WO2018157309A1 - Procédé et dispositif de correction d'itinéraire aérien, et véhicule aérien sans pilote - Google Patents

Procédé et dispositif de correction d'itinéraire aérien, et véhicule aérien sans pilote Download PDF

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Publication number
WO2018157309A1
WO2018157309A1 PCT/CN2017/075265 CN2017075265W WO2018157309A1 WO 2018157309 A1 WO2018157309 A1 WO 2018157309A1 CN 2017075265 W CN2017075265 W CN 2017075265W WO 2018157309 A1 WO2018157309 A1 WO 2018157309A1
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WIPO (PCT)
Prior art keywords
route
height
drone
correction data
corrected
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PCT/CN2017/075265
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English (en)
Chinese (zh)
Inventor
陈超彬
闫光
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201780006036.2A priority Critical patent/CN108885464A/zh
Priority to PCT/CN2017/075265 priority patent/WO2018157309A1/fr
Publication of WO2018157309A1 publication Critical patent/WO2018157309A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones

Definitions

  • the embodiment of the invention relates to the technical field of drones, and in particular to a method, a device and a drone for route correction.
  • a flight mode of the drone is: the user determines the waypoint that the drone needs to traverse by controlling the interactive interface of the terminal, and the control terminal uploads the preset set waypoint to the drone, and the drone will Flight based on a route consisting of pre-set waypoints.
  • the flight path of the drone is fixed and cannot be corrected.
  • the drone may be affected by the environment (such as obstacles, wind, light, etc. in the environment). If flying according to the original route, it may cause safety problems or lead drones. Cannot perform preset tasks.
  • the embodiment of the invention provides a method, a device and a drone for correcting a route for real-time correction of a route and controlling the drone to fly on the modified route to improve the flexibility of the drone to execute the route.
  • an embodiment of the present invention provides a method for route modification, including:
  • an embodiment of the present invention provides a route correction device, including: a memory and a processor;
  • the memory is for storing program code
  • the processor is configured to invoke the program code to execute:
  • an embodiment of the present invention provides a drone, comprising: a route correction device according to the second aspect of the present invention, configured to modify a route of the drone; and a power system for providing flight power .
  • the method, device and drone of the route correction provided by the embodiment of the invention obtain the corrected data of the route, and correct the route according to the modified data of the route to obtain the corrected route, and then control the drone Fly on the modified route.
  • the real-time correction of the route is realized, and the purpose of the drone to follow the modified route flight is to improve the flexibility of the execution route of the drone and improve the flight effect.
  • FIG. 1 is a schematic diagram of an unmanned aerial vehicle system according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of correcting a height of a route according to an embodiment of the present invention.
  • FIG. 4 is another schematic diagram of correcting a height of a route according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of a modified horizontal position of a route according to an embodiment of the present invention.
  • FIG. 6 is another schematic diagram of modifying a horizontal position of a route according to an embodiment of the present invention.
  • FIG. 7 is another schematic diagram of a modified horizontal position of a route according to an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of horizontal rotation of a route according to an embodiment of the present invention.
  • FIG. 9 is a schematic structural diagram of a device 300 for route modification according to an embodiment of the present invention.
  • FIG. 10 is another schematic structural diagram of a device 300 for route modification according to an embodiment of the present invention.
  • Embodiments of the present invention provide methods, apparatus, and drones for route correction.
  • the following description of the invention uses a drone as an example. It will be apparent to those skilled in the art that other types of drones can be used without limitation, and embodiments of the present invention can be applied to various types of drones.
  • the drone can be a small or large drone.
  • the drone may be a rotorcraft, for example, a multi-rotor drone powered by air by a plurality of pushing devices, embodiments of the invention are not limited thereto, drones It can also be other types of drones.
  • FIG. 1 it is a schematic diagram of an unmanned aerial vehicle system according to an embodiment of the present invention.
  • the system includes a control terminal 101 as a ground-end remote control device and a drone 102.
  • the control terminal 101 can be a dedicated remote controller.
  • the route in which the drone 102 flies is called a route.
  • the route includes a plurality of waypoints, and the plurality of waypoints are referred to as a waypoint sequence.
  • the control terminal 101 Before the drone is in flight, the control terminal 101 The user presents an interactive interface including a map of a certain target area, and the user can click on the map as needed, and these points are the waypoints.
  • waypoints exist in the form of coordinates.
  • the waypoint may include, in addition to the coordinates, an index ID of the waypoint, a waypoint action information, a route attribute associated with the waypoint, etc., wherein the waypoint action includes but is not limited to the pan/tilt control information.
  • shooting control information wherein the route attributes associated with the waypoint may include, but are not limited to, a flight mode of a straight flight mode, a coordinated turn mode, a POI, and the like.
  • the control terminal 101 determines the location where the user clicks on the map of the interactive interface as the waypoint, the waypoint coordinates may be the GPS position coordinates of the points, and the flight height of the waypoint may be the default height value.
  • the user can also dynamically configure the height of one or more waypoints in the control terminal 101 according to the needs and the altitude of the actual location on the map.
  • the route can be set. For example, the user inputs the coordinates of several positions as the waypoint only in the control terminal 101.
  • the control terminal 101 determines a waypoint based on a plurality of waypoints input by the user.
  • the control terminal 101 transmits the generated route to the drone 102, and the drone 102 executes the route after receiving the route. Specifically, the controller in the drone 102 controls the drones 102 to fly to the waypoints according to the respective waypoints included in the route to achieve flight on the route.
  • FIG. 2 is a flowchart of a method for correcting a route according to an embodiment of the present invention. As shown in FIG. 2, the method of the embodiment is applied to a drone, and may include:
  • the route in this embodiment may be set by the user in advance on the control terminal and stored in the drone.
  • the drone When the drone is flying, the flight is performed according to the route.
  • the flight of the drone may be subject to various interferences (such as obstacles, wind, light, etc. in the environment), while the safe flight or drone of the drone
  • the tasks that the machine needs to perform have an impact.
  • the drone can acquire data that affects the route, and the data is used to correct the route in real time to ensure the flight effect of the drone, and the data can be called
  • the route is modified according to the correction data of the route, that is, the position information of each waypoint in the route is corrected according to the route correction data, thereby obtaining the corrected route, and then controlling no The man-machine flies on the modified route.
  • the location information of the waypoint includes at least one of longitude, latitude, and altitude.
  • the route is realized.
  • Real-time correction to achieve the purpose of the drone to follow the modified route flight, to improve the flexibility of the drone to execute the route.
  • the drone can correct the position information of each waypoint in the route according to the modified data of the route, simplifying the operation process. .
  • the correcting the route according to the modified data to obtain the modified route includes: correcting a route that is not executed by the drone according to the correction data during a process of executing the route of the drone To get the corrected route.
  • the route in the process of executing the route of the drone, the drone has already flowed according to the route, the route can be divided into two parts: one part is the route that has been executed by the drone in the route, and the other part is the Routes on the route that have not been executed by drones.
  • the drone when the drone is in the process of flying, that is, when the drone has executed a part of the route in the preset setting, After obtaining the correction data for the route, the drone can correct the route that is not executed by the drone according to the correction data, that is, the drone can perform the unmanned aerial vehicle according to the correction data of the route.
  • Each waypoint in the route is modified, and then the drone is controlled to fly on the modified route that is not executed by the drone.
  • the user can operate the control terminal to correct the part of the route, thereby improving the The flexibility of route correction.
  • the correction data is altitude correction data of the route; and the correcting the route according to the route correction data to obtain the corrected route includes: correcting the altitude information of the route according to the altitude correction data of the route To get the corrected route.
  • the correction data in the above embodiment is the altitude correction data of the route.
  • the embodiment can obtain data that affects the altitude of the route, which is referred to herein as the height correction data of the route, and then corrects the altitude information of the route according to the height correction data of the route, that is, the route or the The height of each waypoint in the route executed by the drone is corrected to obtain a highly modified route.
  • the drone is controlled to fly on the modified route with new height information, thereby realizing the real-time and dynamic correction of the altitude of the route.
  • the method of this embodiment further includes: before acquiring the height correction data for the route, receiving the altitude mode control information sent by the control terminal, and determining the altitude information correction mode of the route according to the altitude mode control information.
  • the correcting the altitude information of the route according to the height correction data of the route to obtain the corrected route includes: performing height information of the route according to the altitude correction data of the route in the determined altitude information correction mode of the route Corrected to get the corrected route.
  • the altitude information correction mode of the route may be determined in advance, and the specific process of correcting the altitude information of the route corresponding to the different height information correction mode is different, for example, for the same height correction data, If the height information correction mode is the absolute height correction mode, the absolute height of the route is corrected, and if the height information correction mode is the relative height correction mode, the relative height of the route is corrected, and the height information correction mode in this embodiment is not Limited to the above two. Therefore, after the height information correction mode is determined, and the altitude information of the route is corrected in the height information correction mode, the correction accuracy of the altitude information of the route can be ensured, and the corrected route can be prevented from meeting the user's needs.
  • this embodiment is acquiring Before the height correction data of the route, the user sets the altitude information correction mode by operating the control terminal, and accordingly, the drone can receive the altitude mode control information sent by the control terminal according to the operation of the user, and then determine the route according to the altitude mode control information. Height information correction mode.
  • the mode control information sent by the control terminal, determining the altitude information correction mode of the route according to the altitude mode control information includes: receiving, by the control terminal, first altitude mode control information, according to the first altitude mode The control information determines the absolute height information correction mode of the route.
  • correcting the altitude information of the route according to the altitude correction data of the route to obtain the corrected route includes: in the absolute height information correction mode,
  • the correction data of the height is a height offset, and the height values of the waypoints in the route are respectively superimposed with the height offset to obtain a corrected route.
  • the embodiment may receive the first height mode control information that is sent by the control terminal according to the operation of the user, where the first height mode control information is used.
  • the indication height information correction mode is the absolute height information correction mode. Therefore, in the embodiment, the absolute height information correction mode can be determined based on the first height mode control information.
  • the acquired height correction data is the height offset. Then, in the above-described determined absolute height information correction mode, the height value of the waypoints in the route is respectively different from the height offset. The sum is added to obtain a new height value for each waypoint, so each waypoint at the new altitude value can form a modified route.
  • FIG. 3 is a schematic diagram of correcting the height of a route according to an embodiment of the present invention.
  • the current height information correction mode is an absolute height information correction mode.
  • the user can operate through the interactive interface of the control terminal, for example, using the control terminal.
  • the interactive interface inputs a height offset, and when the drone flies to the waypoint A, the height offset is obtained, for example, h1, and the example shown in FIG. 3 is the height of the waypoint A and the waypoint B.
  • the values are the same as the example.
  • the height values of the respective waypoints of the route not executed by the drone may be different, and are not limited to the above two waypoints.
  • the altitude values of waypoint A and waypoint B in the route are h2 (take the height relative to the ground as an example), and then the height of the waypoint A and the height of the waypoint B are corrected to h1+h2, after the height is corrected.
  • the waypoint A and the waypoint B form a modified route, and the corrected route is offset from the height of the route before the correction by h1, thereby adjusting the drone from the altitude at the height of h2 to the altitude value.
  • the altitude of h1+h2 is flying.
  • FIG. 3 shows an example of increasing the height, it is also possible to reduce the height of each waypoint.
  • the acquiring the correction data of the route includes: receiving a height control lever amount sent by the control terminal, determining a height offset according to the height control lever amount, wherein the height control lever amount is through an operation control terminal The specific rocker is produced.
  • the height information correction mode is the absolute height information correction mode
  • one way of obtaining the correction data of the route is that the user can set the height offset by operating a specific joystick of the control terminal, that is, the process of flying in the drone
  • the user wants to perform absolute height correction on a part of the route that is not executed by the drone
  • the user can operate a specific rocker of the control terminal, and when the user operates the joystick, the drone in this embodiment can receive the control.
  • the amount of height control lever generated by the user's operation sent by the terminal the drone can determine the altitude offset according to the height control lever amount, and perform absolute on the route or part of the route not executed by the drone according to the altitude offset Height corrected.
  • the user's different operations on a particular rocker will produce different height control levers, and the height control lever amount has a corresponding relationship with the height offset.
  • the drone can convert the height control lever amount into a height by a specific method. The offset, therefore, after receiving the height control lever amount in the embodiment, the height shift amount can be determined according to the height control lever amount.
  • the particular rocker can be the throttle lever of the control terminal.
  • the acquiring the correction data of the route includes: receiving a height offset input through an interaction interface on the control terminal.
  • the user can set the height offset by operating the interaction interface of the control terminal, wherein the interaction interface can be a touch display screen. For example, if the user needs to increase the height of the route by 5 m, the user can input a height offset of 5 m in the interactive interface. If the user needs to reduce the height of the route by 5 m, the user can input a height offset of -5 m in the interactive interface.
  • the embodiment can receive the height offset input by the user on the interactive interface sent by the control terminal.
  • the superimposing the height values of the waypoints in the route with the height offsets respectively to obtain the corrected route includes: when the height offset is within a preset offset range And superimposing the height values of the waypoints in the route with the height offsets respectively to obtain the corrected route; when the height offset is outside the preset offset range, the control is performed
  • the terminal sends a message rejecting the correction of the altitude of the route.
  • the modified route height exceeds the safe flight range of the drone and affects flight safety.
  • the height of the waypoint cannot be offset by the height offset, or if the altitude offset is too small,
  • the UAV's sensing system is not aware of the altitude offset, and the height offset is too small to make the correction of the waypoint height change, such as a height offset of 1 cm, the UAV's sensing
  • the minimum measurement distance of the system may be greater than 1 cm. This too small height correction will be meaningless and waste processing resources.
  • the drone acquires the height offset, it is determined whether the height offset or the corrected route height is within a preset range, when the altitude offset or the modified route When the height is within the preset range, the height can be corrected, and then the height values of the waypoints are respectively superimposed with the height offset to obtain the corrected route.
  • the control terminal is sent information that refuses to correct the altitude of the route, optionally, The information that refuses to correct the height of the route may also indicate the reason for the rejection, for example, the altitude offset is too large or too small, or the height of the corrected route exceeds the height of the safe flight.
  • the preset offset range may be fixed or may change with the flight environment of the drone, for example, when the sensing system of the drone senses that the drone is off the ground.
  • the preset offset range includes: the height offset should be greater than -10m.
  • the preset offset range includes: the height offset should be greater than -20m.
  • the mode control information sent by the control terminal is determined, and determining the altitude information correction mode of the route according to the mode control information includes: receiving, by the control terminal, second mode control information, and determining, according to the second mode control information, The relative height information correction mode of the route.
  • correcting the altitude information of the route according to the altitude correction data of the route to obtain the corrected route includes: in the relative height information correction mode,
  • the height correction data is a desired relative height, wherein the desired relative height is a desired relative height of the drone relative to the reference point; the sensing system of the drone is used to determine the actual state of the drone relative to the reference point Height; correcting the altitude of the route based on the desired relative height and the actual height to obtain a corrected course.
  • the drone example can receive the second height mode control information that is sent by the control terminal according to the user's operation, and the second height mode control information is used.
  • the indication height information correction mode is a relative height information correction mode. Therefore, in this embodiment, the phase can be determined according to the second height mode control information. Correct the mode for height information.
  • the acquired height correction data is the desired relative height, which is the desired relative height of the drone relative to the reference point during the execution of the route by the drone.
  • the present embodiment uses the sensing system of the drone to determine the actual height of the drone relative to the reference point, and then routes the route according to the desired relative height and actual altitude. The height is corrected so that the corrected route can be formed.
  • FIG. 4 is another schematic diagram of correcting the height of a route according to an embodiment of the present invention.
  • the current height information correction mode is a relative height information correction mode
  • the reference point shown in FIG. 4 is For example, the ground has a bulge on the ground as a reference point.
  • the embodiment uses the sensing system of the drone to determine the actual height of the drone relative to the ground, and then corrects the altitude of the route according to the desired relative height and the actual height, that is, the traversal route in the drone.
  • each of the waypoints that are not executed by the drone so that the distance between the waypoints in the route relative to the ground below the drone is the desired relative height, so that the modified route formed with the terrain of the ground
  • the change always maintains the relative distance from the ground to the desired relative height.
  • the corrected route changes compared with the modified route.
  • the drone can achieve automatic climb. Or reduced terrain following (anti-ground flight) function.
  • the actual height is a height average of the drone relative to the reference point within a preset time period or within a preset distance.
  • the reference point comprises one or more of a ground, a building, a water surface, a vegetation, and a moving object under the drone.
  • the moving object can be a person or a car.
  • the acquiring the correction data of the route includes: receiving a desired relative height input through an interaction interface on the control terminal.
  • the user in the height information correction mode is the relative height information correction mode, one way to obtain the correction data of the route is: the user can set the desired relative height by operating the interaction interface of the control terminal, for example, if the user needs to fly the drone
  • the relative expected relative height between the route and the reference point is set to 20 m. Accordingly, the embodiment can receive the desired relative height of the user input on the interactive interface sent by the control terminal.
  • the correcting the height of the route according to the expected relative height and the actual height to obtain the corrected route includes: when the desired relative height is within the detection range of the sensing system, according to the Expecting the relative height and the actual height to correct the height of the route to be corrected
  • the route is sent to the control terminal to reject the correction of the altitude of the route when the expected relative height is outside the detection range of the sensing system.
  • the relative height if the relative height is expected to be too large, it may exceed the maximum detection range of the UAV's sensing system and affect the flight safety, and the expected height is too large, which may cause the corrected route height to exceed the safe flying height of the UAV.
  • the relative height if the relative height is expected to be too small, it may exceed the minimum detection range of the sensing system, and the expected relative height is too small, which may cause the distance between the drone and the reference point to be too small to collide with the reference point. Therefore, in this embodiment, after obtaining the desired relative height, the drone determines whether the expectation is within the detection range of the sensing system, and when the desired relative height is within the detection range of the sensing system, indicating that the height can be performed.
  • Correct then correct the altitude of the route based on the expected relative altitude and actual altitude to get the corrected route.
  • the expected relative height is not within the detection range of the sensing system, it indicates that the height cannot be corrected, and then the control terminal is sent information that refuses to correct the height of the route, and optionally, the rejection of the altitude of the route is corrected.
  • the information can also indicate the reason for the rejection, for example: the expected relative height is too large.
  • the correction data is horizontal position correction data of the route.
  • the correcting the route according to the correction data of the route to obtain the corrected route includes: moving the route on a horizontal plane according to the horizontal position correction data of the route to obtain a corrected route.
  • the correction data in the above embodiment is the horizontal position correction data of the route.
  • the embodiment may acquire data that affects the horizontal position of the route, and is referred to herein as horizontal position correction data of the route, and then moves the route on the horizontal plane according to the horizontal position correction data of the route, that is, according to the route.
  • the horizontal position correction data horizontally moves each route in the route or the route not executed by the drone, keeps the height of the waypoint unchanged, and obtains the corrected route, and the corrected route is
  • the horizontal plane has a new position, and the corrected horizontal position of the route is different from the horizontal position of the route before the correction, while keeping the height of the route unchanged.
  • the drone is again controlled to fly on the modified route having the new horizontal position. Thereby realizing the real-time and dynamic correction of the horizontal position of the route.
  • the acquiring the correction data of the route includes: receiving horizontal position correction data of the route input through the interaction interface on the control terminal.
  • the horizontal position correction data of the route is that the user can set the horizontal position correction data by operating the interactive interface of the control terminal, and accordingly, the drone can receive the control.
  • the horizontal position correction data includes: a horizontal movement direction and/or a horizontal movement distance. For example, if the user needs to move the route to the left by 10 m, the user inputs the horizontal moving direction and the horizontal moving distance; if the horizontal moving direction is fixed, the user inputs the horizontal moving distance to the interactive interface; if the horizontal moving distance is fixed, the user The interactive interface inputs the horizontal movement direction.
  • the embodiment can receive the horizontal position correction data input by the user on the interactive interface sent by the control terminal.
  • the acquiring the correction data of the route comprises: determining the horizontal position correction data of the route according to the data collected by the sensing system of the drone.
  • the horizontal position correction data of the route can be determined by the data collected by the sensing system, and the horizontal position correction is performed according to the route.
  • the data corrects the horizontal position of the route to ensure that the drone is safe or performs specific tasks under the influence of environmental factors.
  • the horizontal position correction data includes at least a horizontal movement direction and/or a horizontal movement distance.
  • the horizontal movement direction indicates the direction in which the route moves in the horizontal plane
  • the horizontal movement distance indicates the distance that the route moves in the horizontal direction.
  • the determining the horizontal position correction data of the route according to the data collected by the sensing system of the drone includes: determining the horizontal position correction data of the route according to the wind direction data and/or the wind speed data collected by the sensing system of the drone .
  • the drone when the drone performs the route, the wind, the direction of the light, and the like in the environment may affect the tasks performed by the drone.
  • the drone can be used to spray the liquid medicine into the farmland, and the route is preset according to the terrain of the farmland, and the drone can spray the liquid evenly throughout the flight.
  • the effect is in the absence of wind. If the wind rises in the environment, the liquid medicine will be deflected under the influence of the wind, which will affect the sedimentation trajectory of the liquid medicine and affect the spraying effect of the liquid medicine.
  • the drone needs to correct the route according to the wind in real time, so that the chemical liquid is uniformly settled in the farmland, and the spraying effect of the liquid medicine is improved.
  • the sensing system of the drone collects wind direction data and/or wind speed data, and the wind direction data can affect the direction of settlement of the liquid medicine, and the wind speed data can affect the settlement distance of the liquid medicine. Therefore, the drone is based on the wind direction.
  • the data and/or wind speed data determines the horizontal position correction data for the route.
  • determining the horizontal position correction data of the route according to the wind direction data and/or the wind speed data collected by the sensing system of the drone includes: determining a horizontal moving direction of the route according to the wind direction data collected by the sensing system of the drone The horizontal moving distance is determined according to the wind speed data collected by the UAV sensing system.
  • the drone is used to spray the liquid
  • the liquid will shift southward under the wind operation, thus making the liquid
  • the preset subsidence trajectory is shifted to the south. Therefore, the horizontal movement direction of the route needs to be moved northward, so the horizontal movement direction of the route is determined according to the wind direction data collected by the sensing system of the drone.
  • the magnitude of the wind speed affects the distance of the preset sedimentation trajectory of the chemical liquid. Therefore, according to the offset distance of the liquid medicine, the horizontal moving distance of the route is corrected so that the liquid medicine falls accurately on the preset settlement. On the trajectory, the horizontal moving distance of the route is determined according to the wind speed data collected by the sensing system of the drone.
  • FIG. 5 is a schematic diagram of a modified horizontal position of a route according to an embodiment of the present invention.
  • the X-axis is oriented in the north direction and the Y-axis is oriented in the east direction, and the sensing system of the drone is collected.
  • the wind direction data is the northwest wind direction (the angle between the wind direction and the north direction is 45 degrees), and the wind speed data is 1 m/s.
  • the northwest wind direction is determined, and the horizontal correction direction of the route is determined to be the southeast direction. Since the wind speed data is 1m/s, and the liquid sprayed by the drone takes 5s to land, the time required for the liquid to be affected by the wind is 5s.
  • the drone flies on the modified route, and even under the influence of the wind, the liquid can settle on the preset settlement trajectory.
  • the origin of the coordinate system may be the current target waypoint of the drone.
  • the determining the horizontal position correction data of the route according to the data collected by the sensing system of the drone comprises: determining the horizontal position correction data of the route according to the obstacle information collected by the sensing system of the drone.
  • the obstacle in the environment may affect the flight safety of the drone, and if the obstacle is located in the route area of the drone, the flight safety may be affected. .
  • a route area containing complex terrain such as waters, mountains, etc.
  • the obstacle system is sensed in real time through the sensing system to obtain obstacle information.
  • this embodiment utilizes no The obstacle information collected by the human-machine sensing system determines the horizontal position correction data of the route.
  • determining the horizontal position correction data of the route according to the obstacle information collected by the sensing system of the drone includes: determining the route according to the distance and/or orientation of the obstacle collected by the sensing system of the drone Horizontal position correction data.
  • FIG. 6 is another schematic diagram of a modified horizontal position of a route according to an embodiment of the present invention.
  • the X-axis is oriented in the north direction and the Y-axis is oriented in the east direction as an example.
  • An obstacle is detected at the position shown in the figure.
  • the route needs to be corrected. Therefore, according to the sensing system of the drone, the distance between the current position of the drone and the obstacle is obtained, and the distance shown in FIG. 6 is d, and the orientation of the obstacle is also obtained, that is, the obstacle and the unmanned person can be obtained.
  • the angle between the flight direction of the machine along the current route is ⁇ .
  • the distance is d1.
  • determine the horizontal moving distance and horizontal moving direction of the route it may be determined that the horizontal position of the route is not required to be corrected.
  • the horizontal moving direction of the route may be: the reverse direction of the UAV along the flight direction of the current route, or the reverse direction of the current position of the UAV to the direction of the obstacle (ie, the sensing system with the UAV) The orientation of the acquired obstacle is opposite to the orientation), and the embodiment is not limited thereto.
  • the horizontal position moving distance is a fixed distance ⁇ d
  • the horizontal position moving direction is the opposite direction of the drone along the current flight direction.
  • the route is then offset accordingly to obtain the corrected course as shown in FIG.
  • the drone flies on the modified route to ensure flight safety.
  • FIG. 7 is another schematic diagram of a modified horizontal position of a route according to an embodiment of the present invention.
  • the X-axis is oriented to the north and the Y-axis is oriented to the east.
  • the origin of the coordinate system is the current.
  • the target waypoint of the drone if the sensing system of the drone collects obstacle information at the position shown in Figure 7, in order to ensure flight safety, the route needs to be corrected, so The distance between the current position of the machine and the current target waypoint, the distance is used as the horizontal position correction distance of the route, and the moving direction between the current target waypoint and the current position is used as the horizontal position correction direction of the route, as shown in FIG. 7
  • the horizontal position correction distance is dx
  • the horizontal position correction orientation is southward
  • the route is offset accordingly, thereby obtaining the corrected route as shown in FIG.
  • the sensing system of the drone acquires the orientation and distance of the obstacle relative to the drone, and may follow an orientation level opposite to the orientation.
  • the mobile route, in which the distance traveled is the distance between the current drone and the obstacle, the drone flies on the modified route, avoiding the obstacle falling into the flight area and ensuring flight safety.
  • the correction data of the route is rotation correction data of the route.
  • the correcting the route according to the correction data comprises: horizontally rotating the route according to the rotation correction data of the route to obtain the corrected route.
  • the correction data in the above embodiment is the rotation correction data of the route.
  • the embodiment may acquire data that affects the rotation of the route, referred to herein as rotation correction data of the route, and then rotate the route on a horizontal plane according to the rotation correction data of the route, that is, according to the route.
  • the rotation correction data is described and rotated for each of the routes or routes that are not executed by the drone, thereby obtaining the corrected route. That is, the route is rotated according to the rotation correction data of the route, so that the corrected route is rotated at a certain angle with respect to the original route on the horizontal plane, thereby realizing the real-time and dynamic rotation of the route.
  • the rotation correction data of the route includes a specified rotation center of the route and/or a rotation amount of the route.
  • the designated rotation center is used to indicate the center point of the rotation of the route on the horizontal plane, that is, the route is horizontally corrected by the center point of the route, and the rotation amount of the route is used to indicate the angle at which the route rotates on the horizontal plane.
  • the acquiring the correction data of the route includes: receiving a specified rotation center of the route sent by the control terminal and/or a rotation amount of the route.
  • the horizontally rotating the route according to the rotation correction data of the route to obtain the corrected route includes: horizontally rotating the route according to a specified rotation center of the route and/or a rotation amount of the route to obtain a corrected route route.
  • one way to obtain the horizontal position correction data of the route is that the user can set the rotation amount of the designated rotation center and/or the route through the operation control terminal, and accordingly, the drone can receive the control The amount of rotation of the specified rotation center and/or route input by the user sent by the terminal through the control interface of the control terminal.
  • the user can input a specified rotation center and a rotation amount
  • the designated rotation center may be one of the waypoints determined by the user from the route, wherein the waypoint may be any one of the routes that are not executed by the drone.
  • the amount of rotation is exceptionally 30 degrees. If the specified rotation center is fixed or the default waypoint, the user only needs to input the rotation amount; if the rotation amount is fixed, the user only needs to input the designated rotation center.
  • the present embodiment can receive the amount of rotation of the designated rotation center and/or the route transmitted by the control terminal, and then horizontally rotate the route according to the center of rotation and/or the amount of rotation.
  • the acquiring the correction data of the route includes: acquiring the rotation amount of the route sent by the control terminal.
  • the horizontally rotating the route according to the rotation correction data of the route to obtain the corrected route includes: a rotation center of the UAV's current target waypoint as a route, according to the rotation center and the rotation amount of the route Rotate the route horizontally to get the corrected route.
  • the rotation center of the route is determined according to a preset rule, and is not required to be acquired by the control terminal.
  • the rotation center of the route is the current target waypoint of the drone, that is, the next waypoint where the drone is about to fly.
  • the drone only needs to obtain the rotation amount of the route from the control terminal, and the rotation amount of the route can be input by the user through the interactive interface of the control terminal.
  • the rotation amount of the UAV's current target waypoint is used as the rotation center of the route to horizontally rotate the rotation amount, thereby forming the corrected route.
  • the acquiring the correction data of the route includes: determining a rotation amount of the route according to the wind direction data collected by the sensor system of the drone; and performing horizontal rotation on the route according to the rotation correction data of the route to obtain the corrected
  • the route includes: a rotation center that uses the current target waypoint of the drone as a route, and the route is horizontally rotated according to the rotation center and the rotation amount of the route to obtain the corrected route.
  • the wind in the environment will affect the flight or route of the drone.
  • the drone performs the flight of the route, if the drone flies against the wind, the drag of the drone is greater due to the action of the wind.
  • the sensing system of the drone can collect the wind direction data. Therefore, the embodiment can determine the rotation amount of the route according to the collected wind direction data, for example, according to the current flight direction and wind direction data of the drone, The amount of rotation of a route that is manned by the wind.
  • the current target waypoint of the drone is used as the rotation center of the route, and the rotation amount of the route is rotated on the horizontal plane to obtain the corrected route.
  • the man-machine can also use the waypoint designated by the user through the control terminal as the center of rotation. No specific restrictions are made here.
  • the acquiring the correction data of the route includes: determining the rotation amount of the route according to the illumination direction data collected by the sensor system of the drone.
  • the horizontally rotating the route according to the rotation correction data of the route to obtain the corrected route includes: a rotation center of the UAV's current target waypoint as a route, according to the rotation center and the rotation amount of the route Rotate the route horizontally to get the corrected route.
  • the illumination direction in the environment affects the tasks performed by the drone, and in some application scenarios, for example, using the drone to fly along the route to shoot the target object, if the drone When shooting the target object in the direction of the light, the shooting effect will be poor.
  • the drone needs to fly in the backlight.
  • the drone can rotate the route, so that the drone is flying along the modified route.
  • the backlight captures the target object.
  • the sensing system of the drone can collect the illumination direction, and determine the rotation amount of the route according to the collected illumination data, for example, the rotation amount that can be determined according to the current flight direction and the illumination direction of the drone.
  • the current target waypoint of the drone is used as the rotation center of the route, and the rotation amount of the route is rotated on the horizontal plane to obtain the corrected route.
  • the drone can also be the center of rotation designated by the user through the control terminal. No specific restrictions are made here.
  • the horizontally rotating the route according to the rotation correction data of the route to obtain the corrected route includes: when the rotation center of the route and/or the rotation amount of the route is within a preset range, according to The rotation correction data of the route horizontally rotates the route to obtain the corrected route; when the position of the rotation center of the route and/or the rotation amount of the route is outside the preset range, the control to the drone The terminal sends a message rejecting the rotation of the route.
  • the unmanned machine determines whether the position of the rotation center is within the preset position range, and when the rotation center selected by the user is in the preset position range When inside, the drone will consider that the center of rotation selected by the user is a legitimate center of rotation. When the center of rotation and/or the amount of rotation is not within the preset position range, the control terminal is sent a message rejecting the rotation of the route. In addition, the drone will also check the legality of the amount of rotation input by the user through the control terminal. When the amount of rotation input by the user input is not within the range of the preset amount of rotation, the drone will consider the user input. The amount of rotation is a legal amount of rotation.
  • the unmanned machine determines that the amount of rotation is an illegal amount of rotation, to the control terminal. Send a message that refuses to rotate the route.
  • the legal rotation amount ranges from -180 degrees to 180 degrees.
  • the unmanned person refuses to perform horizontal rotation correction on the route.
  • the information of rejecting the rotation of the route in this embodiment may also indicate the reason for the rejection.
  • FIG. 8 is a schematic diagram of horizontal rotation of a route according to an embodiment of the present invention.
  • the X-axis is oriented to the north, and the Y-axis is oriented to the east.
  • the origin of the coordinate system is a drone.
  • Current target waypoint As shown in FIG. 8, the center of rotation is the current target waypoint of the drone, and the amount of rotation is ⁇ , and then the route is rotated accordingly, thereby obtaining the corrected route as shown in FIG.
  • the sensing system of the drone includes one or more of an ultrasonic sensor, a visual sensor, a laser sensor, a TOF sensor, a radar, an infrared sensor, an inertial measurement unit, and a dot matrix sensor.
  • the embodiment of the present invention further provides a computer storage medium, where the computer storage medium stores program instructions, and the program may include some or all of the steps of the method of route modification in FIG. 2 and its corresponding embodiments. .
  • FIG. 9 is a schematic structural diagram of a route correction device 300 according to an embodiment of the present invention.
  • the route modification device 300 of the present embodiment may include: a memory 301 and a processor 302.
  • the above memory 301 is connected to the processor 302 via a bus.
  • Memory 301 can include read only memory and random access memory and provides instructions and data to processor 302.
  • a portion of the memory 301 may also include a non-volatile random access memory.
  • the processor 302 may be a central processing unit (CPU), and the processor may be another general-purpose processor, a digital signal processor (DSP), or an application specific integrated circuit (ASIC). ), a Field-Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, and the like.
  • the general purpose processor may be a microprocessor or the processor or any conventional processor or the like.
  • the memory 301 is configured to store program code
  • the processor 302 is configured to invoke the program code to: obtain correction data of a route; and modify a route according to the correction data to obtain a corrected route; The drone flies on the modified route.
  • the processor 302 is specifically configured to: during the execution of the route of the drone, correct the route that is not executed by the drone according to the modified data to obtain the corrected route.
  • the correction data is altitude correction data of the route
  • the processor 302 is specifically configured to: modify the altitude information of the route according to the altitude correction data of the route to obtain the corrected route.
  • FIG. 10 is another schematic structural diagram of a route correction device 300 according to an embodiment of the present invention. As shown in FIG. 10, the route modification device 300 of the present embodiment further includes communication on the basis of the embodiment shown in FIG. Interface 303.
  • the communication interface 303 is configured to: before acquiring the height correction data for the route, receive the altitude mode control information sent by the control terminal, and determine the altitude information correction mode of the route according to the altitude mode control information;
  • the processor 302 is specifically configured to: in the determined altitude information correction mode of the route, correct the altitude information of the route according to the altitude correction data of the route to obtain the corrected route.
  • the communication interface 303 is specifically configured to: receive, by the control terminal, first altitude mode control information
  • the processor 302 is specifically configured to: determine an absolute height information correction mode of the route according to the first altitude mode control information, where the height correction data is a height offset, and The height values of the waypoints in the route are respectively superimposed with the height offset to obtain a corrected route.
  • the communication interface 303 is specifically configured to: receive a height control rod quantity sent by the control terminal;
  • the processor 302 is specifically configured to: determine a height offset according to the height control lever amount, wherein the height control lever amount is generated by operating a specific rocker of the control terminal.
  • the specific rocker is a throttle lever of the control terminal.
  • the communication interface 303 is further configured to: receive a height offset of the interaction interface input on the control terminal.
  • the processor 302 is configured to: when the height offset is within a preset offset range, offset a height value of a waypoint in the route from the height The amount is superimposed to obtain the corrected route;
  • the communication interface 303 is configured to send, to the control terminal, information that refuses to correct the height of the route when the height offset is outside the preset offset range.
  • the communication interface 303 is specifically configured to: receive a second mode sent by the control terminal. Control information
  • the processor 302 is configured to: determine a relative height information correction mode of the route according to the second mode control information; in the relative height information correction mode, the height correction data is a desired relative height, where The desired relative height is a desired relative height of the drone relative to the reference point; determining, by the sensing system of the drone, the actual height of the drone relative to the reference point; according to the desired relative height and the actual Height correct the height of the route to get the corrected route.
  • the actual height is a height average of the drone relative to the reference point within a preset time period or within a preset distance.
  • the reference point comprises one or more of a ground, a building, a water surface, a vegetation, and a moving object under the drone.
  • the processor 302 is specifically configured to: receive a desired relative height input through an interaction interface on the control terminal.
  • the processor 302 is configured to: when the expected relative height is within the detection range of the sensing system, correct the height of the route according to the expected relative height and the actual height to obtain a correction After the route;
  • the communication interface 303 is further configured to send, to the control terminal, information that refuses to correct the height of the route when the expected relative height is outside the detection range of the sensing system.
  • the correction data is horizontal position correction data of the route
  • the processor 302 is specifically configured to: move the route on a horizontal plane according to the horizontal position correction data of the route to obtain a corrected route.
  • the communication interface 303 is configured to receive horizontal position correction data of a route input through an interaction interface on the control terminal.
  • the processor 302 is specifically configured to: determine horizontal position correction data of the route according to data collected by the sensing system of the drone.
  • the horizontal position correction data includes at least a horizontal movement direction and/or a horizontal movement distance.
  • the processor 302 is configured to: determine horizontal position correction data of the route according to wind direction data and/or wind speed data collected by the sensing system of the drone.
  • the processor 302 is specifically configured to: collect wind according to a sensing system of the drone The horizontal moving direction of the route is determined to the data, and the horizontal moving distance is determined according to the wind speed data collected by the sensing system of the drone.
  • the processor 302 is specifically configured to: determine horizontal position correction data of the route according to the obstacle information collected by the sensing system of the drone.
  • the processor 302 is specifically configured to:
  • the horizontal position correction data of the route is determined according to the distance and/or orientation of the obstacle collected by the sensing system of the drone.
  • the correction data of the route is rotation correction data of the route
  • the processor 302 is specifically configured to: perform horizontal rotation on the route according to the rotation correction data of the route to obtain the corrected route.
  • the rotation correction data of the route includes a specified rotation center of the route and/or a rotation amount of the route.
  • the communication interface 303 is configured to receive, by the control terminal, a specified rotation center of the route and/or a rotation amount of the route;
  • the processor 302 is specifically configured to: perform horizontal rotation on the route according to a specified rotation center of the route and/or a rotation amount of the route to obtain a corrected route.
  • the communication interface 303 is configured to receive, by the control terminal, a rotation amount of a route sent by the terminal;
  • the processor 302 is specifically configured to: use a current target waypoint of the drone as a rotation center of the route, and horizontally rotate the route according to the rotation center and the rotation amount of the route to obtain the corrected route.
  • the processor 302 is specifically configured to: determine a rotation amount of the route according to the wind direction data collected by the sensor system of the drone;
  • the route is horizontally rotated according to the rotation center and the rotation amount of the route to obtain the corrected route.
  • the processor 302 is configured to: determine, according to the illumination direction data collected by the sensor system of the drone, the rotation amount of the route;
  • the route is horizontally rotated according to the rotation center and the rotation amount of the route to obtain the corrected route.
  • the processor 302 is configured to: when the rotation center of the route and/or the rotation amount of the route is within a preset range, perform level on the route according to the rotation correction data of the route Rotate to get the corrected route;
  • the communication interface 303 is further configured to send information that rejects the rotation of the route to the control terminal of the drone when the position of the rotation center of the route and/or the rotation amount of the route is outside the preset range.
  • the device in this embodiment may be used to implement the technical solution of the foregoing method embodiment of the present invention, and the implementation principle and the technical effect are similar, and details are not described herein again.
  • An embodiment of the present invention provides a drone, and the drone of the embodiment includes:
  • the route correction device 300 is configured to modify the route of the UAV; correspondingly, the technical solution of the foregoing method embodiment of the present invention may be performed, and the implementation principle and the technical effect are similar, and details are not described herein again.
  • the foregoing program may be stored in a computer readable storage medium, and the program is executed when executed.
  • the foregoing storage medium includes: read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, and the like, which can store program codes. Medium.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
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Abstract

Les modes de réalisation de la présente invention concernent un procédé et un dispositif de correction d'itinéraire aérien, et un véhicule aérien sans pilote. Le procédé consiste à : acquérir des données de correction relatives à un itinéraire aérien, et corriger l'itinéraire aérien en fonction des données de correction relatives à l'itinéraire aérien pour obtenir un itinéraire aérien corrigé, et commander ensuite le véhicule aérien sans pilote de voler selon l'itinéraire aérien corrigé. L'invention permet de réaliser une correction en temps réel de l'itinéraire aérien, et d'atteindre l'objectif de commander le véhicule aérien sans pilote de voler conformément à l'itinéraire aérien corrigé, ce qui permet d'améliorer la flexibilité du véhicule aérien sans pilote pendant la mise en oeuvre de l'itinéraire aérien et d'améliorer l'efficacité du vol.
PCT/CN2017/075265 2017-02-28 2017-02-28 Procédé et dispositif de correction d'itinéraire aérien, et véhicule aérien sans pilote WO2018157309A1 (fr)

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