WO2020237471A1 - Procédé de production d'itinéraires de vol, terminal et véhicule aérien sans pilote - Google Patents

Procédé de production d'itinéraires de vol, terminal et véhicule aérien sans pilote Download PDF

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Publication number
WO2020237471A1
WO2020237471A1 PCT/CN2019/088609 CN2019088609W WO2020237471A1 WO 2020237471 A1 WO2020237471 A1 WO 2020237471A1 CN 2019088609 W CN2019088609 W CN 2019088609W WO 2020237471 A1 WO2020237471 A1 WO 2020237471A1
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WIPO (PCT)
Prior art keywords
grid
sub
block
area
drone
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PCT/CN2019/088609
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English (en)
Chinese (zh)
Inventor
贾向华
黄振昊
徐富
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深圳市大疆创新科技有限公司
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Priority to CN201980011942.0A priority Critical patent/CN111699455B/zh
Priority to PCT/CN2019/088609 priority patent/WO2020237471A1/fr
Publication of WO2020237471A1 publication Critical patent/WO2020237471A1/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
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • the embodiments of the present application relate to the technical field of flight control, and in particular to a method for generating a flight route, a terminal, and a drone.
  • UAV aerial survey as a powerful supplement to traditional aerial photogrammetry methods, is widely used.
  • users before they conduct aerial surveys on a larger aerial survey area, they usually need to segment the aerial survey area, that is, divide a large task into several sub-regions and sub-tasks, so as to better segment and manage large-area tasks.
  • the current plan generally simply divides the large aerial survey area into multiple small areas, and the division method is not flexible. There are often unreasonable divisions of aerial survey areas, and the current plan cannot be optimally adapted according to the type of aircraft. This makes the drone fit in the aerial survey area, resulting in low aerial survey work efficiency and poor user experience.
  • the embodiments of the present application provide a method for generating a flight route, a terminal, and a drone, which can flexibly divide the operation area, and adapt each divided operation sub-block to the route distance of the drone as much as possible, thereby This makes the division of the operation area more reasonable and effectively improves the work efficiency of aerial surveys.
  • an embodiment of the present application provides a method for generating a flight route, which is applied to a control terminal, where the control terminal is used to control at least one drone, and the method includes:
  • a flight route is generated on a plurality of the operation sub-blocks respectively.
  • the embodiments of the present application provide a method for generating flight routes, which is applied to drones, including:
  • a flight route is generated on a plurality of the operation sub-blocks respectively.
  • an embodiment of the present application provides a control terminal, including: a processor, and a storage device connected to the processing.
  • the storage device is used to store operation instructions.
  • the processor executes the operation instructions, the processing The device is used to execute the flight route generation method according to any one of the first aspect.
  • an embodiment of the present application provides an unmanned aerial vehicle, including a processor, and a storage device connected to the processing, the storage device is used to store operation instructions, and when the processor executes the operation instructions, the The processor is used to execute the flight route generation method according to any one of the first aspect.
  • an embodiment of the present application provides a readable storage medium with a computer program stored on the readable storage medium; when the computer program is executed, the embodiment of the present application is implemented as in the first aspect or the second aspect.
  • the method for generating the flight route when the computer program is executed, the embodiment of the present application is implemented as in the first aspect or the second aspect.
  • an embodiment of the present application provides a program product, the program product includes a computer program, the computer program is stored in a readable storage medium, and at least one processor of the drone can download it from the readable storage medium The computer program is read, and the at least one processor executes the computer program to enable the drone to implement the flight route generation method according to the embodiment of the present application in the first aspect or the second aspect.
  • the flight route generation method, terminal, and drone provided by the embodiments of the present application obtain the parameter information of the segmented grid by obtaining the operation area, wherein the parameter information is related to the flight range of the drone, and according to the
  • the parameter information of the grid is divided, the operation area is divided into multiple operation sub-blocks, and flight routes are generated on the multiple operation sub-blocks, so that the operation area can be flexibly divided, and each operation area can be divided as much as possible.
  • Each divided operation sub-block is adapted to the UAV's such as route distance and flight time, so that the division of the operation area is more reasonable, and the work efficiency of aerial survey is effectively improved.
  • Fig. 1 is a schematic architecture diagram of an unmanned aerial system according to an embodiment of the present application
  • FIG. 2 is a flowchart of a method for generating a flight route provided by an embodiment of the application
  • Figure 3 is a schematic diagram of a work area provided by an embodiment of the application.
  • FIG. 4 is a schematic diagram of a segmentation grid provided by an embodiment of the application.
  • FIG. 5 is a schematic diagram of an adjusted segmentation grid provided by an embodiment of the application.
  • FIG. 6 is a schematic diagram of an operation sub-block provided by an embodiment of this application.
  • FIG. 7 is a schematic diagram of numbered operation sub-blocks provided by an embodiment of the application.
  • FIG. 8 is a flowchart of a method for generating a flight route according to another embodiment of the application.
  • FIG. 9 is a schematic structural diagram of a control terminal provided by an embodiment of this application.
  • FIG. 10 is a schematic structural diagram of a drone provided by an embodiment of the application.
  • a component when a component is said to be “fixed to” another component, it can be directly on the other component or a central component may also exist. When a component is considered to be “connected” to another component, it can be directly connected to another component or there may be a centered component at the same time.
  • the embodiments of the present application provide a method for generating a flight route, a terminal, and a drone.
  • the following description of this application uses drones as an example. It will be obvious to those skilled in the art that other types of drones can be used without restriction, and the embodiments of the present application 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 that is propelled through the air by multiple propulsion devices.
  • the embodiments of the present application are not limited to this. It can also be other types of drones, such as fixed-wing drones, or a combination of rotary-wing drones and fixed-wing drones.
  • Fig. 1 is a schematic architecture diagram of an unmanned aerial system according to an embodiment of the present application.
  • a rotary wing drone is taken as an example for description.
  • the unmanned flying system 100 may include a drone 110, a display device 130, and a control terminal 140.
  • the UAV 110 may include a power system 150, a flight control system 160, a frame, and a pan/tilt 120 carried on the frame.
  • the drone 110 can wirelessly communicate with the control terminal 140 and the display device 130.
  • the display device 130 may be provided on the control terminal 140, that is, the control terminal 140 is provided with the display device 130, which is not limited herein.
  • the frame may include a fuselage and a tripod (also called a landing gear).
  • the fuselage may include a center frame and one or more arms connected to the center frame, and the one or more arms extend radially from the center frame.
  • the tripod is connected with the fuselage, and is used for supporting the UAV 110 when landing.
  • the power system 150 may include one or more electronic speed regulators (referred to as ESCs) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153, wherein the motors 152 are connected to Between the electronic governor 151 and the propeller 153, the motor 152 and the propeller 153 are arranged on the arm of the UAV 110; the electronic governor 151 is used to receive the driving signal generated by the flight control system 160 and provide driving according to the driving signal Current is supplied to the motor 152 to control the speed of the motor 152.
  • the motor 152 is used to drive the propeller to rotate, thereby providing power for the flight of the drone 110, and the power enables the drone 110 to realize one or more degrees of freedom of movement.
  • the drone 110 may rotate about one or more rotation axes.
  • the aforementioned rotation axis may include a roll axis (Roll), a yaw axis (Yaw), and a pitch axis (pitch).
  • the motor 152 may be a DC motor or an AC motor.
  • the motor 152 may be a brushless motor or a brushed motor.
  • the flight control system 160 may include a flight controller 161 and a sensing system 162.
  • the sensing system 162 is used to measure the attitude information of the drone, that is, the position information and state information of the drone 110 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity.
  • the sensing system 162 may include, for example, at least one of sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (IMU), a vision sensor, a global navigation satellite system, and a barometer.
  • sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (IMU), a vision sensor, a global navigation satellite system, and a barometer.
  • IMU inertial measurement unit
  • the global navigation satellite system may be a global positioning system (Global Positioning System, GPS) or an RTK (Real-time kinematic) carrier phase differential positioning system.
  • the flight controller 161 is used to control the flight of the drone 110, for example, it can control the flight of the drone 110 according to the attitude information measured by the sensor system 162. It should be understood that the flight controller 161 can control the drone 110 according to pre-programmed program instructions, and can also control the drone 110 by responding to one or more control instructions from the control terminal 140.
  • the pan/tilt head 120 may include a motor 122.
  • the pan/tilt is used to carry loads 123 such as shooting devices, spraying devices, and spreading devices.
  • the load may be a pesticide spraying device or a seed sowing device, etc.
  • the load may include a containing box, a pipe, a pump, and a spray head. Wherein, one end of the pipe can be extended into the containing box, the other end of the pipe is connected with the suction port of the pump, and the discharge port of the pump is connected with the spray head, so that by using the pump, the object to be sprayed in the containing box can be removed from the spray head through the pipe Squirting.
  • the flight controller 161 can control the movement of the pan-tilt 120 through the motor 122.
  • the pan/tilt head 120 may further include a controller for controlling the movement of the pan/tilt head 120 by controlling the motor 122.
  • the pan-tilt 120 may be independent of the drone 110 or a part of the drone 110.
  • the motor 122 may be a DC motor or an AC motor.
  • the motor 122 may be a brushless motor or a brushed motor.
  • the pan-tilt may be located on the top of the drone or on the bottom of the drone.
  • the load 123 may be, for example, a photographing device.
  • the photographing device may be a device for capturing images such as a camera or a video camera.
  • the photographing device may communicate with the flight controller and be controlled by the flight controller. To shoot.
  • the imaging device of this embodiment at least includes a photosensitive element, and the photosensitive element is, for example, a Complementary Metal Oxide Semiconductor (CMOS) sensor or a Charge-coupled Device (CCD) sensor. It can be understood that the camera can also be directly fixed on the drone 110, so the pan/tilt 120 can be omitted.
  • CMOS Complementary Metal Oxide Semiconductor
  • CCD Charge-coupled Device
  • the display device 130 is located at the ground end of the unmanned aerial system 100, can communicate with the drone 110 in a wireless manner, and can be used to display the attitude information of the drone 110.
  • the image taken by the photographing device may also be displayed on the display device 130.
  • the display device 130 may be an independent device or integrated in the control terminal 140.
  • the control terminal 140 is located on the ground end of the unmanned aerial system 100, and can communicate with the drone 110 in a wireless manner for remote control of the drone 110.
  • the control terminal 140 can be a remote control, a mobile phone, a tablet, a computer, a ground service station, etc.
  • the control terminal can connect and communicate with the drone through a connection method such as Bluetooth, cellular network, and wireless network. limited.
  • Fig. 2 is a flowchart of a method for generating a flight route according to an embodiment of the application. As shown in Fig. 2, the method of this embodiment can be applied to a control terminal, and the control terminal is used to control at least one drone.
  • the methods can include:
  • Fig. 3 is a schematic diagram of the operation area provided by an embodiment of the application.
  • the area shown in Fig. 3 is a large-scale aerial survey area, which needs to be divided, and the flight path of the drone is generated in the divided area .
  • obtaining the operation area on the background map includes: obtaining a target flight mission file, where the target flight mission file includes the location information of the target waypoint; and determining the target waypoint based on the location information of the target waypoint Operating area.
  • the work area can also be displayed on the background map.
  • the target flight mission file includes the location information of the target waypoints, and the operation area formed by the target waypoints can be determined based on the location information of the target waypoints. Therefore, the control terminal can obtain the operation area from the target flight mission file, and finally display the operation area on the background map.
  • the target flight mission file may be a Keyhole Markup Language (KML) file, which includes the location information of the target waypoint; in another embodiment, the KML file may also include action information and/or parameter information, such as The actions or parameters to be performed by the drone in the operating area are not limited here.
  • KML Keyhole Markup Language
  • acquiring the work area on the background map includes: receiving a first instruction sent by the user; determining the work area on the background map according to the first instruction; wherein the first instruction includes: a click signal and/or a sliding signal.
  • the work area can also be obtained according to a user's manual operation.
  • the user sets target waypoints on the background map by clicking, sliding, etc., and these target waypoints constitute a work area.
  • the user can also set the boundary lines of the operation area on the background map by clicking, clicking, sliding, etc., and these boundary lines constitute the operation area.
  • S202 Acquire parameter information of the segmented grid.
  • the parameter information is related to the flight range of the UAV.
  • the parameters such as the model and flight height of the drone have a greater impact on the endurance and flight range of the drone. Therefore, the segmentation grid parameters can be determined according to the model parameters of the drone, etc., or the segmentation grid parameters can be manually set by the user.
  • the parameter information of the divided grid includes: the type of the divided grid and/or the area of the divided grid.
  • the flying range of a drone refers to the range of a single flight of the drone. Of course, the flying range of the drone can also be set independently by the user as needed. For example, when the user expects the flying range of the drone to be a certain range, the segmentation grid parameters can be manually set as needed, which is not limited here.
  • the parameter information of the divided grid input by the user is received.
  • the parameter information of the segmentation grid input by the user may be received.
  • the grid area of the user input (such as 0.5km 2 ) is used to generate a grid of the corresponding length.
  • the default planned segmentation shape is square, and the square is directly assigned to the area entered by the user. That is, if the user sets the area to be 0.5km 2 , the side length of the divided square is 0.707km.
  • the user may also need other grid types, such as rectangle, triangle, circle and so on.
  • the user can also determine the area of the divided grid by setting the side length and radius. For example, select the grid type as rectangle, set the side lengths to 1km and 0.5km respectively, and the area of the divided grid to be 0.5km 2 .
  • the parameter information of the segmented grid is determined according to the parameters of the drone.
  • parameters such as the model and flight height of the drone have a greater impact on the endurance and flight range of the drone. Therefore, the parameters of the segmentation grid can be automatically determined according to the parameters of the drone.
  • determining the parameter information of the segmented grid according to the parameters of the drone including: determining the endurance time and/or route distance of the drone according to the model of the drone and the flying height of the drone; Endurance time and/or route distance determine the range of a single operation of the UAV; determine the parameter information of the split grid according to the range of a single operation of the UAV.
  • the relative altitude of the flight relative to the ground can be set in the route planning App and the ground station software, and this altitude can be regarded as the altitude that the aircraft needs to ascend.
  • the flight control module calculates the length of the route that the aircraft can fly in one sortie according to the aircraft model and battery type, as well as the set relative height to the ground (that is, the height that the aircraft needs to rise in the sub-zone). After planning the length of a single flight route, it can be planned according to the square route, and the area involved in the planned square route is regarded as the sub-block area.
  • the drone calculates the length of the flight path that the aircraft can fly in a sortie, it can first calculate the cost of the drone during the ascent and descent by setting the altitude and the type of the drone. Electricity, and then get the precise route length that can be flown in a sortie.
  • the power required for the drone to fly from the take-off point to the starting point of the operating area can also be calculated first, and from the end point of the operating area The power required to return to the takeoff point. For example, take the circumscribed rectangle of the working area as the boundary, calculate the round-trip distance from the center of the circumscribed rectangle to the take-off point, and then calculate the distance and model to obtain the power consumption of the horizontal round-trip distance, and then get a more accurate The length of the route that the sorties can fly.
  • the estimated power consumption can also be adjusted according to external environmental factors, such as weather.
  • the calculated power consumption can be adjusted, such as appropriately increasing the power consumption of the drone during the ascent and descent, or appropriately increasing the power consumption from the starting point to the The round-trip power consumption of the work area, etc.
  • this embodiment is only an exemplary description, and is not limited herein.
  • acquiring the parameter information of the segmented grid further includes: displaying the segmented grid in a preset line type on the background map according to the parameter information; wherein the projection range of the segmented grid on the background map covers the work area.
  • the segmented grid may also be displayed in a preset line type on the background map.
  • Fig. 4 is a schematic diagram of a grid segmentation provided by an embodiment of the application. As shown in Fig. 4, the screen is a grid according to the size of the planned work sub-area, and the grid is represented by a dotted line and covers the entire work area. However, the split grid only realizes the preliminary division of the work area, and the split grid does not fit well with the boundary line of the work area. The split grid will be adjusted later.
  • S203 Divide the work area into multiple work sub-blocks according to the parameter information of the split grid.
  • the division grid realizes the preliminary division of the operation area, but the division grid does not fit well with the boundary line of the operation area, which will affect the division of the operation sub-blocks and thus the flight path of the drone Efficiency of planning. Therefore, before dividing the work area into multiple work sub-blocks according to the parameter information of the split grid, it also includes: adjusting the position of the split grid on the background map. Adjusting the position of the split grid on the background map can be manually adjusted through a control command input by the user, or automatically adjusted according to a preset strategy.
  • Figure 5 is a schematic diagram of an adjusted segmented grid provided by an embodiment of the application. As shown in Figure 5, the lower interface and right boundary of the working area coincide with the boundary of the segmented grid, so that the grid shape and distribution can be maximized The limit fits the target operation area.
  • adjusting the position of the segmented grid on the background map includes: receiving a second instruction input by the user; according to the second instruction, controlling the segmented grid to perform any one or more of the following operations: move left; move right ; Move up; move down; rotate the preset angle clockwise; rotate the preset angle counterclockwise.
  • the division grid is moved, rotated and other operations are performed through instructions input by the user to adjust the position of the division grid on the background map, so that the boundary line of the division grid coincides with the work area, so that the grid The shape and distribution can fit the target work area as much as possible.
  • adjusting the position of the segmented grid on the background map includes: adjusting the position of the segmented grid on the background map according to a preset strategy; wherein, the preset strategy refers to the minimum number of grids occupied by the work area .
  • the position of the division grid can be automatically adjusted according to a preset strategy, so that the number of grids occupied by the work area is the smallest, so that the work sub-blocks can be more conveniently and quickly delineated.
  • dividing the work area into multiple work sub-blocks according to the parameter information of the split grid includes: dividing the work area into multiple partitions according to the parameter information of the split grid; and merging the multiple partitions , Get the job sub-block.
  • the work area can be divided into multiple partitions according to the parameter information of the division grid to obtain a preliminary division result. Then, the adjacent partitions can be merged or unmerged, etc., and finally the job sub-block is obtained.
  • the merging processing of adjacent partitions may be performed according to an instruction input by the user, or may be merged according to a preset merging strategy.
  • Fig. 6 is a schematic diagram of job sub-blocks provided by an embodiment of the application. As shown in Fig. 6, after obtaining multiple partitions according to the division grid, some adjacent partitions are merged, and finally 6 job sub-blocks are obtained. A solid line is used to distinguish the boundaries between the job sub-blocks.
  • merging multiple partitions to obtain a job sub-block includes: receiving a third instruction input by the user; determining the grid to be merged according to the third instruction; and merging the partitions in the grid to be merged into A job sub-block.
  • the method further includes: receiving a fourth instruction input by the user; and canceling the merge of the partitions according to the fourth instruction.
  • the user can choose to merge or undo the merge.
  • the division can be merged according to the operation instruction input by the user, or the division can be cancelled after the division is merged. In this way, the flexibility of the division can be increased.
  • merging multiple partitions to obtain job sub-blocks includes: traversing all the partitions, and if the area occupied by the partition is smaller than the area of the split grid, then merge the partition and other adjacent partitions into one job sub-block ; Until the area of all partitions is greater than 1/2 of the area of the divided grid.
  • automatic partition merging can be performed according to a preset strategy. For example, starting from the entire grid area and searching according to the grid area (degree of completeness), when the area occupied by the partition is smaller than the area of the divided grid, the partition and other adjacent partitions are merged into one job sub-block. Traverse all partitions until the area of all partitions is greater than 1/2 of the area of the division grid.
  • merging multiple partitions to obtain job sub-blocks includes: traversing all partitions, if the area occupied by the partition is less than 1/4 of the area of the division grid, and the total area after the partition is merged with the adjacent partition When the area is less than the total area of the two division grids, merge the partition with the adjacent partition.
  • automatic partition merging can be performed according to a preset strategy. For example, starting from the entire grid area and searching according to the grid area (degree of completeness), when the area occupied by the partition is less than 1/4 of the area of the divided grid, and the total area after the partition and the adjacent partition are merged is less than When dividing the total area of the two grids, merge the partition with the adjacent partition. Traverse all partitions until the area of all partitions is greater than 1/4 of the area of the divided grid.
  • multiple partitions are merged to obtain job sub-blocks, including: traversing all partitions, if there are two or more adjacent partitions and partitions that meet the merge condition, then combine the partition with the smallest adjacent area and the partition To merge.
  • automatic partition merging can be performed according to a preset strategy. For example, starting from the entire grid area in turn, searching according to the grid area (degree of completeness), when there are two or more adjacent partitions and partitions that meet the merge conditions, merge the adjacent partition with the smallest area and the partition . Traverse all partitions until all partitions do not meet the merge conditions.
  • the method further includes: determining whether there is an inflection point in the graph endpoint corresponding to the merged job sub-block; if there is an inflection point, cancel the merge.
  • no corners are allowed to appear at the endpoints of the combined graphics.
  • the merge is cancelled.
  • methods such as slope and derivation can be used to calculate whether each of the merged endpoints is an inflection point.
  • generating flight routes on the multiple operation sub-blocks respectively includes: determining the target task of each operation sub-block; according to the target task, separate the multiple operation sub-blocks Generate flight routes.
  • the target task includes at least one of the following: flight mode, gimbal parameters, camera parameters, and flight altitude.
  • independent camera parameter setting route planning can be performed inside it to generate a set route. How to generate the flight route according to the target mission can refer to the description of the related technology, which will not be repeated here.
  • setting the target task you can set it as a whole, or set each sub-block individually. For example, for the whole, you can set whether to use the ground-like flight function, or when the user does not need to perform the ground-like flight function for the entire area, you can set whether to perform the ground-like flight function for a single area.
  • the drones in each operation sub-block can perform the same or different target tasks, which is not limited here.
  • the method further includes: numbering the job sub-blocks, and determining a flag bit corresponding to the number of the job sub-block.
  • the job sub-blocks can be numbered sequentially, from 1 to N.
  • Fig. 7 is a schematic diagram of the numbered operation sub-block provided by an embodiment of the application. As shown in Fig. 7, the operation sub-block is numbered, and the number of the operation sub-block can be added to the aerial survey data sent by the drone, which is convenient management. It is also possible to set a flag bit for the job sub-block support to mark whether the job of this block has been operated. In addition, the job progress and breakpoint resume function are added. If the execution is not completed at a time, the breakpoint resume flight can be executed.
  • it further includes: receiving aerial survey data sent by the drone, the aerial survey data including the number of the operation sub-block; and setting a flag bit corresponding to the number of the operation sub-block.
  • setting the flag bit corresponding to the number of the operation sub-block includes: determining whether the aerial survey data is successfully received; if the aerial survey data is successfully received, setting the flag bit corresponding to the number of the operation sub-block.
  • it also includes: reading the flag bit corresponding to each job sub-block; if there is an unset flag bit, sending an instruction to the drone corresponding to the job sub-block, and the instruction is used to control the drone to execute the
  • the set flag bit corresponds to the aerial survey task of the operation sub-block; the flag bit corresponding to the next operation sub-block is obtained until the flag bits corresponding to all the operation sub-blocks are set.
  • controlling the drone to perform an aerial survey task for the operation sub-block corresponding to the unset flag bit includes: determining whether the operation sub-block corresponding to the unset flag bit has an operation record of the drone; Including: the last UAV flight end position and/or remaining flight path.
  • determine whether there is an operation record of the drone in the operation sub-block corresponding to the unset flag including: if there is an operation record of the drone, the last flight end position of the drone is the starting point, execute The aerial survey task of the remaining flight route; if there is no operation record of the drone, the aerial survey task will be executed according to the flight route of the operation sub-block.
  • the aerial survey data of the drone after receiving the aerial survey data of the drone, it can be determined whether the aerial survey data is successfully received; if the aerial survey data is received successfully, the flag bit corresponding to the number of the operation sub-block is set. If there is an unset flag bit, send an instruction to the drone corresponding to the operation sub-block to control the drone to perform aerial survey tasks for the operation sub-block corresponding to the unset flag bit. If there is a UAV operation record in the unset operation sub-block, the last UAV flight end position is the starting point, and the aerial survey task of the remaining flight route is performed; if there is no UAV operation record, follow the operation The flight path of the sub-block performs aerial survey tasks. In this way, it realizes the monitoring of the work progress, and realizes functions such as resuming the flight at a breakpoint, improving work efficiency and optimizing user experience.
  • Fig. 8 is a flowchart of a method for generating a flight route according to another embodiment of the application. As shown in Fig. 8, the method of this embodiment can be applied to a drone, and the method of this embodiment can include:
  • Fig. 3 is a schematic diagram of the operation area provided by an embodiment of the application.
  • the area shown in Fig. 3 is a large-scale aerial survey area, which needs to be divided to generate the flight route of the UAV.
  • obtaining the operation area includes: obtaining a target flight task file, where the target flight task file includes location information of the target waypoint; and determining the operation area formed by the target waypoint according to the location information of the target waypoint.
  • the target flight mission file includes the location information of the target waypoints, and the operation area formed by the target waypoints can be determined based on the location information of the target waypoints. Therefore, the drone can obtain the operating area from the target flight mission file.
  • the drone can obtain target flight mission files such as KML files from the control terminal.
  • acquiring the operation area includes: selecting the position information of multiple target waypoints on the flight trajectory of the drone; and determining the operation area formed by the target waypoints according to the position information of the target waypoints.
  • the work area can also be obtained according to a user's manual operation. For example, by directly hitting the drone, the position information of multiple target waypoints is selected on the flight trajectory of the drone, and these target waypoints constitute the operating area.
  • the parameters such as the model and flight height of the drone have a greater impact on the endurance and flight range of the drone. Therefore, the segmentation grid parameters can be determined according to the model parameters of the drone, etc., or the segmentation grid parameters can be manually set by the user.
  • the parameter information of the divided grid includes: the type of the divided grid and/or the area of the divided grid.
  • the flying range of a drone refers to the range of a single flight of the drone. Of course, the flying range of the drone can also be set independently by the user as needed. For example, when the user expects the flying range of the drone to be a certain range, the segmentation grid parameters can be manually set as needed, which is not limited here.
  • acquiring the parameter information of the segmentation grid includes: receiving the parameter information of the segmentation grid input by the user.
  • the parameter information of the segmentation grid input by the user may be received.
  • the grid area of the user input (such as 0.5km 2 ) is used to generate a grid of the corresponding length.
  • the default planned segmentation shape is square, and the square is directly assigned to the area entered by the user. That is, if the user sets the area to be 0.5km 2 , the side length of the divided square is 0.707km.
  • the user may also need other grid types, such as rectangle, triangle, circle and so on.
  • the user can also determine the area of the divided grid by setting the side length and radius. For example, select the grid type as rectangle, set the side lengths to 1km and 0.5km respectively, and the area of the divided grid to be 0.5km 2 .
  • obtaining the parameter information of the segmentation grid includes: determining the parameter information of the segmentation grid according to the parameters of the drone.
  • parameters such as the model and flight height of the drone have a greater impact on the endurance and flight range of the drone. Therefore, the parameters of the segmentation grid can be automatically determined according to the parameters of the drone.
  • determining the parameter information of the segmented grid according to the parameters of the drone including: determining the endurance time and/or route distance of the drone according to the model of the drone and the flying height of the drone; Endurance time and/or route distance determine the range of a single operation of the UAV; determine the parameter information of the split grid according to the range of a single operation of the UAV.
  • the relative altitude of the flight relative to the ground can be set in the route planning App and the ground station software, and this altitude can be regarded as the altitude that the aircraft needs to ascend.
  • the flight control module calculates the length of the route that the aircraft can fly in one sortie according to the aircraft model and battery type, as well as the set relative height to the ground (that is, the height that the aircraft needs to rise in the sub-zone). After planning the length of a single flight route, it can be planned according to the square route, and the area involved in the planned square route is regarded as the sub-block area.
  • the power consumption of the drone during the ascent and descent process, or the round-trip from the starting point to the operation area can be appropriately increased. Calculation of power consumption, etc., to obtain a more accurate route length that can be flown in one sortie, which will not be repeated here.
  • acquiring the parameter information of the segmented grid further includes: displaying the segmented grid in a preset line type on the background map according to the parameter information; wherein the projection range of the segmented grid on the background map covers the work area.
  • the segmented grid may also be displayed in a preset line type on the background map.
  • Fig. 4 is a schematic diagram of a grid segmentation provided by an embodiment of the application. As shown in Fig. 4, the screen is a grid according to the size of the planned work sub-area, and the grid is represented by a dotted line and covers the entire work area. However, the split grid only realizes the preliminary division of the work area, and the split grid does not fit well with the boundary line of the work area. The split grid will be adjusted later.
  • S803 Divide the work area into multiple work sub-blocks according to the parameter information of the split grid.
  • the division grid realizes the preliminary division of the operation area, but the division grid does not fit well with the boundary line of the operation area, which will affect the division of the operation sub-blocks and thus the flight path of the drone Efficiency of planning. Therefore, before dividing the work area into multiple work sub-blocks according to the parameter information of the split grid, it also includes: adjusting the position of the split grid on the background map. Adjusting the position of the split grid on the background map can be manually adjusted through a control command input by the user, or automatically adjusted according to a preset strategy.
  • Figure 5 is a schematic diagram of an adjusted segmented grid provided by an embodiment of the application. As shown in Figure 5, the lower interface and right boundary of the working area coincide with the boundary of the segmented grid, so that the grid shape and distribution can be maximized The limit fits the target operation area.
  • adjusting the position of the segmented grid on the background map includes: receiving a second instruction input by the control terminal; according to the second instruction, controlling the segmented grid to perform any one or more of the following operations: move left; right Move; move up; move down; rotate the preset angle clockwise; rotate the preset angle counterclockwise.
  • the division grid is moved, rotated and other operations are performed through instructions input by the user to adjust the position of the division grid on the background map, so that the boundary line of the division grid coincides with the work area, so that the grid The shape and distribution can fit the target work area as much as possible.
  • adjusting the position of the segmented grid on the background map includes: adjusting the position of the segmented grid on the background map according to a preset strategy; wherein, the preset strategy refers to the minimum number of grids occupied by the work area .
  • the position of the division grid can be automatically adjusted according to a preset strategy, so that the number of grids occupied by the work area is the smallest, so that the work sub-blocks can be more conveniently and quickly delineated.
  • dividing the work area into multiple work sub-blocks according to the parameter information of the split grid includes: dividing the work area into multiple partitions according to the parameter information of the split grid; and merging the multiple partitions, Get the job sub-block.
  • the work area can be divided into multiple partitions according to the parameter information of the division grid to obtain a preliminary division result. Then, the adjacent partitions can be merged or unmerged, etc., and finally the job sub-block is obtained.
  • the merging of adjacent partitions may be performed according to instructions input by the user, or may be merged according to a preset merging strategy.
  • Fig. 6 is a schematic diagram of the job sub-blocks provided by an embodiment of the application. As shown in Fig. 6, after obtaining multiple partitions according to the division grid, some adjacent partitions are merged, and finally 6 job sub-blocks are obtained. A solid line is used to distinguish the boundaries between the job sub-blocks.
  • merging multiple partitions to obtain a job sub-block includes: receiving a third instruction input by the user; determining the grid to be merged according to the third instruction; and merging the partitions in the grid to be merged into A job sub-block.
  • the method further includes: receiving a fourth instruction input by the user; and canceling the merge of the partitions according to the fourth instruction.
  • the user can choose to merge or undo the merge.
  • the division can be merged according to the operation instruction input by the user, or the division can be cancelled after the division is merged. In this way, the flexibility of the division can be increased.
  • merging multiple partitions to obtain job sub-blocks includes: traversing all the partitions, and if the area occupied by the partition is smaller than the area of the split grid, then merge the partition and other adjacent partitions into one job sub-block ; Until the area of all partitions is greater than 1/2 of the area of the divided grid.
  • automatic partition merging can be performed according to a preset strategy. For example, starting from the entire grid area and searching according to the grid area (degree of completeness), when the area occupied by the partition is smaller than the area of the divided grid, the partition and other adjacent partitions are merged into one job sub-block. Traverse all partitions until the area of all partitions is greater than 1/2 of the area of the division grid.
  • merging multiple partitions to obtain job sub-blocks includes: traversing all partitions, if the area occupied by the partition is less than 1/4 of the area of the division grid, and the total area after the partition is merged with the adjacent partition When the area is less than the total area of the two division grids, merge the partition with the adjacent partition.
  • automatic partition merging can be performed according to a preset strategy. For example, starting from the entire grid area and searching according to the grid area (degree of completeness), when the area occupied by the partition is less than 1/4 of the area of the divided grid, and the total area after the partition and the adjacent partition are merged is less than When dividing the total area of the two grids, merge the partition with the adjacent partition. Traverse all partitions until the area of all partitions is greater than 1/4 of the area of the divided grid.
  • multiple partitions are merged to obtain job sub-blocks, including: traversing all partitions, if there are two or more adjacent partitions and partitions that meet the merge condition, then combine the partition with the smallest adjacent area and the partition To merge.
  • automatic partition merging can be performed according to a preset strategy. For example, starting from the entire grid area in turn, searching according to the grid area (degree of completeness), when there are two or more adjacent partitions and partitions that meet the merge conditions, merge the adjacent partition with the smallest area and the partition . Traverse all partitions until all partitions do not meet the merge conditions.
  • the method further includes: determining whether there is an inflection point in the graph endpoint corresponding to the merged job sub-block; if there is an inflection point, cancel the merge.
  • no corners are allowed to appear at the endpoints of the combined graphics.
  • the merge is cancelled.
  • methods such as slope and derivation can be used to calculate whether each of the merged endpoints is an inflection point.
  • generating flight routes on the multiple operation sub-blocks respectively includes: determining the target task of each operation sub-block; according to the target task, separate the multiple operation sub-blocks Generate flight routes.
  • the target task includes at least one of the following: flight mode, gimbal parameters, camera parameters, and flight altitude.
  • independent camera parameter setting route planning can be performed inside it to generate a set route. How to generate the flight route according to the target mission can refer to the description of the related technology, which will not be repeated here.
  • setting the target task you can set it as a whole, or set each sub-block individually. For example, for the whole, you can set whether to use the ground-like flight function, or when the user does not need to perform the ground-like flight function for the entire area, you can set whether to perform the ground-like flight function for a single area.
  • the drones in each operation sub-block can perform the same or different target tasks, which is not limited here.
  • the method further includes: numbering the job sub-blocks, and determining a flag bit corresponding to the number of the job sub-block.
  • the job sub-blocks can be numbered sequentially, from 1 to N.
  • Fig. 7 is a schematic diagram of the numbered operation sub-block provided by an embodiment of the application. As shown in Fig. 7, the operation sub-block is numbered, and the number of the operation sub-block can be added to the aerial survey data sent by the drone, which is convenient management. It is also possible to set a flag bit for the job sub-block support to mark whether the job of this block has been operated. In addition, the job progress and breakpoint resume function are added. If the execution is not completed at a time, the breakpoint resume flight can be executed.
  • it further includes: receiving aerial survey data sent by the drone, the aerial survey data including the number of the operation sub-block; and setting a flag bit corresponding to the number of the operation sub-block.
  • setting the flag bit corresponding to the number of the operation sub-block includes: determining whether the aerial survey data is successfully received; if the aerial survey data is successfully received, setting the flag bit corresponding to the number of the operation sub-block.
  • it also includes: reading the flag bit corresponding to each job sub-block; if there is an unset flag bit, sending an instruction to the drone corresponding to the job sub-block, and the instruction is used to control the drone to execute the
  • the set flag bit corresponds to the aerial survey task of the operation sub-block; the flag bit corresponding to the next operation sub-block is obtained until the flag bits corresponding to all the operation sub-blocks are set.
  • controlling the drone to perform an aerial survey task for the operation sub-block corresponding to the unset flag bit includes: determining whether the operation sub-block corresponding to the unset flag bit has an operation record of the drone; Including: the last UAV flight end position and/or remaining flight path.
  • determine whether there is an operation record of the drone in the operation sub-block corresponding to the unset flag including: if there is an operation record of the drone, the last flight end position of the drone is the starting point, execute The aerial survey task of the remaining flight route; if there is no operation record of the drone, the aerial survey task will be executed according to the flight route of the operation sub-block.
  • the aerial survey data of the drone after receiving the aerial survey data of the drone, it can be determined whether the aerial survey data is successfully received; if the aerial survey data is received successfully, the flag bit corresponding to the number of the operation sub-block is set. If there is an unset flag bit, send an instruction to the drone corresponding to the operation sub-block to control the drone to perform aerial survey tasks for the operation sub-block corresponding to the unset flag bit. If there is a UAV operation record in the unset operation sub-block, the last UAV flight end position is the starting point, and the aerial survey task of the remaining flight route is performed; if there is no UAV operation record, follow the operation The flight path of the sub-block performs aerial survey tasks. In this way, it realizes the monitoring of the work progress, and realizes functions such as resuming the flight at a breakpoint, improving work efficiency and optimizing user experience.
  • FIG. 9 is a schematic structural diagram of a control terminal provided by an embodiment of this application.
  • the control terminal 90 of this embodiment may include a processor 91 and a memory 92.
  • the memory 92 is used to store programs; the memory 92 may include volatile memory (English: volatile memory), such as random-access memory (English: random-access memory, abbreviation: RAM), such as static random-access memory (English: volatile memory) : Static random-access memory, abbreviation: SRAM), double data rate synchronous dynamic random access memory (English: Double Data Rate Synchronous Dynamic Access Memory, abbreviation: DDR SDRAM), etc.; memory can also include non-volatile memory (English: non-volatile memory), such as flash memory (English: flash memory).
  • the memory 92 is used to store computer programs (such as application programs and functional modules that implement the above methods), computer instructions, etc., and the above computer programs, computer instructions, etc. may be partitioned and stored in one or more memories 92.
  • the aforementioned computer programs, computer instructions, data, etc. can be called by the processor 91.
  • the aforementioned computer programs, computer instructions, etc. may be partitioned and stored in one or more memories 92.
  • the aforementioned computer programs, computer instructions, data, etc. can be called by the processor 91.
  • the processor 91 is configured to execute a computer program stored in the memory 92 to implement each step in the method involved in the foregoing embodiment.
  • the processor 91 and the memory 92 may be independent structures, or may be an integrated structure integrated together. When the processor 91 and the memory 92 are independent structures, the memory 92 and the processor 91 may be coupled and connected through the bus 93.
  • the control terminal 90 of this embodiment can execute the technical solution in the method shown in FIG. 2, and for the specific implementation process and technical principle, please refer to the related description in the method shown in FIG. 2, which will not be repeated here.
  • FIG. 10 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the application.
  • the unmanned aerial vehicle 1000 of this embodiment may include a processor 1001 and a memory 1002.
  • the memory 1002 is used to store programs; the memory 1002 may include volatile memory (English: volatile memory), such as random access memory (English: random-access memory, abbreviation: RAM), such as static random access memory (English: volatile memory) : Static random-access memory, abbreviation: SRAM), double data rate synchronous dynamic random access memory (English: Double Data Rate Synchronous Dynamic Access Memory, abbreviation: DDR SDRAM), etc.; memory can also include non-volatile memory (English: non-volatile memory), such as flash memory (English: flash memory).
  • the memory 1002 is used to store computer programs (such as application programs and functional modules that implement the above methods), computer instructions, etc., and the above computer programs, computer instructions, etc. may be partitioned and stored in one or more memories 1002.
  • the aforementioned computer programs, computer instructions, data, etc. can be called by the processor 1001.
  • the aforementioned computer programs, computer instructions, etc. may be partitioned and stored in one or more memories 1002.
  • the aforementioned computer programs, computer instructions, data, etc. can be called by the processor 1001.
  • the processor 1001 is configured to execute a computer program stored in the memory 1002 to implement each step in the method involved in the foregoing embodiment.
  • the processor 1001 and the memory 1002 may be independent structures, or may be an integrated structure integrated together. When the processor 1001 and the memory 1002 are independent structures, the memory 1002 and the processor 1001 may be coupled and connected through the bus 1003.
  • the drone 1000 of this embodiment can execute the technical solution in the method shown in FIG. 8.
  • the specific implementation process and technical principle please refer to the related description in the method shown in FIG. 8, which will not be repeated here.
  • the embodiments of the present application also provide a computer-readable storage medium.
  • the computer-readable storage medium stores computer-executable instructions.
  • the user equipment executes the aforementioned various possibilities. Methods.
  • the computer-readable medium includes a computer storage medium and a communication medium
  • the communication medium includes any medium that facilitates the transfer of a computer program from one place to another.
  • the storage medium may be any available medium that can be accessed by a general-purpose or special-purpose computer.
  • An exemplary storage medium is coupled to the processor, so that the processor can read information from the storage medium and can write information to the storage medium.
  • the storage medium may also be an integral part of the processor.
  • the processor and the storage medium may be located in the ASIC.
  • the ASIC may be located in the user equipment.
  • the processor and the storage medium may also exist as discrete components in the communication device.
  • the program product includes a computer program.
  • the computer program is stored in a readable storage medium.
  • At least one processor of the server can read the computer program from the readable storage medium.
  • At least one processor executes the computer program so that The server implements any of the methods in the foregoing embodiments of the present invention.
  • a person of ordinary skill in the art can understand that all or part of the steps in the above method embodiments can be implemented by a program instructing relevant hardware.
  • the foregoing program can be stored in a computer readable storage medium. When the program is executed, it is executed. Including the steps of the foregoing method embodiment; and the foregoing storage medium includes: read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disks or optical disks, etc., 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)
  • Navigation (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un procédé de production d'itinéraires de vol, un terminal et un véhicule aérien sans pilote. Le procédé consiste : à obtenir une zone d'opération (S201) ; à obtenir des informations de paramètre d'une grille segmentée (S202), les informations de paramètre étant associées à la plage de vol d'un véhicule aérien sans pilote ; à diviser la zone d'opération en une pluralité de sous-blocs d'opération, en fonction des informations de paramètre de la grille segmentée (S203) ; et à générer des itinéraires de vol sur la pluralité de sous-blocs d'opération, respectivement (S204). Le procédé peut diviser de manière flexible la zone d'opération de sorte que chaque sous-bloc d'opération divisé puisse autant que possible être adaptatif à la distance d'itinéraire de vol du véhicule aérien sans pilote, ce qui rend la division de la zone d'opération relativement raisonnable en améliorant efficacement l'efficacité de travail de levés aériens.
PCT/CN2019/088609 2019-05-27 2019-05-27 Procédé de production d'itinéraires de vol, terminal et véhicule aérien sans pilote WO2020237471A1 (fr)

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