CN112987787B - Method and device for judging search path, electronic equipment and storage medium - Google Patents
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Abstract
The embodiment of the application provides a method and a device for judging a search path, electronic equipment and a storage medium, and relates to the technical field of unmanned aerial vehicles. The method comprises the steps of obtaining any search point of a search path; judging whether the search point is in a field angle space formed by a pre-established conical polyhedron; if yes, determining the search point as a path point, and limiting the path point of the search path within the range of the field angle so as to improve the safety and solve the problem of oblique flight in the conventional method.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to a method and a device for judging a search path, electronic equipment and a storage medium.
Background
There are various unmanned plane obstacle avoidance methods, and among them, a search-based motion planning method is widely used to avoid obstacles. For the path outside the angle of view, the path mostly deviates from the advancing path of the unmanned aerial vehicle, and if the continuous multiple path searches are all performed outside the angle of view, the probability that the actual flight trajectory of the unmanned aerial vehicle deviates from the advancing path is high, and the situation that the unmanned aerial vehicle always obliquely flies occurs.
Disclosure of Invention
An object of the embodiments of the present application is to provide a method and an apparatus for determining a search path, an electronic device, and a storage medium, which limit a path point of the search path within a range of a field angle to improve security and solve a problem of a skew flight in a conventional method.
The embodiment of the application provides a method for judging a search path, which comprises the following steps:
acquiring any search point of a search path;
judging whether the search point is in a field angle space formed by a pre-established conical polyhedron;
and if so, determining the search point as a path point.
In the implementation process, when the path is searched, the path point is limited in the field angle space of the airplane, the calculation efficiency of the searched path and the safety of the path search are improved, the oblique flight condition is avoided, and the problem of the oblique flight in the existing method is solved.
Further, the method further comprises constructing the field angle space, including:
determining vertex coordinates of the conical polyhedron;
establishing a first vertical triangular plane based on the vertex coordinates to generate a horizontal direction field angle;
establishing a second vertical triangular plane mutually perpendicular to the first vertical triangular plane based on the vertex coordinates to generate a vertical direction field angle;
generating a tapered polyhedron-shaped field angle space based on the first vertical triangular plane and the second vertical triangular plane.
In the implementation process, the aircraft field angle is a space formed by a conical polyhedron, a search point in the field angle space can be searched, and the search point is applied to the limitation of the field angle in the path search algorithm, so that the calculation efficiency and the safety are improved.
Further, before the step of determining whether the search point is within a field angle space constituted by a pre-established conical polyhedron, the method further includes:
defining the inside and outside of an arbitrary plane.
In the implementation process, by defining the inner side and the outer side of any plane, whether the search point is on the inner side of the field angle space formed by the conical polyhedron can be judged.
Further, the defining the inner and outer sides of the arbitrary plane includes:
establishing a normal of the plane based on a first arbitrary point on the plane, the direction of the normal representing the outside of the plane;
calculating a first point-surface distance from a second arbitrary point to the plane by using the normal;
the first dot-to-dot distance is expressed as:
wherein d is the first point-surface distance,
is a first one of the normal vectors, and,
a vector from the first arbitrary point to the second arbitrary point;
if the distance between the first point and the plane is less than 0, the second arbitrary point is positioned on the inner side of the plane;
and if the distance between the first point and the plane is greater than 0, the second arbitrary point is positioned on the outer side of the plane.
In the implementation process, the inner side and the outer side of the plane are defined according to the point-surface distance, and the direction pointed by the normal line is the outer side of the plane, so that the position of the inner side and the outer side of the plane is determined.
Further, the determining whether the search point is in a field angle space formed by a pre-established conical polyhedron includes:
respectively calculating second normal vectors of four triangular planes of the conical polyhedron;
calculating second point-face distances from any of the search points to four of the triangular planes of the pyramid polyhedron based on the second normal vector to determine whether the search points are inside the corresponding triangular plane;
and if the search points are all positioned at the inner sides of the four triangular planes of the conical polyhedron, the search points are positioned in a field angle space formed by the conical polyhedron.
In the implementation process, whether the search point is located inside the four triangular planes is determined according to the second normal vectors of the four triangular planes of the conical polyhedron and the corresponding second point face distances, if so, the search point is a path point, and if the path point is located inside the four planes during path search, the path point is within the aircraft field angle.
An embodiment of the present application further provides a device for determining a search path, where the device includes:
the search point acquisition module is used for acquiring any search point of a search path;
the judging module is used for judging whether the search point is in a field angle space formed by a pre-established conical polyhedron;
and the determining module is used for determining the search point as a path point if the search point is in a field angle space formed by a conical polyhedron.
In the implementation process, when the path is searched, the path point is limited in the field angle space formed by the conical polyhedron of the airplane, so that the efficiency of the path searching algorithm can be improved, the safety of the path searching is improved, and the oblique flight condition is avoided.
Further, the apparatus further comprises a construction module:
the vertex determining module is used for determining vertex coordinates of the conical polyhedron;
the horizontal field angle establishing module is used for establishing a first vertical triangular plane based on the vertex coordinates so as to generate a horizontal field angle;
a vertical field angle establishing module for establishing a second vertical triangular plane perpendicular to the first vertical triangular plane based on the vertex coordinates to generate a vertical field angle;
a field-of-view space creation module to generate a cone-polyhedron-shaped field-of-view space based on the first vertical triangular plane and the second vertical triangular plane.
In the implementation process, the field angle range of the airplane is divided by constructing the field angle space in the shape of the conical polyhedron.
Further, the apparatus further comprises:
and the defining module is used for defining the inner side and the outer side of any plane.
In the implementation process, by defining the inner side and the outer side of an arbitrary plane, whether a search point is in a field angle space can be determined.
An embodiment of the present application further provides an electronic device, where the electronic device includes a memory and a processor, the memory is used to store a computer program, and the processor runs the computer program to enable the computer device to execute any one of the above methods for determining a search path.
An embodiment of the present application further provides a readable storage medium, where computer program instructions are stored, and when the computer program instructions are read and executed by a processor, the method for determining a search path is performed according to any one of the foregoing methods.
Drawings
To more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a flowchart of a method for determining a search path according to an embodiment of the present disclosure;
fig. 2 is a flowchart for establishing a field angle space according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a field angle space formed by a conical polyhedron according to an embodiment of the present application;
FIG. 4 is a flow chart for defining the inside and outside of an arbitrary plane according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a plane and a corresponding normal provided by an embodiment of the present application;
FIG. 6 is a schematic diagram of a second arbitrary point provided by an embodiment of the present application;
fig. 7 is a flowchart of determining whether a search point is located in a field angle space formed by a conical polyhedron according to an embodiment of the present application;
fig. 8 is a block diagram of a structure of a device for determining a search path according to an embodiment of the present application;
fig. 9 is a block diagram of an overall structure of a search path determination device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not construed as indicating or implying relative importance.
Example 1
Referring to fig. 1, fig. 1 is a flowchart of a method for determining a search path according to an embodiment of the present disclosure. The method is applied to determining the path points when the unmanned aerial vehicle or other airplanes use the path searching algorithm to search the paths, and limits the path points in the field angle space of the unmanned aerial vehicle, and specifically comprises the following steps:
step S100: acquiring any search point of a search path;
step S200: judging whether the search point is in a field angle space formed by a pre-established conical polyhedron;
step S300: and if so, determining the search point as a path point.
Before the determination in step S200 is performed, the field angle space needs to be established in advance, and as shown in fig. 2, in order to establish the flow chart of the field angle space, the method specifically includes the following steps:
step S211: determining vertex coordinates of the conical polyhedron;
step S212: establishing a first vertical triangular plane based on the vertex coordinates to generate a horizontal field angle;
step S213: establishing a second vertical triangular plane mutually perpendicular to the first vertical triangular plane based on the vertex coordinates to generate a vertical direction field angle;
step S214: generating a cone polyhedral shaped field angle space based on the first vertical triangular plane and the second vertical triangular plane.
Exemplarily, as shown in fig. 3, the structure of the field angle space formed by the conical polyhedron is illustrated, where the point O is a vertex of the conical polyhedron, the angle GOH corresponding to the triangular plane GOH is the horizontal field angle, the angle EOF corresponding to the triangular plane EOF is the vertical field angle, and the field angle space in the shape of the conical polyhedron including four triangular planes DOC, BOC, AOB, and AOD is generated through the first vertical triangular plane and the second vertical triangular plane.
In addition, it is also necessary to define the inside and outside of any plane, as shown in fig. 4, for a flowchart defining the inside and outside of any plane, the method specifically includes the following steps:
step S221: establishing a normal of the plane based on a first arbitrary point on the plane, the direction of the normal representing the outside of the plane;
exemplarily, as shown in fig. 5, a schematic diagram of a plane and a corresponding normal line is shown, where the plane has a first arbitrary point a, and the normal line of the first arbitrary point a corresponds to a first normal line vector
Step S222: calculating a first point-surface distance from a second arbitrary point to the plane by using the normal;
the first dot-to-dot distance is expressed as:
wherein d is the first point-surface distance,
is a first one of the normal vectors,
a vector from the first arbitrary point to the second arbitrary point;
exemplarily, as shown in fig. 6, it is a schematic diagram of a second arbitrary point, and the first arbitrary point a and the second arbitrary point B form a vector
The distance d from the second arbitrary point B to the plane, i.e. the first point-to-plane distance, is equal to the first normal vector
Dot product vector
Step S223: if the distance between the first point and the plane is less than 0, the second arbitrary point is positioned on the inner side of the plane;
step S224: and if the distance between the first point and the plane is greater than 0, the second arbitrary point is positioned outside the plane.
If d >0, it means that point B is outside the plane; if d <0, point B is inside the plane.
As shown in fig. 7, in order to determine whether the search point is located in the field angle space formed by the tapered polyhedron, after the inner and outer sides of any plane are defined, step S200 may specifically include:
step S201: respectively calculating second normal vectors of four triangular planes of the conical polyhedron;
step S202: calculating second point-face distances from any of the search points to four of the triangular planes of the pyramid polyhedron based on the second normal vector to determine whether the search points are inside the corresponding triangular plane;
step S203: and if the search points are all positioned at the inner sides of the four triangular planes of the conical polyhedron, the search points are positioned in a field angle space formed by the conical polyhedron.
Four triangular planes DOC, BOC, AOB, and AOD corresponding to the field angle space formed by the conical polyhedron in fig. 3 respectively represent their corresponding normals by the second normal vector passing through the O point:
if α =1/2 < GOH and β =1/2 < EOF, then:
the second normal vector corresponding to the plane DOC is (-sin alpha, cos beta, 0);
the second normal vector corresponding to plane AOB is (-sin alpha, -cos beta, 0);
the second normal vector corresponding to the plane BOC is (-sin alpha, cos beta, 0);
the second normal vector corresponding to the plane AOD is (-sin alpha, -cos beta, 0);
and calculating second point-surface distances from any search point to four triangular planes of the conical polyhedron by using the second normal vector, and judging whether the search point is positioned on the inner sides of the four triangular planes according to the size of the second point-surface distances.
If the search point is inside the four triangular planes, it means that the search point is within the field angle space formed by the conical polyhedron of the airplane, and the search point is a route point.
Based on the judgment method, the search points can be applied to the field angle limitation in the path search algorithm at the inner side or the outer side of the geometric plane, and the search range is limited, so that the calculation efficiency of the path search algorithm is improved, the path search safety is improved, and the oblique flight condition is avoided.
Example 2
An embodiment of the present application provides a device for determining a search path, which is applied to the method for determining a search path in embodiment 1, and as shown in fig. 8, the device is a block diagram of the device for determining a search path, and includes:
a search point acquisition module 100, configured to acquire an arbitrary search point of a search path;
a judging module 200, configured to judge whether the search point is in a field angle space formed by a pre-established conical polyhedron;
a determining module 300, configured to determine the search point as a path point if the search point is located in a field angle space formed by a conical polyhedron.
The path search point is limited to the field angle space formed by the tapered polyhedron by the above determination.
Further, as shown in fig. 9, the overall structure of the apparatus for determining a search path is shown as a block diagram, and the apparatus further includes a constructing module 210:
a vertex determining module 211, configured to determine vertex coordinates of the conical polyhedron;
a horizontal field angle establishing module 212, configured to establish a first vertical triangular plane based on the vertex coordinates to generate a horizontal field angle;
a vertical field angle establishing module 213, configured to establish a second vertical triangular plane perpendicular to the first vertical triangular plane based on the vertex coordinates to generate a vertical direction field angle;
a field-of-view space creation module 214 for generating a tapered polyhedron-shaped field-of-view space based on the first vertical triangular plane and the second vertical triangular plane.
The device further comprises:
a defining module 220, configured to define inside and outside of any plane, where the defining module specifically includes:
a first normal establishing module 221, configured to establish a normal of the plane based on a first arbitrary point on the plane, where a direction of the normal represents an outer side of the plane;
a first distance calculating module 222, configured to calculate a first point-to-surface distance from a second arbitrary point to the plane by using the normal line;
the first dot-to-dot distance is expressed as:
wherein d is the first point-surface distance,
is a first one of the normal vectors,
a vector from the first arbitrary point to the second arbitrary point;
an inner side determining module 223, configured to determine that the second arbitrary point is on the inner side of the plane if the distance between the first point and the plane is less than 0;
an outside determining module 224, configured to determine that the second arbitrary point is outside the plane if the distance between the first point and the plane is greater than 0.
The judging module 200 includes:
a second normal establishing module 201, configured to calculate second normal vectors of four triangular planes of the conical polyhedron respectively;
a second distance calculating module 202, configured to calculate second point-to-surface distances from any of the search points to four of the triangular planes of the pyramid polyhedron based on the second normal vector to determine whether the search points are inside the corresponding triangular planes;
and the viewing angle determining module 203 is configured to, if the search points are all located inside four triangular planes of the conical polyhedron, locate the search points in a viewing angle space formed by the conical polyhedron.
An embodiment of the present application further provides an electronic device, where the electronic device includes a memory and a processor, the memory is used to store a computer program, and the processor runs the computer program to enable the computer device to execute the method for determining a search path according to embodiment 1.
An embodiment of the present application further provides a readable storage medium, where a computer program instruction is stored in the readable storage medium, and when the computer program instruction is read and executed by a processor, the method for determining a search path according to embodiment 1 is executed.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions may be stored in a computer-readable storage medium if they are implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
Claims (8)
1. A judgment method for searching a path is characterized by comprising the following steps:
acquiring any search point of a search path;
judging whether the search point is in a field angle space formed by a pre-established conical polyhedron;
if yes, determining the search point as a path point;
the method further includes construction of the field angle space, including:
determining vertex coordinates of the conical polyhedron;
establishing a first vertical triangular plane based on the vertex coordinates to generate a horizontal direction field angle;
establishing a second vertical triangular plane mutually perpendicular to the first vertical triangular plane based on the vertex coordinates to generate a vertical direction field angle;
generating a tapered polyhedron-shaped field angle space based on the first vertical triangular plane and the second vertical triangular plane.
2. The method for judging a search path according to claim 1, wherein before the step of judging whether the search point is within a field angle space constituted by a pre-established pyramid polyhedron, the method further comprises:
defining the inside and outside of an arbitrary plane.
3. The method for determining a search path according to claim 2, wherein the defining inside and outside of the arbitrary plane includes:
establishing a normal of an arbitrary plane based on a first arbitrary point on the plane, the direction of the normal representing the outside of the plane;
calculating a first point-surface distance from a second arbitrary point to the plane by using the normal;
the first dot-to-dot distance is expressed as:
wherein d is the first point-surface distance,
is a first one of the normal vectors, and,
a vector from the first arbitrary point to the second arbitrary point;
if the distance between the first point and the plane is less than 0, the second arbitrary point is positioned on the inner side of the plane;
and if the distance between the first point and the plane is greater than 0, the second arbitrary point is positioned on the outer side of the plane.
4. The method according to claim 3, wherein the determining whether the search point is in a field angle space formed by a pre-established pyramid polyhedron comprises:
respectively calculating second normal vectors of four triangular planes of the conical polyhedron;
calculating second point-face distances from any of the search points to four of the triangular planes of the pyramid polyhedron based on the second normal vector to determine whether the search points are inside the corresponding triangular plane;
and if the search points are all positioned at the inner sides of the four triangular planes of the conical polyhedron, the search points are positioned in a field angle space formed by the conical polyhedron.
5. A judging apparatus for searching a path, the apparatus comprising:
the search point acquisition module is used for acquiring any search point of a search path;
the judging module is used for judging whether the search point is in a field angle space formed by a pre-established conical polyhedron;
the determining module is used for determining the search point as a path point if the search point is in a field angle space formed by a conical polyhedron;
the apparatus further comprises a building module:
the vertex determining module is used for determining vertex coordinates of the conical polyhedron;
the horizontal field angle establishing module is used for establishing a first vertical triangular plane based on the vertex coordinates so as to generate a horizontal field angle;
a vertical field angle establishing module for establishing a second vertical triangular plane perpendicular to the first vertical triangular plane based on the vertex coordinates to generate a vertical field angle;
a field-of-view space creation module to generate a cone-polyhedron-shaped field-of-view space based on the first vertical triangular plane and the second vertical triangular plane.
6. The apparatus for determining a search route according to claim 5, further comprising:
and the defining module is used for defining the inner side and the outer side of any plane.
7. An electronic device, characterized in that the electronic device comprises a memory for storing a computer program and a processor for executing the computer program to make the computer device execute the judging method of the search path according to any one of claims 1 to 4.
8. A readable storage medium, wherein computer program instructions are stored, and when read and executed by a processor, perform the method for determining a search path according to any one of claims 1 to 4.
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