial vehicle is used as the starting point of the first preset length, and the operation of the track point covered by the first preset length in the global track point is returned until the screening of the global track point is completed; the second preset length is smaller than the first preset length; the local track is generated through the first preset length, the unmanned aerial vehicle is controlled to move for the second preset distance based on the local track, the local track is generated again based on the first preset length, obstacle avoidance processing can be timely performed under the condition that an obstacle is encountered, accurate obstacle avoidance is achieved, and the safety of the unmanned aerial vehicle is guaranteed.
Fig. 2a is a flowchart of a track planning method according to an embodiment of the present invention, in this embodiment,
optionally, the determining the local track point based on the screened track point includes:
if an obstacle exists on a track formed by the track points covered by the first preset length, and the distance between the obstacle and the end point of the first preset length is larger than the first preset distance for avoiding the obstacle, determining an obstacle avoidance track point based on the first preset distance, the second preset distance for avoiding the obstacle and the information of the obstacle, and replacing the track point in the corresponding global track point by the obstacle avoidance track point;
and taking the non-replaced track points in the track points covered by the first preset length as local track points.
As shown in fig. 2a, the technical solution provided by the embodiment of the present invention includes:
s210: a global trajectory point of the job route is determined.
S220: and taking the starting point of the global track point as the starting point of the first preset length.
S230: and screening the track points covered by the first preset length from the global track points.
S240: if an obstacle exists on a track formed by the track points covered by the first preset length, and the distance between the obstacle and the end point of the first preset length is larger than the first preset distance for avoiding the obstacle, determining an obstacle avoidance track point based on the first preset distance, the second preset distance for avoiding the obstacle and the information of the obstacle, and replacing the track point in the corresponding global track point by the obstacle avoidance track point.
In the embodiment of the invention, the first preset distance and the second preset distance can be set according to requirements, or can be determined based on the current speed of the unmanned aerial vehicle. When the current speed of the unmanned aerial vehicle is large, the first preset distance and the second preset distance are large.
In the embodiment of the present invention, in the case where an obstacle exists on a track formed by track points covered by a first preset length and the distance between the obstacle and the end point of the first preset length is greater than the first preset distance for obstacle avoidance, as shown in fig. 2b, the first preset length L min_for_execution An obstacle 100 exists on the track formed by the covered track points, and the distance between the obstacle 100 and the end point of the first preset length is larger (the obstacle 100 is positioned at L min_for_execution If the drone moves along the trajectory point covered by the first preset length, it will hit the obstacle 100. For obstacle avoidance, an obstacle avoidance track point may be determined based on the first preset distance, the second preset distance, and information of the obstacle, as shown in fig. 2b, the hollow dots may be obstacle avoidance track points, and the obstacle avoidance track points may be replaced with track points in the corresponding global track points(part of the track points covered by the first preset length).
In one implementation manner of the embodiment of the present invention, optionally, the determining the obstacle avoidance track point based on the first preset distance, the second preset distance for obstacle avoidance, and the information of the obstacle, and replacing the track point in the corresponding global track point with the obstacle avoidance track point includes: determining a first track point corresponding to a position at a first preset distance behind the obstacle and a second track point corresponding to a position at a second preset distance in front of the obstacle in the global track points; determining obstacle avoidance track points based on the information of the first track points, the information of the second track points and the information of the obstacle; and replacing the track points between the second track point and the first track point in the global track points with the obstacle avoidance track points.
The information of the first track point comprises the speed and the position of the first track point, and the information of the second track point comprises the position and the speed of the second track point. Wherein the first trajectory point may be a trajectory point at a position of a first preset distance behind the obstacle or a subsequent trajectory point at a position of a first preset distance behind the obstacle. The second trajectory point may be a trajectory point at a position at a second preset distance before the obstacle, or may be a previous trajectory point at a position at a second preset distance before the obstacle. The Hybrid a algorithm or other related algorithms may be used to determine the obstacle avoidance track point (including determining the position and the speed of the obstacle avoidance track point) based on the information of the first track point, the information of the second track point and the information of the obstacle, and in the process of determining the obstacle avoidance track point, the generated obstacle avoidance track and the original track are smooth in speed by considering the speeds of the first track point and the second track point, so that the operation efficiency is improved. As shown in fig. 2b, the first track point may be track point 10, the second track point may be track point 20, and the track point between track point 10 and track point 20 (including track 10 and track point 20) may be replaced by a obstacle avoidance track point, so as to delete the track point between track point 10 and track point 20.
S250: and taking the non-replaced track points and the obstacle avoidance track points in the track points covered by the first preset length as local track points, and generating local tracks based on the local track points.
In the embodiment of the present invention, as shown in fig. 2b, the track points after the track point 10 and the track points before the track point 20 are the track points which are not replaced in the track points covered by the first preset length, the track points which are not replaced and the obstacle avoidance track points are used as local track points, and the local track is generated based on the local track points, so that the control amount can be generated based on the local track, and the unmanned aerial vehicle is controlled to move along the local track based on the control amount.
S260: and controlling the unmanned aerial vehicle to move by a distance of a second preset length based on the local track.
S270: and determining whether the global track points are screened.
If yes, S280 is executed, and if no, S290 is returned to.
S280: and controlling the unmanned aerial vehicle to continue to move to the last track point along the local track.
S290: and returning to S230 by taking the next track point of the current position of the unmanned aerial vehicle as the starting point of the first preset length.
In the embodiment of the invention, the unmanned aerial vehicle moves by a distance of a second preset length based on the local track, the next track point of the current position of the unmanned aerial vehicle is used as a starting point of a first preset length, the local track is required to be regenerated according to the local track generating method, the track point which is not reached by the unmanned aerial vehicle is contained in the local track generated last time, the track point which is not reached by the unmanned aerial vehicle (possibly containing the obstacle avoidance track point) becomes a part of the global track point, and the operation of screening the track point covered by the first preset length in the global track point is returned until the global track point is screened.
Therefore, track points covered by the first preset length are selected from the global track points, if an obstacle exists on a track formed by the track points covered by the first preset length, and the distance between the obstacle and the end point of the first preset length is larger than the first preset distance for avoiding the obstacle, the obstacle avoidance track points are determined based on the first preset distance, the second preset distance for avoiding the obstacle and information of the obstacle, and the track points in the corresponding global track points are replaced by the obstacle avoidance track points; the non-replaced track points and the obstacle avoidance track points in the track points covered by the first preset length are used as local track points, so that the obstacle can be treated in time, and the obstacle avoidance is accurate.
Fig. 3a is a flowchart of a track planning method according to an embodiment of the present invention, in this embodiment,
optionally, the determining the local track point based on the screened track point includes:
if an obstacle exists on a track formed by the track points covered by the first preset length, and the distance between the obstacle and the end point of the first preset length is smaller than the first preset distance for avoiding the obstacle, adding a third preset length on the basis of the first preset length to obtain a fourth preset length; wherein the distance between the end point of the fourth preset length and the obstacle is greater than the first preset distance;
Determining obstacle avoidance track points based on the first preset distance, the second preset distance for obstacle avoidance and information of the obstacle, and replacing track points in the corresponding global track points with the obstacle avoidance track points;
and taking the non-replaced track points in the track points covered by the fourth preset length as local track points.
As shown in fig. 3a, the technical solution provided by the embodiment of the present invention includes:
s310: a global trajectory point of the job route is determined.
S320: and taking the starting point of the global track point as the starting point of the first preset length.
S330: and screening the track points covered by the first preset length from the global track points.
S340: if an obstacle exists on a track formed by the track points covered by the first preset length, and the distance between the obstacle and the end point of the first preset length is smaller than the first preset distance for avoiding the obstacle, adding a third preset length on the basis of the first preset length to obtain a fourth preset length; and the distance between the end point of the fourth preset length and the obstacle is greater than the first preset distance.
In the embodiment of the present invention, when an obstacle exists on a track formed by track points covered by a first preset length and the distance between the obstacle and the end point of the first preset length is smaller than the first preset distance for obstacle avoidance, as shown in fig. 3b, the first preset length L min_for_execution The covered track points form a track, the distance between the track 100 and the end point of the first preset length is small (the distance between the track 100 and the end point of the first preset length is close to the end point of the first preset length), and the track points behind the track 100 are insufficient to support the unmanned aerial vehicle to return to the original track points, so that the track points need to be continuously screened along the global track points. As shown in fig. 3c, a third preset length L may be added to the first preset length clear Obtaining a fourth preset length. The distance from the end point of the fourth preset length to the obstacle 100 is greater than the first preset distance, so that the unmanned aerial vehicle can return to the original track point when the unmanned aerial vehicle is in the accurate obstacle avoidance state and can return. In fig. 3b and 3c, the hollow dots represent obstacle avoidance track points, and the solid dots represent track points in the global track points, which may also be referred to as original track points.
It should be noted that, since the sensor can identify the obstacle at the far position and avoid the obstacle in advance, the obstacle cannot appear at the position close to the starting point of the first preset length.
S350: and determining obstacle avoidance track points based on the first preset distance, the second preset distance for obstacle avoidance and the information of the obstacle, and replacing track points in the corresponding global track points with the obstacle avoidance track points.
In one implementation manner of the embodiment of the present invention, optionally, the determining the obstacle avoidance track point based on the first preset distance, the second preset distance for obstacle avoidance, and the information of the obstacle, and replacing the track point in the corresponding global track point with the obstacle avoidance track point includes: determining a first track point corresponding to a position with a first preset distance behind the obstacle and a second track point corresponding to a position with a second preset distance in front of the obstacle in the global track points; determining obstacle avoidance track points based on the information of the first track points, the information of the second track points and the information of the obstacle; and replacing the track points between the second track point and the first track point in the global track points with the obstacle avoidance track points. Reference may be made in particular to the description of the embodiments described above.
S360: and taking the non-replaced track points and the obstacle avoidance track points in the track points covered by the fourth preset length as local track points, and generating local tracks based on the local track points.
In the embodiment of the present invention, as shown in fig. 3c, the track points after the track point 30 and the track points before the track point 40 are the track points which are not replaced in the track points covered by the fourth preset length, and the track points which are not replaced and the track points which are not blocked are used as the local track points; the description of generating the local track based on the local track point may refer to the above embodiment.
S370: and controlling the unmanned aerial vehicle to move by a distance of a second preset length based on the local track.
S380: and determining whether the global track points are screened.
If yes, S390 is executed, and if no, S391 is returned.
S390: and controlling the unmanned aerial vehicle to continue to move to the last track point along the local track.
S391: and returning to S330 by taking the next track point of the current position of the unmanned aerial vehicle as the starting point of the first preset length.
Therefore, under the condition that an obstacle exists on a track formed by track points covered by the first preset length, and the distance between the obstacle and the end point of the first preset length is smaller than the first preset distance for avoiding the obstacle, the third preset length is added on the basis of the first preset length to obtain the fourth preset length, the track points which are not replaced in the track points covered by the fourth preset length and the obstacle avoidance track points are used as local track points, the local track is generated, the incomplete situation of obstacle avoidance track generation can be avoided, accurate obstacle avoidance is realized, and the unmanned aerial vehicle can be returned to the global track.
It should be noted that, when the unmanned aerial vehicle moves along the global track point under normal conditions and the obstacle appears on the global track (actually appears on the local track, in most cases, the two are basically identical), the unmanned aerial vehicle needs to avoid the obstacle and return to the original track. In the related art, the unmanned aerial vehicle needs to be stopped, or the flight control decelerates the unmanned aerial vehicle to a certain speed and then the controller controls the unmanned aerial vehicle to avoid the obstacle, wherein, two ways unmanned aerial vehicle in the related art are unstable in the motion process, and the motion of the unmanned aerial vehicle is also easy to be unstable due to the change of the control right of the unmanned aerial vehicle. The technical scheme provided by the embodiment of the invention can be executed by the track planner, so that frequent exchange of control rights is avoided, planning integrity is improved, and the stability of unmanned aerial vehicle movement is ensured. In addition, the trajectory planner provided by the invention can also execute the 3D operation route.
Fig. 4 is a block diagram of a track planning apparatus according to an embodiment of the present invention, where, as shown in fig. 4, the apparatus provided by the embodiment of the present invention includes: a global trajectory point determination module 410, a start point determination module 420, a local trajectory generation module 430, and a control/return module 440.
Wherein, the global track point determining module 410 is configured to determine a global track point of the job route;
a start point determining module 420, configured to take a start point of the global track point as a start point of a first preset length;
the local track generation module 430 is configured to screen track points covered by the first preset length from the global track points, determine local track points based on the screened track points, and generate local tracks based on the local track points;
and a control/return module 440, configured to control the unmanned aerial vehicle to move by a distance of a second preset length based on the local track, and return an operation of screening the track points covered by the first preset length from the global track points by using a next track point of the current position of the unmanned aerial vehicle as a starting point of the first preset length until the global track points are screened, where the first preset length is greater than the second preset length.
Optionally, the determining the local track point based on the screened track point includes:
if an obstacle exists on a track formed by the track points covered by the first preset length, and the distance between the obstacle and the end point of the first preset length is larger than the first preset distance for avoiding the obstacle, determining an obstacle avoidance track point based on the first preset distance, the second preset distance for avoiding the obstacle and the information of the obstacle, and replacing the track point in the corresponding global track point by the obstacle avoidance track point;
and taking the non-replaced track points in the track points covered by the first preset length as local track points.
Optionally, the determining the local track point based on the screened track point includes:
if an obstacle exists on a track formed by the track points covered by the first preset length, and the distance between the obstacle and the end point of the first preset length is smaller than the first preset distance for avoiding the obstacle, adding a third preset length on the basis of the first preset length to obtain a fourth preset length; wherein the distance between the end point of the fourth preset length and the obstacle is greater than the first preset distance;
Determining obstacle avoidance track points based on the first preset distance, the second preset distance for obstacle avoidance and the information of the obstacle, and replacing track points in the corresponding global track points with the obstacle avoidance track points;
and taking the non-replaced track points in the track points covered by the fourth preset length as local track points.
Optionally, the determining the obstacle avoidance track point based on the first preset distance, the second preset distance for obstacle avoidance, and the information of the obstacle, and replacing the track point in the corresponding global track point with the obstacle avoidance track point includes:
determining a first track point corresponding to a position with a first preset distance behind the obstacle and a second track point corresponding to a position with a second preset distance in front of the obstacle in the global track points;
determining obstacle avoidance track points based on the information of the first track points, the information of the second track points and the information of the obstacle;
and replacing the track points between the second track point and the first track point in the global track points with the obstacle avoidance track points.
Optionally, the determining the local track point based on the screened track point includes:
And if no obstacle exists on the track formed by the track points covered by the first preset length, taking the screened track points as local track points.
Optionally, the determining the global track point of the job route includes:
determining the maximum speed allowed by each route point based on the constraint condition of the route points in the operation route, and taking the maximum speed as the speed of each route point;
and carrying out speed matching on road sections between every two adjacent route points based on the speeds and the positions of every two adjacent route points, and carrying out position sampling on each road section based on the allocated speeds to obtain a global track point.
Optionally, the determining the maximum speed allowed by each route point based on the constraint condition of the route point in the working route includes:
the speed of the route point satisfies the following condition, and the maximum value of the speeds satisfying the following condition is determined:
the speed of each route point is less than or equal to the maximum speed allowed by the job;
the speed of the first route point and the last route point is 0;
aiming at the speed of one route point, the speed of the previous route point is satisfied, and the speed is reached by the maximum acceleration allowed by the unmanned aerial vehicle in a whole process or the speed is reached by the maximum acceleration allowed by the unmanned aerial vehicle in a whole process;
Aiming at the speed of one route point, the speed of the next route point is reached by the maximum acceleration full-range speed reduction allowed by the unmanned aerial vehicle, or the speed of the next route point is reached by the maximum acceleration full-range speed reduction allowed by the unmanned aerial vehicle;
the forward speed of the route point is determined based on the magnitude of the turn angle.
Optionally, the determining the forward speed of the route point based on the rotation angle size includes:
the forward speed of the waypoint is determined based on the following formula:
wherein v is x For the forward speed of the unmanned aerial vehicle, theta is the angle of rotation, and a 0 And d is the distance between the unmanned aerial vehicle and a route point when the unmanned aerial vehicle decelerates.
Optionally, the controlling the unmanned aerial vehicle to move by a distance of a second preset length based on the local track includes:
determining a control amount of the unmanned aerial vehicle based on the local track;
and controlling the unmanned aerial vehicle to move along the local track for a distance of a second preset length based on the control quantity.
The device can execute the method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the method.
Fig. 5 is a schematic structural diagram of a track planner according to an embodiment of the present invention, where the track planner 50 includes a track planning apparatus 500 according to an embodiment of the present invention, and the track planning apparatus 500 performs the track planning method according to any of the foregoing embodiments of the present invention.
The embodiment of the invention also provides an unmanned aerial vehicle, which comprises the trajectory planner provided by the embodiment of the invention, namely the planner shown in fig. 5.
An embodiment of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a trajectory planning method as provided in any of the above embodiments of the present invention: for example, it is possible to realize:
determining a global track point of a working route;
taking the starting point of the global track point as the starting point of a first preset length;
screening track points covered by the first preset length from the global track points, determining local track points based on the screened track points, and generating local tracks based on the local track points;
and controlling the unmanned aerial vehicle to move by a distance of a second preset length based on the local track, taking the next track point of the current position of the unmanned aerial vehicle as a starting point of the first preset length, and returning to the operation of screening the track points covered by the first preset length in the global track point until the global track point is screened, wherein the first preset length is larger than the second preset length.
Any combination of one or more computer readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.

Claims (12)

1. A method of trajectory planning, comprising:
determining a global track point of a working route;
taking the starting point of the global track point as the starting point of a first preset length;
screening track points covered by the first preset length from the global track points, determining local track points based on the screened track points, and generating local tracks based on the local track points;
controlling the unmanned aerial vehicle to move by a distance of a second preset length based on the local track, taking the next track point of the current position of the unmanned aerial vehicle as a starting point of the first preset length, and returning to the step of screening the track points covered by the first preset length in the global track points until the global track points are screened, wherein the first preset length is larger than the second preset length;
The determining the local track point based on the screened track point comprises the following steps:
if an obstacle exists on a track formed by the track points covered by the first preset length, and the distance between the obstacle and the end point of the first preset length is larger than the first preset distance for avoiding the obstacle, determining an obstacle avoidance track point based on the first preset distance, the second preset distance for avoiding the obstacle and the information of the obstacle, and replacing the track point in the corresponding global track point by the obstacle avoidance track point;
and taking the non-replaced track points in the track points covered by the first preset length as local track points.
2. The method of claim 1, wherein the determining local trajectory points based on the screened trajectory points comprises:
if an obstacle exists on a track formed by the track points covered by the first preset length, and the distance between the obstacle and the end point of the first preset length is smaller than the first preset distance for avoiding the obstacle, adding a third preset length on the basis of the first preset length to obtain a fourth preset length; wherein the distance between the end point of the fourth preset length and the obstacle is greater than the first preset distance;
Determining obstacle avoidance track points based on the first preset distance, the second preset distance for obstacle avoidance and the information of the obstacle, and replacing track points in the corresponding global track points with the obstacle avoidance track points;
and taking the non-replaced track points in the track points covered by the fourth preset length as local track points.
3. The method according to claim 1 or 2, wherein determining an obstacle avoidance trajectory point based on the first preset distance, a second preset distance for obstacle avoidance, and information of the obstacle, and replacing a trajectory point in a corresponding global trajectory point with the obstacle avoidance trajectory point, comprises:
determining a first track point corresponding to a position at a first preset distance behind the obstacle and a second track point corresponding to a position at a second preset distance in front of the obstacle in the global track points;
determining obstacle avoidance track points based on the information of the first track points, the information of the second track points and the information of the obstacle;
and replacing the track points between the second track point and the first track point in the global track points with the obstacle avoidance track points.
4. The method of claim 1, wherein the determining local trajectory points based on the screened trajectory points comprises:
and if no obstacle exists on the track formed by the track points covered by the first preset length, taking the screened track points as local track points.
5. The method of claim 1, wherein determining global trajectory points for a job route comprises:
determining the maximum speed allowed by each route point based on the constraint condition of the route points in the operation route, and taking the maximum speed as the speed of each route point;
and determining the position and the speed at any moment in the road section between every two adjacent route points based on the speed and the position of every two adjacent route points, and sampling the position of each road section to obtain the global track point.
6. The method of claim 5, wherein determining the maximum speed allowed for each route point based on constraints for the route points in the job route comprises:
the speed of the route point satisfies the following condition, and the maximum value of the speeds satisfying the following condition is determined:
the speed of each route point is less than or equal to the maximum speed allowed by the job;
the speed of the first route point and the last route point is 0;
Aiming at the speed of one route point, the speed of the previous route point is satisfied, and the speed is reached by the maximum acceleration allowed by the unmanned aerial vehicle in a whole process or the speed is reached by the maximum acceleration allowed by the unmanned aerial vehicle in a whole process;
aiming at the speed of one route point, the speed of the next route point is reached by the maximum acceleration full-range speed reduction allowed by the unmanned aerial vehicle, or the speed of the next route point is reached by the maximum acceleration full-range speed reduction allowed by the unmanned aerial vehicle;
the forward speed of the route point is determined based on the magnitude of the turn angle.
7. The method of claim 6, wherein the forward speed of the waypoint is determined based on a turn size, comprising:
the forward speed of the waypoint is determined based on the following formula:
wherein v is x For the forward speed of the unmanned aerial vehicle, theta is the angle of rotation, and a 0 And d is the distance between the unmanned aerial vehicle and a route point when the unmanned aerial vehicle decelerates.
8. The method of claim 1, wherein the controlling the drone to move a distance of a second preset length based on the local trajectory comprises:
determining a control amount of the unmanned aerial vehicle based on the local track;
And controlling the unmanned aerial vehicle to move along the local track for a distance of a second preset length based on the control quantity.
9. A trajectory planning device, comprising:
the global track point determining module is used for determining global track points of the operation route;
the starting point determining module is used for taking the starting point of the global track point as the starting point of a first preset length;
the local track generation module is used for screening track points covered by the first preset length from the global track points, determining local track points based on the screened track points and generating local tracks based on the local track points;
the control/return module is used for controlling the unmanned aerial vehicle to move by a distance of a second preset length based on the local track, taking the next track point of the current position of the unmanned aerial vehicle as a starting point of the first preset length, and returning to the step of screening track points covered by the first preset length in the global track points until the global track points are screened, wherein the first preset length is larger than the second preset length;
the determining the local track point based on the screened track point comprises the following steps:
if an obstacle exists on a track formed by the track points covered by the first preset length, and the distance between the obstacle and the end point of the first preset length is larger than the first preset distance for avoiding the obstacle, determining an obstacle avoidance track point based on the first preset distance, the second preset distance for avoiding the obstacle and the information of the obstacle, and replacing the track point in the corresponding global track point by the obstacle avoidance track point;
And taking the non-replaced track points in the track points covered by the first preset length as local track points.
10. A trajectory planner comprising the trajectory planning device of claim 9.
11. A drone comprising the trajectory planner of claim 10.
12. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method according to any one of claims 1-8.
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