UAV return path construction method, system, aircraft and storage medium
By integrating onboard control module and space measurement module on the drone, building a flight path model and planning the optimal return path, the problem of inaccurate return navigation of drones in a signal-free environment in a small space is solved, and the drone is realized Safe and fast return.
Patent Information
- Application Number
- CN202410458474.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-16
- Publication Date
- 2024-12-27
- Estimated Expiration
- 2044-04-16
AI Technical Summary
In a small and closed space, due to the signal-free environment and the changes in the form of obstacles during the return of the drone, the navigation is inaccurate and collisions are prone to occur. The existing technology is difficult to effectively solve the problem of return path planning.
The drone carries the onboard control module and the space measurement module, sets the trajectory point during the flight, collects flight data and spatial characteristic data, builds a flight path model, and forms the optimal return path through the analytical model to optimize the return trajectory point. Flight planning.
It realizes the safe and fast return of the drone in a signal-free environment, avoids collisions during the return process, optimizes the return path length, and allows the drone to fly normally and return quickly and safely.
Smart Images
Figure CN118444690B_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a method for constructing a return path for an unmanned aerial vehicle (UAV). Background Art
[0002] At present, when the control system of a drone operates in complex and narrow underground environments such as tunnels, caves, and pipelines, the satellite signal provided by the on-site environment is very poor, the navigation system positioning is inaccurate, or even there is no signal, making it difficult for the drone to operate further, especially during the return flight. Since it is impossible to obtain accurate positioning information, the aircraft only records the forward trajectory. During the return flight, the obstacles have different shapes during the forward and return processes of the aircraft, resulting in frequent collisions during the return flight although the aircraft returns along the existing trajectory.
[0003] Therefore, in order to solve the problem of being in a small enclosed space and without navigation, improving the return efficiency is a technical problem that needs to be solved urgently in this field. Summary of the invention
[0004] In order to solve the technical problems mentioned in the background technology, the present invention provides a method, system, aircraft and storage medium for constructing a return path of an unmanned aerial vehicle.
[0005] In a first aspect, the present invention provides a method for constructing a return path of an unmanned aerial vehicle, comprising:
[0006] Step S1, during the flight of the UAV in the closed channel, the onboard control module sets a number of trajectory points along the flight direction, that is, each time the UAV passes a trajectory point, the flight control sensor collects the flight time, flight speed, and flight distance of the UAV at the trajectory point to form a flight route trajectory data set;
[0007] Step S2, the drone carries a space measurement module and measures the space feature data of the closed channel when passing through the trajectory point, and incorporates the space feature data into the flight route trajectory data set to construct a flight channel model;
[0008] In step S3, the airborne control module forms a return path by analyzing the flight channel model, and performs optimal flight trajectory planning for the trajectory points on the return path.
[0009] In a second aspect, the present invention provides a UAV return path construction system, characterized in that it includes:
[0010] The trajectory data collection unit sets several trajectory points along the flight direction in the closed channel. That is, each time the UAV passes a trajectory point, the flight control sensor collects the flight time, flight speed, and flight distance of the UAV at the trajectory point to form a flight route trajectory data set;
[0011] a flight channel model construction unit, which measures spatial feature data of the closed channel when passing through the trajectory point, and incorporates the spatial feature data into the flight route trajectory data set to construct a flight channel model;
[0012] The trajectory inversion unit forms a return path by analyzing the flight channel model and performs optimal flight trajectory planning for the trajectory points on the return path.
[0013] In a third aspect, the present invention provides an aircraft, comprising a memory, a processor, and a computer program stored in the memory, characterized in that the processor executes the computer program to implement the steps of the aforementioned method for constructing a return path for a UAV.
[0014] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program / instruction stored thereon, characterized in that when the computer program / instruction is executed by a processor, the steps of the aforementioned method for constructing a return path for a UAV are implemented.
[0015] In a fifth aspect, the present invention provides a computer program product, comprising a computer program / instruction, characterized in that when the computer program / instruction is executed by a processor, the steps of the aforementioned method for constructing a return path of a UAV are implemented.
[0016] The beneficial effect of the present invention is that the flight direction of the UAV is recorded by the airborne control module in a signal-free environment and corresponding flight route data is formed, the spatial feature data of the corresponding closed channel is obtained by relying on the space measurement module, and a flight channel model is constructed. The airborne control module forms a return path by analyzing the flight channel model, and performs optimal flight trajectory planning for the trajectory points on the return path to obtain the optimal return path, ensuring that the return route is within the flight channel model, and can optimize the shortest return path, so that the UAV can fly normally in a signal-free scenario such as a closed channel and can return quickly and safely.
[0017] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description and the drawings.
[0018] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0020] Figure 1 It is a schematic diagram of the process of constructing the return path of the UAV in the present invention;
[0021] Figure 2 is a schematic diagram of the trajectory points of the UAV in the present invention;
[0022] Figure 3 is a cross-sectional view of the drone of the present invention traveling in a closed channel;
[0023] Figure 4 This is a schematic diagram of the optimal flight trajectory planning of the UAV in the present invention. Figure 1 ;
[0024] Figure 5 This is a schematic diagram of the optimal flight trajectory planning of the UAV in the present invention. Figure 2 . DETAILED DESCRIPTION
[0025] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0026] like Figure 1 As shown, at least one embodiment provides a method for constructing a return path of a UAV, including: step S1, during the flight of the UAV in a closed channel, the airborne control module sets a number of trajectory points along the flight direction, that is, each time the UAV passes a trajectory point, the flight control sensor collects the flight time, flight speed, and flight distance corresponding to the UAV at the trajectory point to form a flight route trajectory data set;
[0027] Step S2, the drone carries a space measurement module and measures the space feature data of the closed channel when passing through the trajectory point, and incorporates the space feature data into the flight route trajectory data set to construct a flight channel model, wherein the space measurement module uses multiple ranging sensors to measure the distance between the drone and the wall and provide the space feature data;
[0028] In step S3, the airborne control module forms a return path by analyzing the flight channel model, and performs optimal flight trajectory planning for the trajectory points on the return path.
[0029] For the closed channel scenes involved in the return path of the drone, specifically complex and narrow underground environments such as tunnels, caves, and pipelines, a flight channel model can be constructed. Therefore, for this embodiment, the closed channel scene is the prerequisite for the implementation of this solution. If it is an outdoor scene, it is easy to cause the closed channel boundary to be uncontrollable, so this solution cannot be implemented. Moreover, this solution constrains the flight space of the drone through the constructed flight channel model, so that it can complete the adjustment of the return path within the flight channel model. Compared with other path planning methods, such as finding several track intersections during the flight and determining the return path through the intersections, this technology cannot be used in closed and narrow spaces because it is difficult to form track intersections, and because the obstacles in the narrow space channel are more complex, it is easy to cause return collisions.
[0030] like Figure 2 As shown, the spatial feature data includes: the distance between the drone and the surrounding inner walls recorded at the trajectory point;
[0031] The method for constructing a flight channel model includes: constructing a plane perpendicular to the flight direction, and establishing a coordinate system with the trajectory point as the origin, the direction from left to right of the wings on both sides of the drone is the X-axis for measuring the channel width, and the Y-axis is used to measure the channel height; when passing through each trajectory point, the maximum limit value X of the channel width is obtained max and the minimum limit value X min , the maximum limit value of the channel height Y max and the minimum limit value Y min .
[0032] A flight channel model formed by adjacent trajectory points of the UAV in a closed channel based on corresponding extreme values of the spatial feature data;
[0033] The radius of the trajectory point is Where D is the safe distance for the UAV to fly; each trajectory point is aggregated to form a flight channel model; in some embodiments, at this trajectory point, the safe flight distance is 50 cm, and the channel width is X max is 160cm, channel width X min is 90cm, channel height Y max 300cm, Y min is 270cm, from which it can be concluded that R is 76.2cm, and then a flight channel with a radius of 76.2cm is constructed; by integrating the intervals of the flight channel of multiple consecutive trajectory points, multiple flight channels are connected to form a flight channel model, and then fly in a closed channel.
[0034] The radius R of the trajectory point is used to limit the space of the closed channel so that the aircraft will not deviate from the constraints of the radius during the return process, effectively avoiding collisions when flying in a narrow space.
[0035] The trajectory point when the flight deflection angle is greater than or equal to 10° is defined as a turning point.
[0036] like Figure 3 As shown, the method for performing optimal flight trajectory planning for the trajectory points on the return path in step S3 includes: obtaining an optimizable flight channel area according to the flight channel model, measuring spatial feature data of all trajectory points in the flight channel area, and obtaining the channel width X between the UAV and the flight channel model. min and the channel height Y min .
[0037] like Figure 4 As shown, when passing through turning point B, if X min >D and Y min >D, where D is the safe distance for the UAV to fly. The first and last turning points on the optimal flight trajectory are used as the connection of the flight direction. For example, turning point A and turning point C are selected as the starting point and end point on the optimal flight trajectory to form the optimal flight trajectory.
[0038] like Figure 5 As shown, if the path is at turning point B, if X min ≤D or Y min ≤D, a new turning point is created in the flight channel area and connected to other turning points, that is, a turning point C' is created, with turning point A and turning point C' as the starting point and the end point to form an optimal flight trajectory.
[0039] When the drone is returning, the method for determining the flight deviation angle of the new turning point includes:
[0040] The formula for the flight deviation angle is V(t) is the flight speed of the two trajectory points, S is the flight distance between the two trajectory points in the flight route trajectory, and P r is the safety distance coefficient. The flight route trajectory of the drone at two trajectory points in the flight channel is 350 cm, and the optimal flight trajectory is 310 cm. Therefore, it is necessary to correct it by the flight deviation angle. In some embodiments, the safety distance coefficient of the drone is 1.29, which means that the drone needs to calculate the flight deviation angle to adjust the direction.
[0041] By constructing a flight channel model, the UAV's flight route can be controlled during the return process so that the UAV and the closed channel do not collide. The route trajectory is optimized according to the flight deviation angle and a new path is formed, allowing the UAV to quickly fly back to the starting point.
[0042] Some embodiments further provide a drone return system, including a trajectory data acquisition unit, which sets a number of trajectory points along the flight direction in a closed channel, that is, each time the drone passes a trajectory point, a flight control sensor collects the flight time, flight speed, and flight distance of the drone at the trajectory point to form a flight route trajectory data set;
[0043] a flight channel model construction unit, which measures spatial feature data of the closed channel when passing through the trajectory point, and incorporates the spatial feature data into the flight route trajectory data set to construct a flight channel model;
[0044] The trajectory inversion unit forms a return path by analyzing the flight channel model and performs optimal flight trajectory planning for the trajectory points on the return path.
[0045] The spatial feature data includes: the distance between the drone and the surrounding inner walls recorded at the trajectory point; the construction of the flight channel model, that is, constructing a plane perpendicular to the flight direction, and establishing a coordinate system with the trajectory point as the origin, the direction from left to right of the wings on both sides of the drone is the X-axis for measuring the channel width, and the Y-axis is used to measure the channel height;
[0046] When passing through each trajectory point, obtain the maximum limit value X of the channel width max and the minimum limit value X min , the maximum limit value of the channel height Y max and the minimum limit value Y min ;
[0047] A flight channel model formed by adjacent trajectory points of the UAV in a closed channel based on corresponding extreme values of the spatial feature data;
[0048] The radius of the trajectory point is Where D is the safe distance for drone flight;
[0049] Each trajectory point is aggregated to form a flight channel model; wherein the trajectory point when the flight deviation angle is greater than or equal to 10° is defined as a turning point.
[0050] The optimal flight trajectory is planned for the trajectory points on the return path, that is, according to the flight channel model, the flight channel area that can be optimized is obtained, and the spatial feature data of all the trajectory points in the flight channel area are measured to obtain the channel width X between the UAV and the flight channel model. min and the channel height Y min ;
[0051] If all trajectory points meet X min >D and Y min>D, where D is the safe distance for the UAV to fly, then the first and last turning points are selected in the flight channel area to form the optimal flight trajectory;
[0052] If there is X at any trajectory point min ≤D or Y min ≤D, where D is the safe distance for the UAV to fly, a new turning point is created in the flight channel area and connected to other turning points to form an optimal flight trajectory.
[0053] When the UAV is returning, the method for determining the flight deflection angle of the new turning point includes: the formula of the flight deflection angle V(t) is the flight speed of the two trajectory points, S is the flight distance between the two trajectory points in the flight route trajectory, and P r is the safety distance factor.
[0054] Some embodiments further provide an aircraft, comprising a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the aforementioned method for constructing a return path for a UAV.
[0055] Some embodiments further provide a computer-readable storage medium having a computer program / instruction stored thereon, wherein the computer program / instruction, when executed by a processor, implements the steps of the aforementioned method for constructing a return path for a UAV.
[0056] Some embodiments further provide a computer program product, comprising a computer program / instruction, characterized in that when the computer program / instruction is executed by a processor, the steps of the aforementioned method for constructing a return path for a UAV are implemented.
[0057] To summarize, the present invention records the flight direction of the UAV in a signal-free environment through the airborne control module, and forms corresponding flight route data, relies on the space measurement module to obtain the spatial feature data of the corresponding closed channel, and constructs a flight channel model. The airborne control module forms a return path by analyzing the flight channel model, and performs optimal flight trajectory planning for the trajectory points on the return path to obtain the optimal return path, ensuring that the return route is within the flight channel model, and can optimize the shortest return path, so that the UAV can fly normally in a signal-free scenario such as a closed channel and can return quickly and safely.
[0058] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are only schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.
[0059] In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.
[0060] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.
[0061] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.
Claims
1. A method for constructing a return path for an unmanned aerial vehicle, characterized in that: include: Step S1, during the flight of the UAV in the closed channel, the onboard control module sets a number of trajectory points along the flight direction, that is, each time the UAV passes a trajectory point, the flight control sensor collects the flight time, flight speed, and flight distance of the UAV at the trajectory point to form a flight route trajectory data set; Step S2, the drone carries a space measurement module and measures the space feature data of the closed channel when passing through the trajectory point, and incorporates the space feature data into the flight route trajectory data set to construct a flight channel model; Step S3, the onboard control module forms a return path by analyzing the flight channel model, and performs optimal flight trajectory planning for the trajectory points on the return path; The spatial feature data includes: the distance between the drone and the surrounding inner walls recorded at the trajectory point; The method for constructing the flight channel model comprises: Construct a plane perpendicular to the flight direction, and establish a coordinate system with the trajectory point as the origin. The direction from left to right of the wings on both sides of the drone is the X-axis for measuring the channel width, and the Y-axis is used to measure the channel height; When passing through each trajectory point, obtain the maximum limit value X of the channel width max and the minimum limit value X min , the maximum limit value of the channel height Y max and the minimum limit value Y min ; A flight channel model formed by adjacent trajectory points of the UAV in a closed channel based on corresponding extreme values of the spatial feature data; The radius of the trajectory point is Where D is the safe distance for drone flight; The trajectory points are grouped together to form a flight channel model; The trajectory point when the flight deflection angle is greater than or equal to 10° is defined as a turning point.
2. The method for constructing a return route according to claim 1, characterized in that: The method for performing optimal flight trajectory planning for trajectory points on the return path in step S3 includes: According to the flight channel model, the flight channel area that can be optimized is obtained, and the spatial feature data of all trajectory points in the flight channel area are measured to obtain the minimum limit value X of the channel width between the UAV and the flight channel model. min and the minimum limit value Y of the channel height min ; If all trajectory points meet X min >D and Y min >D, where D is the safe distance for the UAV to fly, then the first and last turning points are selected in the flight channel area to form the optimal flight trajectory; If there is X at any trajectory point min ≤D or Y min ≤D, where D is the safe distance for the UAV to fly, a new turning point is created in the flight channel area and connected to other turning points to form an optimal flight trajectory.
3. The return path construction method according to claim 2, characterized in that: When the drone is returning, the method for determining the flight deviation angle of the new turning point includes: The formula for the flight deviation angle is V(t) is the flight speed of the two trajectory points, S is the flight distance between the two trajectory points in the flight route trajectory, and P r is the safety distance factor.
4. A drone return system, characterized in that: include: The trajectory data collection unit sets a number of trajectory points along the flight direction in the closed channel. That is, each time the UAV passes a trajectory point, the flight control sensor collects the flight time, flight speed, and flight distance of the UAV at the trajectory point to form a flight route trajectory data set; a flight channel model construction unit, which measures spatial feature data of the closed channel when passing through the trajectory point, and incorporates the spatial feature data into the flight route trajectory data set to construct a flight channel model; The trajectory inversion unit forms a return path by analyzing the flight channel model and performs optimal flight trajectory planning for the trajectory points on the return path; The spatial feature data includes: the distance between the drone and the surrounding inner walls recorded at the trajectory point; The flight channel model is constructed, that is, Construct a plane perpendicular to the flight direction, and establish a coordinate system with the trajectory point as the origin. The direction from left to right of the wings on both sides of the drone is the X-axis for measuring the channel width, and the Y-axis is used to measure the channel height; When passing through each trajectory point, obtain the maximum limit value X of the channel width max and the minimum limit value X min , the maximum limit value of the channel height Y max and the minimum limit value Y min ; A flight channel model formed by adjacent trajectory points of the UAV in a closed channel based on corresponding extreme values of the spatial feature data; The radius of the trajectory point is Where D is the safe distance for drone flight; The trajectory points are grouped together to form a flight channel model; The trajectory point when the flight deflection angle is greater than or equal to 10° is defined as a turning point.
5. The drone return system according to claim 4, characterized in that: The optimal flight trajectory is planned for the trajectory points on the return path, that is, According to the flight channel model, the flight channel area that can be optimized is obtained, and the spatial feature data of all trajectory points in the flight channel area are measured to obtain the minimum limit value X of the channel width between the UAV and the flight channel model. min and the minimum limit value Y of the channel height min ; If all trajectory points meet X min >D and Y min >D, where D is the safe distance for the UAV to fly, then the first and last turning points are selected in the flight channel area to form the optimal flight trajectory; If there is X at any trajectory point min ≤D or Y min ≤D, where D is the safe distance for the UAV to fly, a new turning point is created in the flight channel area and connected to other turning points to form an optimal flight trajectory.
6. The drone return system according to claim 5, characterized in that: When the drone is returning, the method for determining the flight deviation angle of the new turning point includes: The formula for the flight deviation angle is V(t) is the flight speed of the two trajectory points, S is the flight distance between the two trajectory points in the flight route trajectory, and P r is the safety distance factor.
7. An aircraft comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the method according to any one of claims 1 to 3.
8. A computer-readable storage medium having a computer program / instruction stored thereon, characterized in that: When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 3 are implemented.
9. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 3 are implemented.