CN113168189A

CN113168189A - Flight operation method, unmanned aerial vehicle and storage medium

Info

Publication number: CN113168189A
Application number: CN202080006507.1A
Authority: CN
Inventors: 张伟
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2020-06-29
Filing date: 2020-06-29
Publication date: 2021-07-23
Also published as: WO2022000197A1

Abstract

A flight operation method, an unmanned aerial vehicle and a storage medium, wherein the method comprises the following steps: acquiring a flight operation path of a target area, wherein the flight operation path is determined according to a distribution map of a target area positioning marker and an operation requirement (S101); performing flying operation according to the flying operation path and acquiring surrounding environment images in the flying process (S102); and correcting errors in the flight process according to the positioning marker images in the environment image (S103).

Description

Flight operation method, unmanned aerial vehicle and storage medium

Technical Field

The application relates to the technical field of unmanned aerial vehicles, in particular to a flight task generation method, a control terminal, an unmanned aerial vehicle and a storage medium.

Background

With the development of the unmanned aerial vehicle technology, the unmanned aerial vehicle has been widely used, for example, the unmanned aerial vehicle can be used for checking the goods in the target area, the goods are placed on a higher shelf, and the unmanned aerial vehicle must avoid the obstacles in the target area when flying to check.

When the flight environment of the target area is complex, for example: the heights of the obstacles in the target area may be inconsistent, the types of the obstacles may be various, the positions of some obstacles may change at any time, and the like, which all cause that the unmanned aerial vehicle is difficult and heavy when flying in the target area, and the flying operation path is very difficult to plan. In the existing method, a target area is subjected to three-dimensional modeling, a flight operation path is planned according to the three-dimensional model, the three-dimensional modeling is mainly performed through three-dimensional software for model drawing, or measurement modeling is performed by using sensor equipment carried by an unmanned aerial vehicle, the three-dimensional modeling processes of the two modes are complex, time and labor are consumed, expensive sensor equipment such as a laser radar is required to be equipped on the unmanned aerial vehicle, and the cost of the unmanned aerial vehicle is high.

Disclosure of Invention

Based on this, the application provides a flight operation method, unmanned aerial vehicle and storage medium.

In a first aspect, the present application provides a flight operation method, where the method is applied to an unmanned aerial vehicle, and includes:

acquiring a flight operation path of a target area, wherein the flight operation path is determined according to a distribution map of a target area positioning marker and an operation requirement;

performing flight operation according to the flight operation path and acquiring an ambient image in the flight process;

and correcting errors in the flight process according to the positioning marker images in the environment images.

In a second aspect, the present application provides an unmanned aerial vehicle, comprising: a memory and a processor;

the memory is used for storing a computer program;

the processor is configured to execute the computer program and, when executing the computer program, implement the steps of:

In a third aspect, the present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, causes the processor to carry out a method of flight operations as described above.

The embodiment of the application provides a flight operation method, an unmanned aerial vehicle and a storage medium, wherein a flight operation path of a target area is obtained, and the flight operation path is determined according to a distribution map of a target area positioning marker and an operation requirement; performing flight operation according to the flight operation path and acquiring an ambient image in the flight process; correcting errors in the flight process according to the positioning marker images in the environment images, determining the flight operation path of the target area according to the distribution map of the positioning markers of the target area and the operation requirement without three-dimensional modeling of the target area, avoiding the complex process of three-dimensional modeling, saving the time required by the modeling process, and allowing the unmanned aerial vehicle not to be provided with expensive sensor equipment such as laser radar and the like, thereby reducing the manufacturing cost of the unmanned aerial vehicle; the positioning marker helps the unmanned aerial vehicle to position in the flight process, flight operation is carried out along the flight operation path determined according to the distribution map of the positioning marker of the target area and the operation requirement, errors in the flight process are corrected according to the positioning marker image in the acquired surrounding environment image in the flight process, and flight is guaranteed not to deviate from the flight operation path.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic flow chart diagram of an embodiment of a method of flight operations according to the present application;

FIG. 2 is a schematic view of a positioning marker according to an embodiment of the present invention;

FIG. 3 is a schematic flow chart diagram of yet another embodiment of a method of flight operations according to the present application;

FIG. 4 is a schematic illustration of a shelf distribution of a three-dimensional warehouse according to an embodiment of the present method of flight operations;

FIG. 5 is a schematic view of a distribution of pallets and positioning markers according to an embodiment of the method of the present application;

FIG. 6 is a schematic diagram of a path plan according to an embodiment of the flight operations method of the present application;

FIG. 7 is a schematic view of a path plan according to another embodiment of the flight operations method of the present application;

FIG. 8 is a schematic flow chart diagram of yet another embodiment of a method of flight operations according to the present application;

FIG. 9 is a schematic flow chart diagram illustrating a method of flight operations according to yet another embodiment of the present application

Fig. 10 is a schematic structural diagram of an embodiment of the drone of the present application;

FIG. 11 is a schematic structural diagram of an embodiment of a control apparatus of the present application;

FIG. 12 is a schematic structural diagram of an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The flow diagrams depicted in the figures are merely illustrative and do not necessarily include all of the elements and operations/steps, nor do they necessarily have to be performed in the order depicted. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.

The flight operation method provided by the embodiment of the application can be applied to various scenes, for example, the flight operation method provided by the embodiment of the application can be used for checking the goods. The goods checking refers to checking goods and the like, common methods include an account checking method and a spot checking method, and a checking machine is usually adopted as a tool and used for integrating and summarizing warehouses and checking stocks. For a large warehouse, the quantity of goods is large, the scale of a goods shelf is large, and the traditional mode is difficult to finish high-efficiency inventory.

Because paste first bar code (barcode) on the goods, thereby can utilize unmanned aerial vehicle scanning bar code to check the goods. The bar code is a graphic identifier in which a plurality of black bars and spaces having different widths are arranged according to a certain encoding rule to express a set of information. Common bar codes are a pattern of parallel lines of black bars (bars for short) and white bars (spaces for short) of widely differing reflectivity, which are easily identified by an image algorithm. In a large warehouse, bar codes are often used to track important information such as the category, quantity, location, etc. of goods, so as to facilitate digital management.

When goods are placed on the goods shelf, the first bar codes on the goods can be exposed, and the side, on which the first bar codes are stuck, of the goods is placed on the outer side of the goods shelf. When the storage is checked, the flight path of the unmanned aerial vehicle covers the goods on all goods shelves, and the information of various goods is input by scanning the first bar codes of all goods on the storage space goods shelves. In this way, information about all the goods on the storage rack of the storage space can be obtained.

However, the flight environment of a storage area is not an open, open environment, but a relatively closed, confined complex environment: the flight height of a storage area is generally limited, the area also comprises various obstacles (such as a goods shelf, a forklift, a person and a machine) which influence the flight and need to be avoided, the heights of the obstacles may be inconsistent, the positions of some obstacles may change at any time, signals in the storage area may be poor, the positioning of the unmanned aerial vehicle in the flight process may be inaccurate, flight accidents are caused, and the situations all cause that the unmanned aerial vehicle is difficult and serious in the flight operation in the storage area, and the flight operation path is very difficult to plan. If three-dimensional modeling is carried out on a target area, the three-dimensional modeling process is complex, time and labor are consumed, expensive sensor equipment such as a laser radar is required to be equipped on the unmanned aerial vehicle, and the cost of the unmanned aerial vehicle is high. In addition, the embodiment of the application can be used for transferring goods from one position to another position (for example, transferring the goods from one position to a shelf or transferring the goods from the shelf to another position), and the existing method that the goods are taken off by a forklift, transferred to another position and then placed on the shelf is also suitable for a relatively short shelf, and is low in efficiency and long in period.

So that the drone can be used for freight. (1) Placing the goods on a shelf: can paste the second bar code on goods shelves, also pasted the second bar code on the goods that will put on this goods shelves, the second bar code on goods shelves corresponds with the second bar code on the goods, for example, can make the second bar code on goods shelves unanimous with the second bar code on the goods, or discern two second bar codes through the information of scanning the bar code and be paired each other, explain that this goods needs to be put on this goods shelves, therefore, when utilizing unmanned aerial vehicle freight transportation, can make unmanned aerial vehicle's flight path cover all goods shelves, through the second bar code on the scanning goods shelves, judge whether the second bar code of this goods shelves corresponds with the second bar code of the goods that the unmanned aerial vehicle was carried on at present, if correspond, then put this goods on corresponding goods shelves. (2) Taking goods from the shelves to other destinations: can paste the second bar code on the goods of goods shelves, during unmanned aerial vehicle freight transportation, unmanned aerial vehicle's flight path covers all goods, through the second bar code on the scanning goods, judges whether the second bar code of this goods is the goods that need carry at present, if yes, then will the goods carry on unmanned aerial vehicle, and unmanned aerial vehicle flies to other destinations and puts down the goods. Through this kind of mode, can carry out automatic freight through unmanned aerial vehicle, can greatly reduced freight cost, improve freight efficiency, guarantee the security of freight process, and then alleviate enterprise's freight management cost.

However, the flight environment of a cargo area is not an open, open environment, but is typically a relatively closed, confined complex environment: the flight height of a freight transportation area is generally limited, the area also comprises various obstacles (such as a goods shelf, a forklift, a person, a machine and the like) which influence the flight and need to be avoided, the heights of the obstacles may be inconsistent, the positions of some obstacles may change at any time, in addition, signals may be poor in the process of cargo transportation, so that the positioning of the unmanned aerial vehicle in the flight process may be inaccurate, flight accidents and the like are caused, and the situations all cause that the unmanned aerial vehicle is difficult and heavy in the flight operation in the freight transportation area, and the flight operation path is very difficult to plan. If three-dimensional modeling is carried out on a target area, the three-dimensional modeling process is complex, time and labor are consumed, expensive sensor equipment such as a laser radar is required to be equipped on the unmanned aerial vehicle, and the cost of the unmanned aerial vehicle is high.

It should be noted that the above application scenarios are only exemplary and do not limit the present application, and the application of the method of the present application to other application scenarios also belongs to the protection scope of the present application.

In order to solve the problems, the embodiment of the application acquires a flight operation path of a target area, wherein the flight operation path is determined according to a distribution map of a target area positioning marker and an operation requirement; performing flight operation according to the flight operation path and acquiring an ambient image in the flight process; correcting errors in the flight process according to the positioning marker images in the environment images, determining the flight operation path of the target area according to the distribution map of the positioning markers of the target area and the operation requirement without three-dimensional modeling of the target area, avoiding the complex process of three-dimensional modeling, saving the time required by the modeling process, and allowing the unmanned aerial vehicle not to be provided with expensive sensor equipment such as laser radar and the like, thereby reducing the manufacturing cost of the unmanned aerial vehicle; the positioning marker helps the unmanned aerial vehicle to position in the flight process, flight operation is carried out along the flight operation path determined according to the distribution map of the positioning marker of the target area and the operation requirement, errors in the flight process are corrected according to the positioning marker image in the acquired surrounding environment image in the flight process, and flight is guaranteed not to deviate from the flight operation path.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

Referring to fig. 1, fig. 1 is a schematic flow chart of an embodiment of a flight operation method of the present application, where the method is applied to an unmanned aerial vehicle, and the method includes:

step S101: and acquiring a flight operation path of the target area, wherein the flight operation path is determined according to the distribution map of the target area positioning marker and the operation requirement.

Step S102: and performing flying operation according to the flying operation path and acquiring an ambient image in the flying process.

Step S103: and correcting errors in the flight process according to the positioning marker images in the environment images.

In this embodiment, the target area may be an area where the unmanned aerial vehicle flies, for example: if the goods are checked by the unmanned aerial vehicle, the target area can be a warehousing area; if the cargo is carried by the unmanned aerial vehicle, the target area may be a freight area; if the unmanned aerial vehicle is used for monitoring construction, the target area can be a construction area; if the unmanned aerial vehicle is used for traffic supervision, the target area can be a road traffic site; and the like; the target area may be an indoor space, an outdoor space, a part of an indoor space, and another part of an outdoor space, and the like. The target object can be an object which needs to be concerned by the flight operation of the unmanned aerial vehicle in the target area, and generally comprises a working object and an obstacle object; for example, the work object may be goods, which may be daily articles in life, industrial goods for industrial use, construction goods, and the like; when the unmanned aerial vehicle is used for operation, flight safety must be guaranteed firstly, and therefore, the obstacle objects can be various obstacles influencing the flight safety in a target area.

A localization marker may refer to a marker used to locate a position (including position and orientation) in a current environment based on visual recognition. The localization markers may be in a variety of forms, and in some embodiments, may be in a relatively simple form that does not require great computational effort to identify. In this embodiment, the localization markers include, but are not limited to, one or more of random points, numbers, and two-dimensional codes.

For example: different random points are preset to correspond to different positioning information, and different random point positioning markers are preset at different positions corresponding to different positioning information. And identifying a specific random point positioning marker at a certain position by a visual identification technology, and further determining specific positioning information corresponding to the specific random point positioning marker.

Furthermore, the positioning marker can be formed by splicing a plurality of random point positioning markers.

For another example, a ground coordinate system is established in advance, the random point positioning marker is laid on the ground in advance, and the coordinate position of the random point positioning marker in the ground coordinate system is identified through a visual identification technology.

For another example: different numbers are preset to correspond to different positioning information, and different digital positioning markers are preset at different positions corresponding to different positioning information. And identifying a specific digital positioning marker at a certain position by a visual identification technology, and further determining specific positioning information corresponding to the specific digital positioning marker.

For another example: the information that the two-dimensional code can carry is richest, carries the different locating information of different positions department in the two-dimensional code of difference, sets up the different two-dimensional codes of difference respectively in corresponding different positions department. As long as the camera device observes the two-dimensional code, the positioning information can be read out from the two-dimensional code. As shown in FIG. 2, FIG. 2 is an Aruco Marker; the Aruco is an open-source miniature reality augmentation library which comprises visual markers, an Aruco Marker is a two-dimensional code which is widely used, a group of black frames are arranged on the periphery of the Aruco Marker, and meanwhile, the interior of the Aruco Marker is formed by combining two-dimensional matrixes for determining the ID of the Marker; the black frame can accelerate the detection speed of the marker in the image, the internal two-dimensional code can uniquely identify the marker, error detection and error repair are carried out simultaneously, and the size of the marker determines the size of the internal matrix.

In this embodiment, the positioning marker is set up in the target area, the positioning marker helps unmanned aerial vehicle fix a position in flight, along the flight operation route flight operation that the distribution map according to target area positioning marker and operation requirement confirm and according to the positioning marker image correction in the environmental image of the periphery that obtains in flight in-process error in the flight process, guarantee the flight not deviate from the flight operation route, on the one hand, can help unmanned aerial vehicle to avoid various barriers, guarantee flight safety, on the other hand, can satisfy the purpose that unmanned aerial vehicle flies in the target area, satisfy the operation requirement promptly. A distribution map of the target area localization markers may be acquired in advance. The manner of obtaining the distribution map of the target area localization markers may include: the distribution condition of the positioning markers of the paper plate in the target area can be manually drawn on a two-dimensional plane diagram of the target area of the paper plate, and then the distribution condition of the positioning markers of the paper plate in the target area is input into a machine to obtain a distribution map of the positioning markers of the target area; or, the position of the positioning marker in the target area can be input on the two-dimensional plane diagram of the target area, so as to obtain a distribution map of the positioning marker in the target area; or, a positioning marker is arranged in a target area on the spot, the unmanned aerial vehicle is controlled to fly in the target area on the spot, the position of the positioning marker is identified, and then a distribution map of the positioning marker in the target area is obtained by combining a two-dimensional plane map of the target area.

In this embodiment, the acquiring of the flight operation path of the target area in step S101 may be that the unmanned aerial vehicle acquires from its own source, and one manner may be: the distribution map and the operation requirement of the target area positioning marker are sent to the unmanned aerial vehicle, the unmanned aerial vehicle determines the flight operation path of the target area according to the distribution map and the operation requirement of the target area positioning marker, and the other mode can be as follows: determining the flight operation path of the target area by other devices according to the distribution map of the target area positioning marker and the operation requirement, and then pre-guiding the determined flight operation path of the target area into the unmanned aerial vehicle; the unmanned aerial vehicle may also acquire the information from the control device in real time, that is, the control device sends the flight operation path of the target area determined according to the distribution map of the target area positioning markers and the operation requirement to the unmanned aerial vehicle, and the unmanned aerial vehicle receives the flight operation path of the target area sent by the control device (see the following part of the flight operation method applied to the control end).

The operation requirement may be a requirement that the unmanned aerial vehicle performs an operation on an object including a target object in the target area while flying in the target area. For example: if utilize unmanned aerial vehicle to carry out goods and check, the operation requirement this moment includes: and enabling the flying operation path to cover the positions of all goods in the storage space, and enabling the unmanned aerial vehicle to scan the first bar codes of all goods (the goods are goods and are target objects) on the goods shelf of the storage space. After the unmanned aerial vehicle acquires the flight operation path of the storage space determined according to the distribution map of the storage space positioning marker and the operation requirement, the positions of all goods in the storage space can be covered according to the flight operation path, and meanwhile, the unmanned aerial vehicle can scan the first bar codes of all goods on the storage space shelf in the process of flying along the flight operation path.

For another example: if utilize unmanned aerial vehicle transport goods, the operation requirement this moment includes: enabling the flying operation path to cover the positions of all goods shelves in the freight space, enabling the unmanned aerial vehicle to scan the second bar codes on the goods shelves in the freight space, and placing the goods with the second bar codes carried on the unmanned aerial vehicle on the corresponding goods shelves (the goods shelves and the goods are target objects) or carrying the goods with the second bar codes on the unmanned aerial vehicle to be transported to the destination through the unmanned aerial vehicle. After the unmanned aerial vehicle acquires the flight operation path of the freight space determined according to the distribution map of the freight space positioning marker and the operation requirement, the positions of all goods shelves in the freight space can be covered according to the flight operation path, meanwhile, in the process that the unmanned aerial vehicle flies along the flight operation path, the second bar codes on the goods shelves in the freight space can be scanned, the second bar codes on the goods shelves are compared with the second bar codes of the goods carried on the unmanned aerial vehicle, and if the second bar codes on the goods shelves correspond to the second bar codes of the goods carried on the unmanned aerial vehicle, the goods with the second bar codes carried on the unmanned aerial vehicle are placed on the corresponding goods shelves or the goods with the second bar codes on the goods shelves are carried on the unmanned aerial vehicle to be transported to the destination through the unmanned aerial vehicle.

For another example: if utilize unmanned aerial vehicle to carry out traffic control, the job requirement includes this moment: enabling the flight operation path to cover all positions of a certain traffic artery, enabling the unmanned aerial vehicle to monitor whether pedestrians, motor vehicles and non-motor vehicles (the pedestrians, the motor vehicles and the non-motor vehicles are targets) on the traffic artery obey relevant regulations such as traffic safety laws or not, if the pedestrians, the non-motor vehicles and the motor vehicles are found to violate the relevant regulations such as the traffic safety laws, shouting the pedestrians, the non-motor vehicles and the motor vehicles to prevent the pedestrians, the non-motor vehicles and the motor vehicles from violating the relevant regulations such as the traffic safety laws, and if the motor vehicles still violate the relevant regulations such as the traffic safety laws or the like, identifying and recording license plate numbers of the motor vehicles. When the unmanned aerial vehicle acquires a flight operation path of the area where the traffic main road is located, which is determined according to the distribution map of the area where the traffic main road is located and the operation requirements, the area where the traffic main road is located can be covered by flying according to the flight operation path, meanwhile, the unmanned aerial vehicle can monitor whether pedestrians, motor vehicles and non-motor vehicles on the traffic main road comply with relevant regulations such as traffic safety laws or the like in the process of flying along the flight operation path, if the pedestrians, the non-motor vehicles and the motor vehicles are found to violate the relevant regulations such as the traffic safety laws or the like, the pedestrians, the non-motor vehicles and the motor vehicles are shout to prevent the motor vehicles from violating the relevant regulations such as the traffic safety laws or the like, and if the motor vehicles still violate the relevant regulations such as the traffic safety laws or the like, the license plate number of the motor vehicle is identified and recorded.

Because the flight operation path is not only a flight path, but also requires the unmanned aerial vehicle to operate in the flight process, the unmanned aerial vehicle operates according to the flight operation path determined according to the distribution map of the target area positioning marker and the operation requirement, and through the mode, the unmanned aerial vehicle can develop new applications in the target area, such as cargo inventory, cargo carrying, traffic supervision, construction monitoring and the like by utilizing the unmanned aerial vehicle.

The method includes the steps that a flight operation path of a target area is obtained, and the flight operation path is determined according to a distribution map of a target area positioning marker and operation requirements; performing flight operation according to the flight operation path and acquiring an ambient image in the flight process; correcting errors in the flight process according to the positioning marker images in the environment images, determining the flight operation path of the target area according to the distribution map of the positioning markers of the target area and the operation requirement without three-dimensional modeling of the target area, avoiding the complex process of three-dimensional modeling, saving the time required by the modeling process, and allowing the unmanned aerial vehicle not to be provided with expensive sensor equipment such as laser radar and the like, thereby reducing the manufacturing cost of the unmanned aerial vehicle; the positioning marker helps the unmanned aerial vehicle to position in the flight process, flight operation is carried out along the flight operation path determined according to the distribution map of the positioning marker of the target area and the operation requirement, errors in the flight process are corrected according to the positioning marker image in the acquired surrounding environment image in the flight process, and flight is guaranteed not to deviate from the flight operation path.

The distribution map of the target area localization markers may be: and setting a positioning marker on site according to the actual situation of the site of the target area, and obtaining a distribution map of the positioning marker of the target area according to the positioning marker set in the target area.

In order to enable the flight operation path of the target area to meet the operation requirement, the distribution map of the target area positioning marker is determined according to the distribution map of the target object of the target area, and the distribution map of the target object of the target area is determined according to the two-dimensional plane map of the target area.

In this embodiment, the setting position of the target area positioning marker is determined according to the distribution map of the target object in the target area, and the distribution map of the target area positioning marker is determined according to the distribution of the positioning markers set in the target area.

There are many specific ways to determine the set position of the target area positioning marker based on the distribution map of the target object in the target area. For example: inputting a distribution map of a target object in a target area, marking the position of a positioning marker on the distribution map of the target object in the target area, generating the distribution map of the positioning marker in the target area according to the position of the positioning marker marked on the distribution map of the target object in the target area, and setting the positioning marker on the site of the target area according to the position of the positioning marker marked on the distribution map of the target object in the target area. Or according to the distribution map of the target object in the target area, positioning markers are arranged on the site of the target area, and the distribution map of the positioning markers in the target area is obtained according to the positioning markers arranged in the target area.

When the positioning marker is set on site in the target area, the positioning marker needs to be set according to specific operation requirements. For example: the positioning locations of the localization markers include, but are not limited to: the ground of the corridor on both sides of the working object is arranged close to the working object, is arranged at a position with a preset distance above the working object, is far away from the working object but needs to be turned to another position of the working object, has the position of an obstacle object, can be arranged in an area with concentrated movable range of the movable working object for the working object which is movable, and the like.

Because the target object can be an object which needs attention in the flying operation of the unmanned aerial vehicle in the target area, and usually comprises an operation object and an obstacle object, the distribution map of the target area positioning marker determined according to the distribution map of the target object in the target area can provide technical support for avoiding various obstacles and ensuring the flying safety of the unmanned aerial vehicle in the flying process, and can provide technical support for meeting the operation requirement of the unmanned aerial vehicle in the flying process of the target area.

The target area has a two-dimensional plane graph, and when the flight operation path of the target area is planned, the distribution situation of the target objects in the target area is determined by using the two-dimensional plane graphs of the target area and the position information of the target objects, so that the distribution map of the target objects in the target area can be obtained, and the three-dimensional map of the target objects in the target area can be obtained by further combining the size information of the target objects. Because the two-dimensional plane map information of the target area is fully utilized, the complex process of three-dimensional modeling is avoided, the time required by the modeling process can be saved, and the unmanned aerial vehicle is allowed not to be equipped with sensor equipment such as a laser radar, so that the manufacturing cost of the unmanned aerial vehicle is reduced.

In an embodiment, before acquiring the flight operation path of the target area in step S101, the method may further include: and step S104.

Step S104: and acquiring a distribution map of the target object in the target area.

If the distribution map of the target object in the target area is predetermined, the distribution map can be acquired; alternatively, if the distribution map of the target object in the target area is not predetermined, the distribution map of the target object in the target area may be determined first.

In the case that the distribution map of the target object in the target area is not predetermined, the step S104, acquiring the distribution map of the target object in the target area may include: and determining a distribution map of the target object in the target area according to the two-dimensional plane map of the target area. The specific mode can include: combining the special mark of the target object on the two-dimensional plane graph of the target area to obtain a distribution map of the target object in the target area; or, on the two-dimensional plane diagram of the target area, combining the input position coordinates of the target object, and displaying the position coordinates of the target object on the two-dimensional plane diagram of the target area, thereby obtaining a distribution map of the target object in the target area; or, on the two-dimensional plane map of the target area, combining the input position coordinates of the target object and the input information such as the shape and the size of the target object to obtain a three-dimensional distribution map of the target object; and so on.

The method and the device make full use of the existing two-dimensional plane map of the target area, determine the distribution map of the target object in the target area according to the two-dimensional plane map, and are simple and quick.

Further, in step S104, the determining a distribution map of the target object in the target area according to the two-dimensional plane map of the target area may further include: substeps 1041 and substep S1042, as shown in fig. 3.

Substep S1041: and setting a reference coordinate system on the two-dimensional plane map of the target area to construct a two-dimensional plane map.

Substep S1042: and obtaining a three-dimensional distribution map of the target object in the target area on the two-dimensional plane map by combining the parameters of the target object.

Two-dimensional planar views of the target area are more common with two-dimensional CAD planar views. According to the method and the device, the three-dimensional distribution map of the target object in the target area is obtained by combining the parameters of the target object on the two-dimensional plane map of the target area, and the distribution information of the target object is obtained without performing three-dimensional modeling on the target area through expensive sensor equipment.

Wherein the parameters of the target object include: the shape, size, and location of the object.

For example, as shown in fig. 4, the target object in the target area is a shelf of a warehouse, and since the shape and size of the shelf are fixed, the shelf is unified into a rectangular parallelepiped shape, and the placement position thereof is usually fixed, a three-dimensional shelf distribution map can be directly obtained from a CAD two-dimensional plan view of the warehouse. And determining the setting position of the positioning marker in the warehouse according to the three-dimensional shelf distribution map, and further determining a distribution map of the positioning marker in the warehouse. Planning a flight operation path according to a distribution map of positioning markers in the warehouse and operation requirements, wherein the operation requirements comprise scanning first bar codes of all goods on a shelf of the warehouse, and the flight operation path covers the positions of all the goods in the warehouse.

The two-dimensional plane map information of the warehouse area and the shape and size information of the goods shelf are fully utilized, so that the complex process of three-dimensional modeling is avoided, the time required by the modeling process can be saved, and the unmanned aerial vehicle is allowed not to be provided with sensor equipment such as a laser radar and the like, so that the manufacturing cost of the unmanned aerial vehicle is reduced. In addition, the positioning marker helps the unmanned aerial vehicle to be positioned in the flight process, the unmanned aerial vehicle flies along the flight operation path determined according to the distribution map of the warehouse positioning marker and the operation requirement, the error in the flight process is corrected according to the positioning marker image in the acquired surrounding environment image in the flight process, and the flight is ensured not to deviate from the flight operation path.

Because unmanned aerial vehicle has the error in the flight process, probably deviate from original flight operation route, if do not revise the error, can lead to can not satisfying the operation requirement (for example the goods is checked and is had the mistake, can't transport the goods according to the requirement, etc.), lead to unmanned aerial vehicle to bump, consequently according to flight operation route flight operation, revise the error in the flight process simultaneously.

The error in the flight process can be corrected by the fact that the unmanned aerial vehicle firstly needs to be positioned by a positioning system of the unmanned aerial vehicle, then the positioning data is compared with target data of a flight operation path, and when a comparison result exceeds an acceptable range, the error in the flight process needs to be corrected. The unmanned aerial vehicle can position itself in many ways, such as inertial navigation system, radar, GPS, visual positioning, and so on.

Generally, the visual positioning cost is low, the application is wide, and errors in the flight process can be corrected by combining positioning markers arranged in the surrounding environment.

Carry on camera device on unmanned aerial vehicle and acquire the environmental image of surrounding at the flight in-process to discern the environmental image. If the camera device shoots a positioning marker in the surrounding environment, the positioning marker can appear in the environment image. The camera is typically placed below the drone.

Before the step S103 corrects the error in the flight process according to the positioning marker image in the environment image, the method may further include: and determining whether the error in the flight process needs to be corrected according to the position of the positioning marker image in the environment image.

In this embodiment, whether the error in the flight process needs to be corrected is determined according to the position of the positioning marker image in the environment image, but the method is rough, and the situation that the error does not need to be corrected can be simply and quickly eliminated, so that relatively complex calculation in a fine judgment mode can be avoided.

Wherein, determining whether to correct the error in the flight process according to the position of the positioning marker image in the environment image may be: if the positioning marker image is within a preset range in the environment image, determining that the error in the flight process does not need to be corrected; and if the positioning marker image is not in the preset range in the environment image, determining that the error in the flight process needs to be corrected.

When the positioning marker image is identified to be in the environment image and is within the preset range in the environment image, the requirement is considered to be met and no correction is needed; otherwise, correction is required. For example: the preset range can be a circular area with the center of the environment image as the center and the radius of R as the radius, and if the positioning marker image is in the circular area, the positioning marker image can be considered to be in the preset range, so that the requirement is met and the correction is not needed; if the positioning marker image is outside the circular area, the positioning marker image can be considered to be outside the preset range, the requirement is not met, and correction is needed. For another example: in a certain direction (the positioning marker is arranged in a certain direction), the preset range can be a semicircular area with the center of the environment image as the center and R as the radius, and if the positioning marker image is in the semicircular area, the positioning marker image can be considered to be in the preset range, so that the requirement is met, and correction is not needed; if the positioning marker image is outside the semicircular area, the positioning marker image is outside the preset range, and does not meet the requirement, and needs to be corrected.

When the environmental image is identified to have the positioning marker image, in step S103, the error in the flight process is corrected according to the positioning marker image in the environmental image, and various refinement processing manners may be provided, which will be described in detail by way of example below.

The first processing mode may be: the target area is provided with a first positioning marker, the information given by the image of the first positioning marker is the setting position of the first positioning marker in the target area, and the setting position of the first positioning marker is also the position on the flight operation path and is the target position of the unmanned aerial vehicle under ideal conditions. In this case, the step S103 of correcting the error during the flight according to the positioning marker image in the environment image may include:

a1: and acquiring the setting position of the first positioning marker in the target area according to the first positioning marker image in the environment image.

A2: and acquiring the detection position of the unmanned aerial vehicle in the target area, which is detected by a positioning system of the unmanned aerial vehicle. Wherein, A1 and A2 have no obvious execution sequence.

A3: when a difference between a set position of the first positioning marker in the target area and a detected position of the drone in the target area is greater than a first threshold, moving the drone to the set position of the first positioning marker.

In this embodiment, utilize the positioning system of unmanned aerial vehicle to obtain the unmanned aerial vehicle that positioning system detected and be in the detection position in the target area, because positioning system has the error, unmanned aerial vehicle can slowly deviate from the flight operation route in flight process, consequently, compare first locating marking in the set position in the target area (being the ideal target position of unmanned aerial vehicle) with unmanned aerial vehicle is in the detection position in the target area, when first locating marking is in set position in the target area with unmanned aerial vehicle is in when the difference between the detection position in the target area is greater than first threshold value, think that needs to be revised, will unmanned aerial vehicle moves to the set position of first locating marking. Through this kind of mode, can guarantee unmanned aerial vehicle flight in-process position accuracy nature and flight safety nature.

Wherein, A3: when a difference between the set position of the first positioning marker in the target area and the detected position of the drone in the target area is greater than a first threshold, moving the drone to the set position of the first positioning marker, it may be: when the difference value between the setting position of the first positioning marker in the two-dimensional plane graph of the target area and the detection position of the unmanned aerial vehicle in the two-dimensional plane graph of the target area is larger than a first threshold value, the unmanned aerial vehicle is moved to the setting position of the first positioning marker.

Namely, the setting position of the first positioning marker in the target area and the detection position of the unmanned aerial vehicle in the target area are converted into the two-dimensional plane graph of the target area and then compared, so that the difference value between the setting position of the first positioning marker in the two-dimensional plane graph of the target area and the detection position of the unmanned aerial vehicle in the two-dimensional plane graph of the target area can be visually compared.

The second processing mode may be: the target area is provided with a second positioning marker, the information given by the image of the second positioning marker can be used for positioning the actual position of the unmanned aerial vehicle at the current position more accurately than the positioning system of the unmanned aerial vehicle, and meanwhile, the set position of the second positioning marker in the target area is the position on the flight operation path, and is the target position of the unmanned aerial vehicle under ideal conditions. In this case, the step S103 of correcting the error during the flight according to the positioning marker image in the environment image may include:

b1: and identifying and detecting a second positioning marker image in the environment image to obtain the actual position of the unmanned aerial vehicle in the target area. Wherein the second positional Marker may employ an Aruco Marker.

B2: acquiring the setting position of the second positioning marker in the target area. Wherein, the B1 and the B2 have no obvious execution sequence. The set position of the second localization marker may be saved locally in advance.

B3: when the difference value between the actual position of the unmanned aerial vehicle in the target area and the set position of the second positioning marker in the target area is larger than a second threshold value, moving the unmanned aerial vehicle to the set position of the second positioning marker.

In this embodiment, the current actual position of the unmanned aerial vehicle is more accurately located by using the second positioning marker, and meanwhile, the setting position of the second positioning marker is a position on the flight operation path, and is a target position of the unmanned aerial vehicle under ideal conditions, so that the actual position of the unmanned aerial vehicle in the target area is compared with the setting position of the second positioning marker in the target area (i.e., an ideal target position of the unmanned aerial vehicle), and when a difference between the actual position of the unmanned aerial vehicle in the target area and the setting position of the second positioning marker in the target area is greater than a second threshold value, the unmanned aerial vehicle is considered to be required to be corrected, and the unmanned aerial vehicle is moved to the setting position of the second positioning marker. Through this kind of mode, can guarantee unmanned aerial vehicle flight in-process position accuracy nature and flight safety nature.

Wherein, B3, moving the drone to the set position of the second localization marker when the difference between the actual position of the drone in the target area and the set position of the second localization marker in the target area is greater than a second threshold may further include:

when the difference value between the actual position of the unmanned aerial vehicle in the two-dimensional plane map of the target area and the set position of the second positioning marker in the two-dimensional plane map of the target area is larger than a second threshold value, the unmanned aerial vehicle is moved to the set position of the second positioning marker.

Namely, the setting position of the second positioning marker in the target area and the actual position of the unmanned aerial vehicle in the target area are converted into the two-dimensional plane graph of the target area and then compared, so that the difference value between the setting position of the second positioning marker in the two-dimensional plane graph of the target area and the actual position of the unmanned aerial vehicle in the two-dimensional plane graph of the target area can be visually compared.

The third processing mode may be: the target area is provided with a third positioning marker, the information given by the image of the third positioning marker can be used for positioning the actual position of the unmanned aerial vehicle at the current position more accurately than the positioning system of the unmanned aerial vehicle, meanwhile, the third positioning marker is not positioned on the flight operation path at the setting position of the target area, and the target position of the unmanned aerial vehicle under the ideal condition can be acquired through the flight operation path. This embodiment does not adopt unmanned aerial vehicle self positioning system, but adopts the third location marker to carry out more accurate location to the actual position that unmanned aerial vehicle is present.

In this case, the step S103 of correcting the error during the flight according to the positioning marker image in the environment image may include:

c1: and identifying and detecting a third positioning marker image in the environment image to obtain the actual position of the unmanned aerial vehicle in the target area. Wherein the third positional Marker may employ an Aruco Marker.

C2: and acquiring the target position with the shortest distance from the actual position of the unmanned aerial vehicle in the target area to the flight operation path.

C3: when the difference value between the actual position of the unmanned aerial vehicle in the target area and the target position of the flight operation path is larger than a third threshold value, the unmanned aerial vehicle is moved to the target position of the flight operation path.

In this embodiment, utilize the third positioning marker to carry out more accurate location to the current actual position of unmanned aerial vehicle, confirm the target location that the distance is the shortest with the current actual position of unmanned aerial vehicle on the flight operation route, consequently, compare unmanned aerial vehicle is in the actual position of target area with the target location of flight operation route, when unmanned aerial vehicle is in the difference between the actual position of target area and the target location of flight operation route is greater than the third threshold value, think that needs to revise, will unmanned aerial vehicle moves to the target location of flight operation route. Through this kind of mode, can guarantee unmanned aerial vehicle flight in-process position accuracy nature and flight safety nature.

Wherein, C3, when the difference between the actual position of the drone in the target area and the target position of the flight operations path is greater than a third threshold, moving the drone to the target position of the flight operations path may further include:

when the difference value between the actual position of the unmanned aerial vehicle in the two-dimensional plane diagram of the target area and the target position of the flight operation path in the two-dimensional plane diagram of the target area is larger than a third threshold value, the unmanned aerial vehicle is moved to the target position of the flight operation path.

Namely, the target position of the flight operation path and the actual position of the unmanned aerial vehicle in the target area are converted into a two-dimensional plane graph of the target area and then compared, so that the difference between the actual position of the unmanned aerial vehicle in the target area and the target position of the flight operation path can be visually compared.

Wherein a distance between the localization marker and the target object is less than or equal to a fourth threshold.

Since the flight operation path is determined according to the distribution map of the target objects in the target area and the operation requirement, and the positioning marker is used for correcting the error in the flight process, the positioning marker is usually arranged at a position closer to the target object, and a fourth threshold value is set for this purpose, and the fourth threshold value can be the maximum value of the distance between the positioning marker and the target object, which can ensure that the error in the flight process is within an acceptable range.

The number of localization markers cannot be too small, typically the localization markers are at least two. In one embodiment, the positioning marker is disposed on the ground.

Wherein the positioning marker is disposed at a first location on the target area, the first location corresponding to an origin of coordinates of a reference coordinate system of a two-dimensional plan view of the target area. In this way, the unmanned aerial vehicle can be enabled to locate the coordinate origin of the reference coordinate system of the two-dimensional plane diagram of the target area, and the initialization relocation is completed.

Referring to fig. 5, the positioning Marker is marked as Marker (abbreviated as M in the drawing), the long rectangle represents a shelf of the target object, a suitable position near the shelf is selected to be attached with Marker1, Marker2, and Marker3 (abbreviated as M1, M2, M3, M1, M2, M3 in the drawing) and the distance between the shelf and the suitable position is 0.5M, for example, a Marker0 (abbreviated as M0 in the drawing) is attached at an origin of a coordinate system for recording the origin of coordinates and the directions of coordinate axes, and after the unmanned aerial vehicle takes off in an area near the Marker0, the Marker0 is identified, and then the relocation can be directly completed; uniformly sticking markers, such as Marker1, Marker2 and Marker3 in the figure, on one side of a bar code of a shelf, when a first shelf needs to be scanned, the first shelf only needs to fly above the Marker1, then the error of the flying process is corrected, and then the scanning is carried out; the position information of the unmanned aerial vehicle can be continuously corrected when the unmanned aerial vehicle passes through the marker2 and the marker3 in the scanning process, and the position accuracy and the flight safety of the unmanned aerial vehicle in the flight process are guaranteed.

The details of the acquisition of the flight work path of the target area in step S101 will be described in detail below.

The manner of acquiring the flight operation path of the target area in step S101 may include two types: one is a preset flight operation path, and the other is a self-constructed flight operation path.

In an embodiment, the self-constructing of the flight operation path, and the acquiring of the flight operation path of the target area in step S101 may include: and planning a flight operation path according to the distribution map of the target area positioning marker and the operation requirement.

In step S101, before planning a flight operation path according to the distribution map of the target area positioning marker and the operation requirement, the method may further include: determining the setting position of the target area positioning marker according to the distribution map of the target object in the target area; and determining a distribution map of the target area positioning marker according to the setting position of the target area positioning marker. The set position of the target area positioning marker is determined according to the distribution map of the target object in the target area, the distribution map of the target area positioning marker is determined, and then the flight operation path is planned and obtained.

On this basis, the method may further include: and planning the track of the flight operation path according to the flight operation path. In this embodiment, the trajectory for planning the flight operation path may be a smooth flight trajectory of displacement, speed, and acceleration of the unmanned aerial vehicle in the flight process, which is generated by combining the maneuvering performance constraint of the unmanned aerial vehicle. Through this kind of mode, can control displacement, speed and the acceleration of unmanned aerial vehicle flight in-process, further guarantee unmanned aerial vehicle flight in-process position accuracy nature and flight safety nature from the detail.

For example: the target area is a storage space, the target object is a goods shelf, an optimal goods scanning path is planned according to the distribution condition of the goods shelf during path planning, all goods positions are covered, and the unmanned aerial vehicle is controlled to fly along the track. Can be divided into two steps:

A. path planning:

1) shelf traversal path planning

In the path planning of warehousing, the positions of the shelves are determined according to the warehouse CAD map in FIG. 4 in the first step, as shown in FIG. 6, after the unmanned aerial vehicle takes off and relocates, the positions of the shelves 1-6 and the position of the marker can be accurately obtained, and then the traversal path among the shelves can be planned as shown in FIG. 6.

2) Overlay scan path planning

For each shelf, a "bow" scan is used, taking the first shelf as an example, as shown in fig. 7.

B. Planning a track:

according to the path planning result, the flight performance limit of the unmanned aerial vehicle is combined, the flight speed of each point on the path is planned, and the speed of each inflection point is smoothed, so that the unmanned aerial vehicle moves smoothly, dangerous behaviors such as sudden braking and deviation of the planned path cannot occur, and the position accuracy and the flight safety in the flight process of the unmanned aerial vehicle are further ensured.

In an embodiment, the unmanned aerial vehicle may further return to the charging pile to be charged in the operation process, that is, the method may further include: step S201 and step S202, as shown in fig. 8.

Step S201: and in the process of flying and operating according to the flying operation path, if the electric quantity of the unmanned aerial vehicle is lower than the threshold electric quantity, returning to the position of the charging pile for charging.

Step S202: and after the charging is finished, returning along the original path to continue flying according to the flying operation path and performing operation.

And the charging pile is positioned at the origin position of a coordinate system of a distribution map of the target object in the target area.

Referring to fig. 9, fig. 9 is a schematic flow chart of another embodiment of the flight operation method, where the method of this embodiment is applied to a control end, and it should be noted that the method of this embodiment is basically the same as the content of the method applied to the unmanned aerial vehicle, that is: the control end can also realize the steps in the method applied to the unmanned aerial vehicle, and then sends the implementation result to the unmanned aerial vehicle; for a detailed description of relevant matters, reference is made to the content part of the above-mentioned method applied to the drone, which is not described in any more detail here.

The method comprises the following steps: step S301 and step S302.

Step S301: and acquiring a flight operation path of the target area, wherein the flight operation path is determined according to the distribution map of the target area positioning marker and the operation requirement.

Step S302: and sending the flight operation path to an unmanned aerial vehicle to enable the unmanned aerial vehicle to fly according to the flight operation path and perform operation.

Wherein the distribution map of the target area positioning marker is determined according to the distribution map of the target object in the target area, and the distribution map of the target object in the target area is determined according to the two-dimensional plane map of the target area.

Wherein, before obtaining the flight operation path of the target area, the method comprises the following steps: and acquiring a distribution map of the target object in the target area.

The acquiring of the distribution map of the target object in the target area includes: and determining a distribution map of the target object in the target area according to the two-dimensional plane map of the target area.

Wherein, the determining the distribution map of the target object in the target area according to the two-dimensional plane map of the target area comprises: setting a reference coordinate system on the two-dimensional plane map of the target area, and constructing a two-dimensional plane map; and obtaining a three-dimensional distribution map of the target object in the target area on the two-dimensional plane map by combining the parameters of the target object.

Wherein, the obtaining of the flight operation path of the target area comprises: and planning a flight operation path according to the distribution map of the target area positioning marker and the operation requirement.

Before planning a flight operation path according to a distribution map and operation requirements of the target area positioning marker, the method comprises the following steps: determining the setting position of the target area positioning marker according to the distribution map of the target object in the target area; and determining a distribution map of the target area positioning marker according to the setting position of the target area positioning marker.

Wherein the method further comprises: and planning the track of the flight operation path according to the flight operation path.

Wherein the number of the localization markers is at least two.

Wherein the positioning marker is arranged on the ground.

Wherein the positioning marker is disposed at a first location on the target area, the first location corresponding to an origin of coordinates of a reference coordinate system of a two-dimensional plan view of the target area.

Wherein the target area comprises a storage space or a freight space; the object includes a shelf.

The goods are pasted with first bar codes, the operation requirement comprises the scanning of the first bar codes of all the goods on the storage space shelf, and the flying operation path covers the positions of all the goods in the storage space.

The goods shelf is pasted with a second bar code, the operation requirement comprises scanning of the second bar code on the goods shelf of the freight space, goods with the second bar code carried on the unmanned aerial vehicle are placed on the corresponding goods shelf or the goods with the second bar code are carried on the unmanned aerial vehicle and are transported to a destination through the unmanned aerial vehicle, and the flying operation path covers the positions of all the goods shelves in the freight space.

Referring to fig. 10 and fig. 10 are schematic structural diagrams of an embodiment of the unmanned aerial vehicle of the present application, it should be noted that the unmanned aerial vehicle of the present application can perform the steps in the flight work method applied to the unmanned aerial vehicle, and details of relevant contents refer to the relevant contents of the flight work method applied to the unmanned aerial vehicle, which are not described herein again.

This unmanned aerial vehicle 100 includes: the memory 1 and the processor 2 are connected by a bus.

The processor 2 may be a micro-control unit, a central processing unit, a digital signal processor, or the like.

The memory 1 may be a Flash chip, a read-only memory, a magnetic disk, an optical disk, a usb disk, or a removable hard disk.

The memory 1 is used for storing a computer program; the processor 2 is configured to execute the computer program and, when executing the computer program, implement the following steps:

acquiring a flight operation path of a target area, wherein the flight operation path is determined according to a distribution map of a target area positioning marker and an operation requirement; performing flight operation according to the flight operation path and acquiring an ambient image in the flight process; and correcting errors in the flight process according to the positioning marker images in the environment images.

The distribution map of the target area positioning marker is determined according to the distribution map of the target object in the target area and the operation requirement, and the distribution map of the target object in the target area is determined according to the two-dimensional plane map of the target area.

Wherein the processor, when executing the computer program, implements the steps of: and acquiring a distribution map of the target object in the target area.

Wherein the processor, when executing the computer program, implements the steps of: and determining a distribution map of the target object in the target area according to the two-dimensional plane map of the target area.

Wherein the processor, when executing the computer program, implements the steps of: setting a reference coordinate system on the two-dimensional plane map of the target area, and constructing a two-dimensional plane map; and obtaining a three-dimensional distribution map of the target object in the target area on the two-dimensional plane map by combining the parameters of the target object.

Wherein the processor, when executing the computer program, implements the steps of: and determining whether the error in the flight process needs to be corrected according to the position of the positioning marker image in the environment image.

Wherein the processor, when executing the computer program, implements the steps of: if the positioning marker image is within a preset range in the environment image, determining that the error in the flight process does not need to be corrected; and if the positioning marker image is not in the preset range in the environment image, determining that the error in the flight process needs to be corrected.

Wherein the processor, when executing the computer program, implements the steps of: acquiring a setting position of a first positioning marker in the target area according to a first positioning marker image in the environment image, wherein the setting position of the first positioning marker is a position on the flight operation path; acquiring a detection position of the unmanned aerial vehicle in the target area, which is detected by a positioning system of the unmanned aerial vehicle; when a difference between a set position of the first positioning marker in the target area and a detected position of the drone in the target area is greater than a first threshold, moving the drone to the set position of the first positioning marker.

Wherein the processor, when executing the computer program, implements the steps of: when the difference value between the setting position of the first positioning marker in the two-dimensional plane graph of the target area and the detection position of the unmanned aerial vehicle in the two-dimensional plane graph of the target area is larger than a first threshold value, the unmanned aerial vehicle is moved to the setting position of the first positioning marker.

Wherein the processor, when executing the computer program, implements the steps of: identifying and detecting a second positioning marker image in the environment image to obtain the actual position of the unmanned aerial vehicle in the target area, wherein the setting position of the second positioning marker is the position on the flight operation path; acquiring a setting position of the second positioning marker in the target area; when the difference value between the actual position of the unmanned aerial vehicle in the target area and the set position of the second positioning marker in the target area is larger than a second threshold value, moving the unmanned aerial vehicle to the set position of the second positioning marker.

Wherein the processor, when executing the computer program, implements the steps of: when the difference value between the actual position of the unmanned aerial vehicle in the two-dimensional plane map of the target area and the set position of the second positioning marker in the two-dimensional plane map of the target area is larger than a second threshold value, the unmanned aerial vehicle is moved to the set position of the second positioning marker.

Wherein the processor, when executing the computer program, implements the steps of: identifying and detecting a third positioning marker image in the environment image to obtain the actual position of the unmanned aerial vehicle in the target area, wherein the setting position of the third positioning marker is not the position on the flight operation path; acquiring a target position with the shortest distance from the actual position of the unmanned aerial vehicle in the target area to the flight operation path; when the difference value between the actual position of the unmanned aerial vehicle in the target area and the target position of the flight operation path is larger than a third threshold value, the unmanned aerial vehicle is moved to the target position of the flight operation path.

Wherein the processor, when executing the computer program, implements the steps of: when the difference value between the actual position of the unmanned aerial vehicle in the two-dimensional plane diagram of the target area and the target position of the flight operation path in the two-dimensional plane diagram of the target area is larger than a third threshold value, the unmanned aerial vehicle is moved to the target position of the flight operation path.

Wherein the number of the localization markers is at least two.

Wherein the positioning marker is arranged on the ground.

Wherein, the environment image is through camera device on the unmanned aerial vehicle acquires, camera device sets up unmanned aerial vehicle's below.

Wherein the processor, when executing the computer program, implements the steps of: and planning a flight operation path according to the distribution map of the target area positioning marker and the operation requirement.

Wherein the processor, when executing the computer program, implements the steps of: determining the setting position of the target area positioning marker according to the distribution map of the target object in the target area; and determining a distribution map of the target area positioning marker according to the setting position of the target area positioning marker.

Wherein the processor, when executing the computer program, implements the steps of: and planning the track of the flight operation path according to the flight operation path.

Wherein the processor, when executing the computer program, implements the steps of: in the process of flying and operating according to the flying operation path, if the electric quantity of the unmanned aerial vehicle is lower than the threshold electric quantity, returning to the position of a charging pile for charging; and after the charging is finished, returning along the original path to continue flying according to the flying operation path and performing operation.

Wherein the processor, when executing the computer program, implements the steps of: and acquiring operation result data after the operation is finished.

Wherein the processor, when executing the computer program, implements the steps of: and after the first bar codes of all goods on the storage space shelf are scanned, the storage inventory data are obtained.

Wherein the processor, when executing the computer program, implements the steps of: and counting the first bar code information obtained by scanning the first bar code to obtain warehousing inventory data.

Referring to fig. 11 and fig. 11 are schematic structural diagrams of an embodiment of the control device of the present application, it should be noted that the control device of the present application can execute the steps in the flight operation method applied to the control end, and details of relevant contents refer to the relevant contents of the flight operation method applied to the control end, which are not described herein again.

The control device 200 includes: communication circuit 30, memory 10 and processor 20, communication circuit 30, memory 10 are connected with processor 20 respectively.

The processor 20 may be a micro-control unit, a central processing unit, a digital signal processor, or the like.

The memory 10 may be a Flash chip, a read-only memory, a magnetic disk, an optical disk, a usb disk, or a removable hard disk, among others.

The memory 10 is used for storing a computer program; the processor 20 is configured to execute the computer program and, when executing the computer program, implement the following steps:

acquiring a flight operation path of a target area, wherein the flight operation path is determined according to a distribution map of a target area positioning marker and an operation requirement; and controlling the communication circuit to send the flight operation path to the unmanned aerial vehicle so that the unmanned aerial vehicle flies according to the flight operation path and operates.

Wherein the number of the localization markers is at least two.

Wherein the positioning marker is arranged on the ground.

Referring to fig. 12, fig. 12 is a schematic structural diagram of an embodiment of the present application, where the flight operations 300 include the drone 100 as described in any one of the above and the control device 200 as described in any one of the above. For a detailed description of the related contents, please refer to the related contents of the above-mentioned unmanned aerial vehicle and the related contents of the control device, which are not described in detail herein.

The present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, causes the processor to implement a method of flight operations as applied to a drone as in any one of the above. For a detailed description of relevant contents, reference is made to the above-mentioned relevant contents section, which is not described herein again in a redundant manner.

The computer readable storage medium may be an internal storage unit of the above-mentioned drone, such as a hard disk or a memory. The computer readable storage medium may also be an external storage device such as a hard drive equipped with a plug-in, smart memory card, secure digital card, flash memory card, or the like.

The present application also provides another computer-readable storage medium having stored thereon a computer program which, when executed by a processor, causes the processor to carry out a method of flight operations as applied to a control terminal as in any one of the above. For a detailed description of relevant contents, reference is made to the above-mentioned relevant contents section, which is not described herein again in a redundant manner.

The computer readable storage medium may be an internal storage unit of the control device, such as a hard disk or a memory. The computer readable storage medium may also be an external storage device such as a hard drive equipped with a plug-in, smart memory card, secure digital card, flash memory card, or the like.

It is to be understood that the terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

The above description is only for the specific embodiment 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 various equivalent modifications or substitutions within the technical scope of the present application, and these modifications or substitutions should 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.

Claims

1. A flight operation method is applied to an unmanned aerial vehicle and is characterized by comprising the following steps:

2. The method of claim 1,

the distribution map of the target area positioning marker is determined according to the distribution map of the target object in the target area, and the distribution map of the target object in the target area is determined according to the two-dimensional plane map of the target area.

3. The method of claim 2, wherein prior to obtaining the flight operations path for the target area, comprising:

and acquiring a distribution map of the target object in the target area.

4. The method of claim 3, wherein the obtaining a distribution map of the target objects in the target area comprises:

and determining a distribution map of the target object in the target area according to the two-dimensional plane map of the target area.

5. The method of claim 4, wherein determining a distribution map of the target object in the target area from the two-dimensional plan view of the target area comprises:

setting a reference coordinate system on the two-dimensional plane map of the target area, and constructing a two-dimensional plane map;

and obtaining a three-dimensional distribution map of the target object in the target area on the two-dimensional plane map by combining the parameters of the target object.

6. The method of claim 5, wherein the parameters of the target object comprise: the shape, size, and location of the object.

7. The method according to any one of claims 1-6, wherein before correcting the in-flight error based on the image of the localization marker in the environment image, comprising:

and determining whether the error in the flight process needs to be corrected according to the position of the positioning marker image in the environment image.

8. The method of claim 7, wherein determining whether an in-flight error needs to be corrected based on the position of the localization marker image in the environment image comprises:

if the positioning marker image is within a preset range in the environment image, determining that the error in the flight process does not need to be corrected;

and if the positioning marker image is not in the preset range in the environment image, determining that the error in the flight process needs to be corrected.

9. The method of claim 1, wherein correcting errors in flight from the image of the localization marker in the image of the environment comprises:

acquiring a setting position of a first positioning marker in the target area according to a first positioning marker image in the environment image, wherein the setting position of the first positioning marker is a position on the flight operation path;

acquiring a detection position of the unmanned aerial vehicle in the target area, which is detected by a positioning system of the unmanned aerial vehicle;

when a difference between a set position of the first positioning marker in the target area and a detected position of the drone in the target area is greater than a first threshold, moving the drone to the set position of the first positioning marker.

10. The method of claim 9, wherein moving the drone to the set position of the first localization marker when the difference between the set position of the first localization marker in the target area and the detected position of the drone in the target area is greater than a first threshold comprises:

when the difference value between the setting position of the first positioning marker in the two-dimensional plane graph of the target area and the detection position of the unmanned aerial vehicle in the two-dimensional plane graph of the target area is larger than a first threshold value, the unmanned aerial vehicle is moved to the setting position of the first positioning marker.

11. The method of claim 1, wherein correcting errors in flight from the image of the localization marker in the image of the environment comprises:

identifying and detecting a second positioning marker image in the environment image to obtain the actual position of the unmanned aerial vehicle in the target area, wherein the setting position of the second positioning marker is the position on the flight operation path;

acquiring a setting position of the second positioning marker in the target area;

when the difference value between the actual position of the unmanned aerial vehicle in the target area and the set position of the second positioning marker in the target area is larger than a second threshold value, moving the unmanned aerial vehicle to the set position of the second positioning marker.

12. The method of claim 11, wherein moving the drone to the set position of the second localization marker when the difference between the actual position of the drone in the target area and the set position of the second localization marker in the target area is greater than a second threshold comprises:

13. The method of claim 1, wherein correcting errors in flight from the image of the localization marker in the image of the environment comprises:

identifying and detecting a third positioning marker image in the environment image to obtain the actual position of the unmanned aerial vehicle in the target area, wherein the setting position of the third positioning marker is not the position on the flight operation path;

acquiring a target position with the shortest distance from the actual position of the unmanned aerial vehicle in the target area to the flight operation path;

when the difference value between the actual position of the unmanned aerial vehicle in the target area and the target position of the flight operation path is larger than a third threshold value, the unmanned aerial vehicle is moved to the target position of the flight operation path.

14. The method of claim 13, wherein moving the drone to the target location of the flight operations path when the difference between the actual location of the drone in the target area and the target location of the flight operations path is greater than a third threshold comprises:

15. The method of claim 2, wherein the distance between the localization marker and the target is less than or equal to a fourth threshold.

16. The method of claim 15, wherein the number of localization markers is at least two.

17. The method of claim 15, wherein the positioning marker is disposed on the ground.

18. The method of claim 2, wherein the localization marker is disposed at a first location on the target area, the first location corresponding to an origin of coordinates of a reference coordinate system of a two-dimensional plan view of the target area.

19. The method of claim 1, wherein the environmental image is acquired by a camera on the drone, the camera being disposed below the drone.

20. The method of claim 2, wherein the obtaining the flight operations path for the target area comprises:

and planning a flight operation path according to the distribution map of the target area positioning marker and the operation requirement.

21. The method of claim 20, wherein before planning the flight operation path according to the distribution map of the target area positioning marker and the operation requirement, the method comprises:

determining the setting position of the target area positioning marker according to the distribution map of the target object in the target area;

and determining a distribution map of the target area positioning marker according to the setting position of the target area positioning marker.

22. The method of claim 20, further comprising:

and planning the track of the flight operation path according to the flight operation path.

23. The method according to any one of claims 1-22, further comprising:

in the process of flying and operating according to the flying operation path, if the electric quantity of the unmanned aerial vehicle is lower than the threshold electric quantity, returning to the position of a charging pile for charging;

and after the charging is finished, returning along the original path to continue flying according to the flying operation path and performing operation.

24. The method of claim 23, wherein the charging post is located at a coordinate system origin location of a distribution map of the target area objects.

25. The method of any one of claims 1-24, wherein the target area comprises a warehouse space or a freight space; the object includes a shelf.

26. The method of claim 25, wherein the items are tagged with a first bar code, wherein the operation request includes scanning the first bar code for all items on the storage shelf, and wherein the flight path covers the locations of all items in the storage shelf.

27. The method of claim 26, wherein after said flying operations according to said flight operations path, further comprising:

and acquiring operation result data after the operation is finished.

28. The method of claim 27, wherein obtaining job result data after completion of the job comprises:

and after the first bar codes of all goods on the storage space shelf are scanned, the storage inventory data are obtained.

29. The method of claim 28, wherein said obtaining warehousing inventory data comprises:

and counting the first bar code information obtained by scanning the first bar code to obtain warehousing inventory data.

30. The method of claim 25, wherein the shelves have a second barcode affixed thereto, and wherein the operation requirement includes scanning the second barcode on the freight space shelf, placing the goods with the second barcode carried on the drone on the corresponding shelf or carrying the goods with the second barcode onto the drone for transfer by the drone to a destination, and wherein the flight operation path covers locations of all shelves in the freight space.

31. An unmanned aerial vehicle, comprising: a memory and a processor;

the memory is used for storing a computer program;

32. A drone according to claim 31,

33. A drone according to claim 32, wherein the processor, when executing the computer program, implements the steps of:

and acquiring a distribution map of the target object in the target area.

34. A drone according to claim 33, wherein the processor, when executing the computer program, implements the steps of:

35. A drone according to claim 34, wherein the processor, when executing the computer program, implements the steps of:

36. A drone according to claim 35, wherein the parameters of the target include: the shape, size, and location of the object.

37. A drone according to any one of claims 31-36, wherein the processor, when executing the computer program, implements the steps of:

38. A drone according to claim 37, wherein the processor, when executing the computer program, implements the steps of:

39. A drone according to claim 31, wherein the processor, when executing the computer program, implements the steps of:

40. A drone according to claim 39, wherein the processor, when executing the computer program, implements the steps of:

41. A drone according to claim 31, wherein the processor, when executing the computer program, implements the steps of:

42. A drone according to claim 41, wherein the processor, when executing the computer program, implements the steps of:

43. A drone according to claim 31, wherein the processor, when executing the computer program, implements the steps of:

44. A drone according to claim 43, wherein the processor, when executing the computer program, implements the steps of:

45. A drone according to claim 32, wherein the distance between the localization marker and the target is less than or equal to a fourth threshold.

46. A drone according to claim 45, wherein the location markers are at least two.

47. A drone as claimed in claim 45, wherein the locating marker is provided on the ground.

48. A drone as claimed in claim 32, wherein the locating marker is provided at a first location on the target area corresponding to an origin of coordinates of a reference coordinate system of a two-dimensional plan view of the target area.

49. The drone of claim 31, wherein the environmental image is acquired by a camera device on the drone, the camera device being disposed below the drone.

50. A drone according to claim 32, wherein the processor, when executing the computer program, implements the steps of:

51. A drone according to claim 50, wherein the processor, when executing the computer program, implements the steps of:

52. A drone according to claim 50, wherein the processor, when executing the computer program, implements the steps of:

53. A drone as claimed in any one of claims 31-52, wherein the processor, when executing the computer program, performs the steps of:

54. A drone as claimed in claim 53, wherein the charging pole is located at a coordinate system origin location of a distribution map of the target area targets.

55. A drone as claimed in any one of claims 31 to 54, wherein the target area includes a storage space or a freight space; the object includes a shelf.

56. The drone of claim 55, wherein the cargo has a first bar code affixed thereto, the operation request includes a first bar code for scanning all of the cargo on the storage shelf, and the flight operation path covers a location of the storage shelf where all of the cargo is located.

57. A drone according to claim 56, wherein the processor, when executing the computer program, performs the steps of:

and acquiring operation result data after the operation is finished.

58. A drone according to claim 57, wherein the processor, when executing the computer program, performs the steps of:

59. A drone according to claim 58, wherein the processor, when executing the computer program, performs the steps of:

60. The drone of claim 55, wherein the shelves have a second bar code affixed thereto, the operation request includes scanning the second bar code on the freight space shelf, placing the goods with the second bar code carried on the drone on the corresponding shelf or carrying the goods with the second bar code on the drone for transfer to a destination by the drone, and the flight operation path covers all locations of the shelves in the freight space.

61. A computer-readable storage medium, characterized in that it stores a computer program which, when executed by a processor, causes the processor to carry out a method of flight operations according to any one of claims 1 to 30.