A method and system for planning the trajectory of unmanned aerial vehicle (UAV) hoisting based on industrial vision.

Abstract

This application discloses a method and system for planning the hoisting trajectory of a UAV based on industrial vision, relating to the field of UAV technology. The planning method includes the following steps: S1: Real-time acquisition of image data of the hoisting scene using industrial vision equipment; S2: Identification of obstacles, target placement area, and the position and shape information of the hoisted object from the preprocessed image; S3: Establishment of a dynamic model of the UAV-hoisted object system based on the information acquired by industrial vision; S4: Construction of a multi-constraint trajectory optimization objective function based on the dynamic model of the UAV-hoisted object system; S5: Generation of an initial hoisting trajectory; S6: Output of the final UAV hoisting trajectory. This method and system for planning the hoisting trajectory of a UAV based on industrial vision uses industrial vision equipment to acquire environmental information in real time, enabling timely perception of changes in the position of obstacles and targets in the dynamic environment, thus improving the adaptability of trajectory planning to the dynamic environment.

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