WO2019047725A1 - 无人飞行器的航区规划方法、装置和遥控器 - Google Patents
无人飞行器的航区规划方法、装置和遥控器 Download PDFInfo
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Classifications
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- G06T7/60—Analysis of geometric attributes
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0004—Transmission of traffic-related information to or from an aircraft
- G08G5/0013—Transmission of traffic-related information to or from an aircraft with a ground station
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0017—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information
- G08G5/0026—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information located on the ground
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- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
Definitions
- the UAV Before the flight, the UAV needs to plan the flight operation area, plan the flight route in the flight operation area, fly in the flight operation area according to the flight route, and perform corresponding flight operations, such as aerial photography and spraying.
- the plurality of sampling points are connected in the order of sampling to generate a target mapping pattern.
- the step of generating a trend line along a trend of the target pictogram shape comprises:
- the step of generating a trend line along the reference point along the trend of the target pictogram comprises:
- the flight operation area includes one or more sub-work areas
- the step of generating a flight operation area for the strip-shaped geographical area by using the trend line as a positioning reference comprises:
- the work length is sequentially taken on the trend line and the work width is expanded to generate a child work area of a single flight job.
- the step of calculating a job width covering the target mapping shape comprises:
- the flight job area generating module includes:
- a coordinate query subunit configured to query coordinates of the plurality of sampling points
- An average value calculation subunit is provided to calculate an average value of coordinates of the plurality of sample points as coordinates of the midpoint.
- the flight operation area includes one or more sub-work areas
- the reference generation sub-module includes:
- the sub-work area generating unit is configured to sequentially take the job length on the trend line and expand the job width to generate a sub-work area of a single flight job.
- the job width setting subunit is set to set twice the sum of the vertical distance of the largest value and the preset buffer distance as the job width.
- the sub-job area generating unit includes:
- a center line setting subunit configured to set the trend line as a center line of the sub work area
- FIG. 3A there is a strip-shaped river 301 (band-like geographic area) in the electronic map 300, and the user can draw a measurement line 302 (measurement pattern) in the river 301 by a touch operation.
- a strip-shaped river 301 band-like geographic area
- the user can draw a measurement line 302 (measurement pattern) in the river 301 by a touch operation.
- the manner of obtaining the sampling points is only an example.
- the manner of acquiring other sampling points may be set according to actual conditions, for example, the user collects sampling points through the mapping device, and the like. This is not limited.
- those skilled in the art may also adopt other sampling point acquisition manners according to actual needs, which is not limited in the embodiment of the present invention.
- the sampling point can be converted into a regular target mapping shape according to a certain drawing rule.
- step 202 may include the following sub-steps:
- Sub-step S211 determining a reference point in the target pictogram.
- the average of the coordinates of each sample point can be used as the coordinates of the midpoint to determine the position of the midpoint.
- the user can pre-set the buffer distance according to the strip geography so that the job width can cover the strip geography.
- the area in which the UAV can fly at a time is determined, and therefore, by dividing the area by the working width, a flightable working length can be obtained.
- Sub-step S223 the job length is sequentially taken on the trend line and the job width is expanded to generate a sub-work area of a single flight job.
- the expanded width is the job width, so that the generated sub-work area can cover part of the target map shape, thereby covering a part of the strip-shaped geographical area, and the plurality of sub-work areas are superimposed, which is the entire flight work area.
- the last sample point is projected at the point of the trend line, which is the end of the last job.
- the working width is based on the vertical distance of the largest median of all vertical distances, plus twice the buffer distance, half of the working width can be extended on the basis of the sub-center line segment to ensure that the target mapping area can be covered.
- the coordinates of the job starting point m 1 and the job starting point end point m 2 are known, and the job width d/2 is known, assuming that k 1 , k 2 , k 3 , k 4 are the four corner points of the sub-working area N 1 , the distance of k 1 m 1 is d/2, the product of the slope of k 1 m 1 and the slope of m 1 m 2 is -1. Combining these two conditions, the coordinates of k 1 can be calculated. Similarly, it can be calculated. The k 2 , k 3 , k 4 coordinates, thereby determining the sub-work area N 1 .
- the embodiment of the invention obtains a plurality of sampling points, curves, lines or block diagrams of the strip-shaped geographical area, determines the target mapping shape according to the plurality of sampling points, curves, lines or block diagrams, and generates a flight along the direction of the target mapping shape for the strip-shaped geographical area.
- the working area can adapt to the trend of the strip-shaped geographical area to generate the flight operation area, with high flexibility, paying attention to the strip-shaped geographical area, reducing the area outside the strip-shaped geographical area into the flight operation area, and reducing the flight operation of the unmanned aerial vehicle. , thereby reducing the cost of flight operations.
- FIG. 4 a structural block diagram of a navigation area planning device for an unmanned aerial vehicle according to an embodiment of the present invention is shown, which may specifically include the following modules:
- the flight work area generation module 403 is configured to generate a flight work area for the strip-shaped geographic area along the trend of the target pictogram shape.
- the target mapping shape conversion module 402 includes:
- the trend line generation submodule includes:
- An average value calculation subunit is provided to calculate an average value of coordinates of the plurality of sample points as coordinates of the midpoint.
- An extreme point connecting subunit configured to connect the extreme point, to obtain a reference line segment
- the job width setting subunit is set to double the sum of the vertical distance of the largest value and the preset buffer distance as the job width.
- the sub-job area generating unit includes:
- the vertical expansion subunit is arranged to sequentially extend half of the work width in the vertical direction of the sub center line segment to obtain a sub-work area of a single flight operation.
- Sensor assembly 514 includes one or more sensors arranged to provide remote controller 500 with various aspects of status assessment.
- the sensor assembly 514 can detect the open/closed state of the remote control 500, the relative positioning of the components, for example, the component is the display and keypad of the remote control 500, and the sensor component 514 can also detect the remote control 500 or the remote control 500.
- the position of one component changes, the presence or absence of contact of the user with the remote controller 500, the orientation of the remote controller 500 or acceleration/deceleration, and the temperature of the remote controller 500.
- Sensor assembly 514 can include a proximity sensor configured to detect the presence of nearby objects without any physical contact.
- Sensor component 514 can also include a light sensor, such as a CMOS or COT image sensor, configured for use in imaging applications.
- the sensor component 514 can also include a positioning module, an acceleration sensor, a gyro sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
- the plurality of sampling points are connected in the order of sampling to generate a target mapping pattern.
- a trend along the target map is generated to generate a trend line through the reference point.
- the step of generating a trend line along the reference point along the trend of the target pictogram comprises:
- the step of calculating a job width covering the target mapping shape comprises:
- the step of generating a flight working area for the strip-shaped geographical area along the trend of the target mapping form comprises:
- a trend along the target map is generated to generate a trend line through the reference point.
- the reference point includes a midpoint
- the step of determining a reference point in the target pictogram includes:
- An average value of coordinates of the plurality of sampling points is calculated as coordinates of the midpoint.
- the step of calculating a job width covering the target mapping shape comprises:
- the half of the work width is respectively expanded in the vertical direction of the sub-center line segment to obtain a sub-work area of a single flight operation.
- embodiments of the embodiments of the invention may be provided as a method, apparatus, or computer program product.
- embodiments of the invention may be in the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware.
- embodiments of the invention may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) including computer usable program code.
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- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Geometry (AREA)
- Multimedia (AREA)
- Computer Networks & Wireless Communication (AREA)
- Navigation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Instructional Devices (AREA)
Abstract
Description
Claims (21)
- 一种无人飞行器的航区规划方法,其中,包括:获取带状地理区域的多个采样点、曲线、直线或框图;根据所述多个采样点、曲线、直线或框图确定目标测绘图形;沿所述目标测绘图形的趋向为所述带状地理区域生成飞行作业区域。
- 根据权利要求1所述的方法,其中,所述根据所述多个采样点、曲线、直线或框图确定目标测绘图形的步骤包括:按照采样的顺序连接所述多个采样点,生成目标测绘图形。
- 根据权利要求1或2所述的方法,其中,所述沿所述目标测绘图形的趋向为所述带状地理区域生成飞行作业区域的步骤包括:沿所述目标测绘图形的趋向生成趋向线;以所述趋向线作为定位基准,为所述带状地理区域生成飞行作业区域。
- 根据权利要求3所述的方法,其中,所述沿所述目标测绘图形的趋向生成趋向线的步骤包括:在所述目标测绘图形中确定基准点;沿所述目标测绘图形的趋向生成经过所述基准点的趋向线。
- 根据权利要求4所述的方法,其中,所述基准点包括中点,所述在所述目标测绘图形中确定基准点的步骤包括:查询所述多个采样点的坐标;计算所述多个采样点的坐标的平均值,作为所述中点的坐标。
- 根据权利要求4所述的方法,其中,所述沿所述目标测绘图形的趋向生成经过所述基准点的趋向线的步骤包括:将所述目标测绘图形的极值坐标赋值给极值点;连接所述极值点,获得参考线段;经过所述基准点,生成与所述参考线段平行的趋向线。
- 根据权利要求3所述的方法,其中,所述飞行作业区域包括一个或多个子作业区域,所述以所述趋向线作为定位基准,为所述带状地理区域生成飞行作业区域的步骤包括:计算覆盖所述目标测绘图形的作业宽度;计算无人飞行器在所述作业宽度下飞行的作业长度;在所述趋向线上依次取所述作业长度并扩展所述作业宽度,生成单次飞行作业的子作业区域。
- 根据权利要求7所述的方法,其中,所述计算覆盖所述目标测绘图形的作业宽度的步骤包括:计算所述目标测绘图形中各点到所述趋向线的垂直距离;将值最大的垂直距离与预设的缓冲距离之和的两倍设置为作业宽度。
- 根据权利要求7所述的方法,其中,所述在所述趋向线上依次取所述作业长度并扩展所述作业宽度,生成单次飞行作业的子作业区域的步骤包括:将所述趋向线设置为子作业区域的中心线;在所述趋向线中依次确定作业起点;依次从所述作业起点取所述作业长度、确定作业终点,获得子中心线段;依次沿所述子中心线段的垂直方向分别扩展所述作业宽度的一半,获得单次飞行作业的子作业区域。
- 一种无人飞行器的航区规划装置,其中,包括:获取模块,设置为获取带状地理区域的多个采样点、曲线、直线或框图;目标测绘图形确定模块,设置为根据所述多个采样点、曲线、直线或框图确定目标测绘图形;飞行作业区域生成模块,设置为沿所述目标测绘图形的趋向为所述带状地理区域生成飞行作业区域。
- 根据权利要求10所述的装置,其中,所述目标测绘图形确定模块块包括:采样点连接子模块,设置为按照采样的顺序连接所述多个采样点,生 成目标测绘图形。
- 根据权利要求10或11所述的装置,其中,所述飞行作业区域生成模块包括:趋向线生成子模块,设置为沿所述目标测绘图形的趋向生成趋向线;基准生成子模块,设置为以所述趋向线作为定位基准,为所述带状地理区域生成飞行作业区域。
- 根据权利要求12所述的装置,其中,所述趋向线生成子模块包括:基准点确定单元,设置为在所述目标测绘图形中确定基准点;基准点生成单元,设置为沿所述目标测绘图形的趋向生成经过所述基准点的趋向线。
- 根据权利要求13所述的装置,其中,所述基准点包括中点,所述基准点确定单元包括:坐标查询子单元,设置为查询所述多个采样点的坐标;平均值计算子单元,设置为计算所述多个采样点的坐标的平均值,作为所述中点的坐标。
- 根据权利要求13所述的装置,其中,所述基准点生成单元包括:极值点赋值子单元,设置为将所述目标测绘图形的极值坐标赋值给极值点;极值点连接子单元,设置为连接所述极值点,获得参考线段;平行生成子单元,设置为经过所述基准点,生成与所述参考线段平行的趋向线。
- 根据权利要求12所述的装置,其中,所述飞行作业区域包括一个或多个子作业区域,所述基准生成子模块包括:作业宽度计算单元,设置为计算覆盖所述目标测绘图形的作业宽度;作业长度计算单元,设置为计算无人飞行器在所述作业宽度下飞行的作业长度;子作业区域生成单元,设置为在所述趋向线上依次取所述作业长度并 扩展所述作业宽度,生成单次飞行作业的子作业区域。
- 根据权利要求16所述的装置,其中,所述作业宽度计算单元包括:垂直距离计算子单元,设置为计算所述目标测绘图形中各点到所述趋向线的垂直距离;作业宽度设置子单元,设置为将值最大的垂直距离与预设的缓冲距离之和的两倍,设置为作业宽度。
- 根据权利要求16所述的装置,其中,所述子作业区域生成单元包括:中心线设置子单元,设置为将所述趋向线设置为子作业区域的中心线;作业起点确定子单元,设置为在所述趋向线中依次确定作业起点;作业终点确定子单元,设置为依次从所述作业起点取所述作业长度、确定作业终点,获得子中心线段;垂直扩展子单元,设置为依次沿所述子中心线段的垂直方向分别扩展所述作业宽度的一半,获得单次飞行作业的子作业区域。
- 一种遥控器,其中,包括:一个或多个处理器;和其上存储的一个或多个计算机可读介质中的指令,由所述一个或多个处理器执行时,使得遥控器执行如权利要求1-9中一个或多个的方法。
- 一种处理器,其中,所述处理器用于运行程序,其中,所述程序运行时执行权利要求1-9中任意一项所述的无人飞行器的航区规划。
- 一种存储介质,其中,所述存储介质包括存储的程序,其中,在所述程序运行时控制所述存储介质所在设备执行权利要求1-9中任意一项所述的无人飞行器的航区规划。
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2020513862A JP7060679B2 (ja) | 2017-09-07 | 2018-08-23 | 無人航空機のナビゲーション領域計画の方法、装置及びリモコン |
EP18853137.0A EP3680610A4 (en) | 2017-09-07 | 2018-08-23 | PROCEDURE, DEVICE AND REMOTE CONTROL FOR PLANNING THE NAVIGATION AREA OF AN UNMANNED AIRCRAFT |
KR1020207005437A KR102387041B1 (ko) | 2017-09-07 | 2018-08-23 | 무인 항공기의 항행구역 계획 방법, 장치 및 리모컨 |
RU2020112251A RU2744226C1 (ru) | 2017-09-07 | 2018-08-23 | Способ и устройство для планирования области полета беспилотного летательного аппарата и пульт дистанционного управления |
CA3074760A CA3074760A1 (en) | 2017-09-07 | 2018-08-23 | Method and apparatus for planning navigation region of unmanned aerial vehicle, and remote control |
US16/645,552 US20200265725A1 (en) | 2017-09-07 | 2018-08-23 | Method and Apparatus for Planning Navigation Region of Unmanned Aerial Vehicle, and Remote Control |
AU2018328479A AU2018328479A1 (en) | 2017-09-07 | 2018-08-23 | Method and apparatus for planning navigation region of unmanned aerial vehicle, and remote control |
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CN112734346A (zh) * | 2021-04-02 | 2021-04-30 | 北京三快在线科技有限公司 | 航线覆盖范围的确定方法、装置、设备及可读存储介质 |
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CN111752298A (zh) * | 2019-09-30 | 2020-10-09 | 广州极飞科技有限公司 | 无人机作业航线生成方法及相关装置 |
WO2021195875A1 (zh) * | 2020-03-30 | 2021-10-07 | 深圳市大疆创新科技有限公司 | 飞行控制方法、装置、设备及存储介质 |
KR102200779B1 (ko) * | 2020-07-06 | 2021-01-11 | 주식회사 우리강산시스템 | 공간영상의 도화를 위한 영상도화물 위치조정 편집시스템 |
KR102200783B1 (ko) * | 2020-07-07 | 2021-01-11 | 주식회사 우리강산시스템 | 수집 현지조사자료를 활용한 수치지도 갱신 시스템 |
CN112698661B (zh) * | 2021-03-22 | 2021-08-24 | 成都睿铂科技有限责任公司 | 一种飞行器的航测数据采集方法、装置、系统及存储介质 |
CN114838710B (zh) * | 2022-03-29 | 2023-08-29 | 中国一冶集团有限公司 | 基于无人机拍照的工程用快速的测绘方法及测绘系统 |
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EP3680610A1 (en) | 2020-07-15 |
RU2744226C1 (ru) | 2021-03-03 |
AU2018328479A1 (en) | 2020-04-02 |
US20200265725A1 (en) | 2020-08-20 |
JP7060679B2 (ja) | 2022-04-26 |
EP3680610A4 (en) | 2021-06-09 |
JP2020532809A (ja) | 2020-11-12 |
KR20200031683A (ko) | 2020-03-24 |
KR102387041B1 (ko) | 2022-04-15 |
CN109472806B (zh) | 2020-11-17 |
CN109472806A (zh) | 2019-03-15 |
CA3074760A1 (en) | 2019-03-14 |
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