Methods and systems for arranging conveyor routes

Abstract

This application provides a method and system for arranging a conveyor belt route, which can improve the efficiency of conveyor belt route arrangement and reduce the error rate. The method for arranging a conveyor belt route includes: determining the starting and ending positions of the conveyor belt route to be designed, and determining the route cross-section based on the cross-section of the conveyor belt; determining the initial route based on a plan view of the area between the starting and ending positions; determining the next target point for the UAV flight based on the initial route; determining whether there are obstacles within the route cross-section when the center point of the route cross-section is located at the next target point; if there are no obstacles, controlling the UAV to fly towards the next target point; if there are obstacles, increasing the flight altitude or shifting horizontally to avoid the obstacles, the next target point after increasing the flight altitude or horizontal shifting is the next actual target point, and the UAV flies towards the next actual target point; and determining the arrangement route of the conveyor belt based on the actual flight route of the UAV.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipe belt machine, in particular to a pipe belt machine route arrangement method and a pipe belt machine route arrangement system. BACKGROUND

[0002] The pipe belt machine includes a coiled pipe belt, and materials are placed in the pipe belt for conveying, which is safer and more reliable. The conveying distance of the pipe belt machine is usually long, for example, several tens of meters, hundreds of meters or even longer. Thus, the pipe belt machine has a large span in a certain area, and relevant geographical conditions and buildings in the area need to be considered to reasonably design the arrangement route of the pipe belt machine.

[0003] At present, the arrangement of the pipe belt machine route is mainly performed by engineers on site, which has the problem of low efficiency, and the design by engineers alone is prone to errors. SUMMARY

[0004] The present application aims to provide a pipe belt machine route arrangement method and arrangement system, which rely on a drone to improve the arrangement efficiency of the pipe belt machine route and reduce the error rate.

[0005] To solve the above technical problems, the present application provides a pipe belt machine route arrangement method, which comprises the following steps:

[0006] determining a starting position and an end position of a pipe belt machine route to be designed, and determining a route section according to a cross section of the pipe belt machine;

[0007] determining at least one initial route from the starting position to the end position according to a plan view of a region between the starting position and the end position, and then controlling the drone to fly to a target position of the initial route according to the following steps:

[0008] determining a next target point of the drone according to the initial route;

[0009] judging whether there is an obstacle in the route section when a center point of the route section is located at the next target point;

[0010] if there is no obstacle, controlling the drone to fly to the next target point;

[0011] if there is an obstacle, increasing a flight height or offsetting in a horizontal direction to avoid the obstacle, the next target point after the flight height or the horizontal offset is a next actual target point, and the drone flies to the next actual target point;

[0012] after the drone flies to the end position, determining the arrangement of the pipe belt machine route according to an actual flight route of the drone.

[0013] Optionally, the initial route comprises a starting straight route and an ending straight route.

[0014] controlling the UAV to fly along the starting straight route from the starting position;

[0015] after completing the flight along the starting straight route, determining the next target point or the next actual target point according to the next target point and the center point of the route section;

[0016] the starting point of the ending straight route is the target position, and after the UAV flies to the target position, the UAV flies along the ending straight route to the ending position.

[0017] Optionally, the route section is a section of the pipe belt machine, or the route section is obtained by extending the section of the pipe belt machine outward by a predetermined size.

[0018] Optionally, the UAV is controlled to fly in an area between the starting position and the ending position, and the plan view of the area between the starting position and the ending position is obtained by scanning by the UAV.

[0019] Optionally, when the UAV turns, the turning radius of the UAV is controlled to be no more than a preset value; and / or, the path of the UAV comprises a straight route and an arc route, and the arc route is tangent to the straight route.

[0020] Optionally, the UAV performs metal detection below the ground during flight.

[0021] The application also provides a pipe belt machine route arrangement system, comprising a UAV, wherein the UAV has:

[0022] a distance module for detecting the distance between the UAV and an obstacle;

[0023] a section simulation module for obtaining a route section according to a section of the pipe belt machine;

[0024] an obstacle avoidance module having an initial route, and for determining whether there is an obstacle in the route section when the center point of the route section is located at a next target point of the initial route according to the distance detected by the distance module;

[0025] if there is no obstacle, the obstacle avoidance module controls the UAV to fly to the next target point;

[0026] If there is an obstacle, the obstacle avoidance module controls the UAV to increase the flight height or offset in the horizontal direction to avoid the obstacle, the next target point after the flight height or horizontal offset is the next actual target point, and the obstacle avoidance module controls the UAV to fly to the next actual target point.

[0027] Optionally, the UAV further comprises a flight restriction module, and the obstacle avoidance module controls the flight of the UAV according to a restriction instruction of the flight restriction module, the restriction instruction at least comprising one of:

[0028] The UAV flies straight for a first predetermined distance from the starting position, and the UAV starts to fly straight when being at a second predetermined distance from the terminal position;

[0029] The turning radius of the UAV when turning does not exceed a preset value;

[0030] The path of the UAV flying comprises an arc route and a straight route, and the arc route and the straight route are tangent.

[0031] Optionally, the UAV further has a metal detection module for detecting metal under the ground.

[0032] Optionally, the UAV further comprises a scanning module for scanning to obtain a plan view of the area between the starting position and the terminal position of the pipe belt machine route.

[0033] The arrangement method and arrangement system are different from the traditional arrangement method of the pipe belt machine route surveyed and designed by engineers in the background art, but use the UAV flight technology to intelligently plan the flight path of the pipe belt machine route, to realize the measurement difficulties such as accurately avoiding obstacles, and are less prone to errors compared with artificial surveying. Accordingly, the work difficulty and intensity of engineers can be reduced, and the UAV intelligently plans to replace engineers to survey the site and arrange the pipe belt machine route by itself, which can improve the arrangement efficiency. Moreover, the cost of site surveying and the like can be saved, and the UAV can provide multiple routes for the engineering department to select by flying, which is beneficial to achieving the optimal solution of the pipe belt machine route by comparison, and then realizing the overall cost reduction of the project. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 A flowchart of the arrangement method of the pipe belt machine route in the embodiments of the present application;

[0035] Figure 2 A sectional view of a pipe belt machine in the embodiments of the present application;

[0036] Figure 3 A plan view of the area between the starting position and the terminal position of the pipe belt machine in the embodiments of the present application;

[0037] Figure 4 A schematic diagram of the pipe belt machine route selected in the embodiment of the present application is shown in Figure 3 the route of the second scheme in the embodiment;

[0038] Figure 5 A schematic diagram of the pipe belt machine route in the embodiment is shown in Figure 4 the elevation layout of the pipe belt machine route in the embodiment.

[0039] The reference signs are explained as follows:

[0040] 100-pipe belt machine; 101-toll roller; 102-fixed support; 103-pipe belt; 104-base frame; 1041-bottom frame; 1042-side frame; 100A-route section;

[0041] 200-landed area;

[0042] 301-tail transfer station; 302-head transfer station;

[0043] 400-built factory;

[0044] 500-road;

[0045] 600-river;

[0046] 700-built belt machine corridor;

[0047] 800-built building;

[0048] 900-column;

[0049] L1-actual route one; L2-actual route two; La-starting position; Ld-end position. DETAILED DESCRIPTION

[0050] In order for those skilled in the art to better understand the technical solutions of the present application, the present application will be further described in detail below in combination with the drawings and specific embodiments.

[0051] Please refer to Figure 1 and Figure 2 , Figure 1 the flow chart of the pipe belt machine route layout method in the embodiment of the present application is shown in Figure 2 the schematic diagram of a pipe belt machine section in the embodiment of the present application is shown in

[0052] The pipe belt machine 100 is a short name of a tubular belt conveyor, the pipe belt 103 of the pipe belt machine 100 includes a carrying section and a return section, the pipe belt machine 100 can roll the conveying belt into the tubular pipe belt 103 to convey the materials, and the materials conveyed in the pipe belt 103 are more stable and safe. The length of the pipe belt 103 of the pipe belt machine 100 is dozens of meters at least, and is hundreds of meters at most, and in the span interval, it is necessary to arrange the pipe belt machine route relatively reasonably. The embodiment of the present application provides a pipe belt machine route arrangement method and arrangement system, which mainly uses a unmanned aerial vehicle to arrange the pipe belt machine route.

[0053] The pipe belt machine route arrangement method in the embodiment is as follows:

[0054] Step one, the starting position La and the end position Ld of the pipe belt machine route to be designed need to be determined.

[0055] As described above, the pipe belt machine 100 is used to convey materials, and when the pipe belt machine route is designed, the position of the materials is determined, for example, a production workshop of the materials or a warehouse of the materials, a transfer station of the materials, etc., and then according to the output position of the materials, the starting position La of the pipe belt machine route can be determined; and the conveying target position of the materials is also determined, that is, the position of the materials needs to be obtained, for example, a warehouse or a production workshop that needs to produce the materials, or a next transfer station of the materials, etc., and then according to the position where the warehouse or the production workshop or the transfer station needs to unload, the end position Ld is determined. The pipe belt 103 of the pipe belt machine 100 has a height requirement, that is, the pipe belt 103 of the pipe belt machine 100 cannot be lower than a predetermined height, for example, not lower than 4.5m or 5m of the ground, etc., and then according to the actual environment scene, the minimum height of each position of the pipe belt machine 100 can be determined to relatively accurately obtain the coordinates of the starting position La and the end position Ld.

[0056] In addition, the route section 100A needs to be determined according to the cross section of the pipe belt machine 100.

[0057] Figure 2 In the embodiment, the straight conveying belt is rolled into the pipe belt 103 under the action of the plurality of rollers 101 distributed in the circumferential direction, the pipe belt machine 100 further includes a fixed support 102, a group of rollers 101 is installed on the corresponding fixed support 102, in addition, the pipe belt machine 100 further includes a base frame 104 extending in the conveying direction, the fixed support 102 is installed on the base frame 104, the base frame 104 includes a bottom frame 1041 supporting the fixed support 102 and side frames 1042 located on both sides of the bottom frame 1041, and the two side frames 1042 are located outside the fixed support 102. The cross section of the pipe belt machine 100 is the cross section of the pipe belt machine 100 perpendicular to the conveying direction, and the cross section of the pipe belt machine 100 can be expanded to a predetermined size to obtain the route section 100A of the pipe belt machine 100, Figure 2In the middle, the cross section of the conveyor belt 100 is extended outward by 300mm in the top, bottom, left and right directions to obtain the route cross section 100A of the conveyor belt 100, as shown by the dashed line. The route cross section 100A can be a regular rectangle or a square cross section.

[0058] Step 2: Based on the plan view of the area between the starting position La and the ending position Ld, determine at least one initial route from the starting position La to the ending position Ld.

[0059] like Figure 3 As shown, Figure 3 This is a plan view of the area between the starting position La and the ending position Ld of the conveyor belt 100 in this embodiment of the application.

[0060] This plan view displays the coordinates of the starting position La and the ending position Ld. Each object has unique coordinates in the geodetic coordinate system. After determining the material's starting and unloading points, adding the elevation of the conveyor belt 100 allows us to obtain the coordinates of the starting position La and the ending position Ld. Define the coordinates (X, Y, Z) of each object. Figure 3 The coordinates of the starting position La are (X=5585.073, Y=5280.556, Z (elevation)=4.5m), and the coordinates of the ending position Ld are (X=5709.285, Y=5285.975, Z (elevation)=8.00m).

[0061] As mentioned earlier, the starting position La and the ending position Ld can be determined according to actual design requirements. Theoretically, based on the principle that the shortest distance between two points is a straight line, the straight path from the starting position La to the ending position Ld is the shortest path. This straight path, as the route for the conveyor belt, will have the lowest cost and be the most economical. However, due to geographical constraints, building restrictions, etc., the conveyor belt 100 cannot be arranged in a straight line from the starting position La to the ending position Ld. Therefore, it is necessary to understand the geographical conditions and building distribution of the area between the starting position and the ending position Ld to obtain a plan.

[0062] Figure 3 The diagram illustrates that the starting position La is specifically located at the tail transfer station 301, and the ending position Ld is specifically located at the head transfer station 302. The area between the starting position La and the ending position Ld includes the acquired land area 200, existing buildings 800, existing conveyor belt corridors 700, roads 500, rivers 600, and existing factory buildings 400, etc. Of course, Figure 3 This is just one specific example; different layouts and scenarios may present different situations, which will not be listed one by one.

[0063] The plan view of the area between the start position La and the end position Ld can be obtained by aerial surveying by the UAV, or the plan view of the area of the land section is obtained in advance. After the UAV flies to a certain height above the area between the start position La and the end position Ld, a 360° full-range scanning is performed, and thus the plan view is obtained. The UAV can be equipped with an image module, for example, and the measured plan view can show the distribution. The size of the area of the plan view can be determined according to actual needs, for example, the UAV can scan about 50 m to the left and right of the line connecting the start position La and the end position Ld in the horizontal direction, and the like, which is not limited herein, and is mainly determined according to the actual arrangement needs of the pipe belt machine 100, i.e., the area through which the pipe belt machine 100 can pass can be scanned to be included in the plan view.

[0064] After the plan view of the area between the start position La and the end position Ld is obtained, the obstacle information of the buildings and the like distributed in the area between the start position La and the end position Ld is basically clear, for example, some buildings are too high and obviously need to be avoided, or some buildings such as residences need to be avoided, and then the shortest straight line between the two points is taken as the basic principle, and the obstacles (for example, the built building 800 in Figure 3 obviously hinder the extension of the pipe belt machine 100 are bypassed, and the initial route is obtained. It can be understood that the initial route can not be limited to one, for example, in Figure 3 the straight line path between the start position and the end position Ld is distributed with a higher built building 800, which needs to be bypassed, and the pipe belt machine 100 needs to deviate to the left or right side of the built building 800. The left side has the land acquisition area 200 and no other obstacles that need to be obviously avoided, and the right side has the river 600, the road 500, and the built factory building 400, the top height of which is 5 m (these information can be obtained by aerial surveying by the UAV, and in principle, the UAV can measure the geodetic coordinates of each obstacle), and does not obviously hinder the extension of the pipe belt machine 100, and thus two initial routes can be obtained.

[0065] After the initial route is determined, step three can be performed, i.e., the UAV flies according to the initial route and further optimizes the route in flight.

[0066] Step three, the UAV flies according to the following steps S1 and S2:

[0067] S1, determining the next target point of the UAV flight according to the initial route;

[0068] Figure 3The initial route is the general direction of the UAV flight, that is, the X and Y values of the geodetic coordinate system of each position in the initial route can be determined, and the Z value can be set as the elevation of the pipe belt machine 100. When the UAV flies along the initial route, the coordinates (X, Y, Z) of the next target point relative to the current position of the UAV are determined.

[0069] S2, before flying to the next target point, it is necessary to determine whether there is an obstacle in the route section 100A when the center point of the route section 100A determined according to the cross section of the pipe belt machine 100 is located at the next target point. As described above, the route section 100A needs to be obtained before step three (not limited to in step one). The center point of the route section 100A is the intersection of its horizontal and vertical center lines. At this time, the UAV is compared to the center of the route section 100A. When the UAV is located at the next target point, it means that the center position of the pipe belt machine 100 is at the next target point. If there is an obstacle in the route section 100A at the next target point, it indicates that the pipe belt machine 100 will interfere with the obstacle when it extends to this position. Therefore, the next target point in the initial route cannot be truly used as a target point, and the position needs to be avoided. For example, if it is determined that there is an obstacle in the route section 100A, the UAV can be controlled to increase the flight height or offset in the horizontal direction to avoid the obstacle. After increasing the flight height or the horizontal offset amount at the next target point, the coordinates of the next actual target point can be determined, and the UAV flies to the next actual target point.

[0070] As described above, each object has a unique coordinate in the geodetic coordinate system. Therefore, according to the increased target flight height Y2 or the horizontal offset amount X2, the next actual target point can be obtained. The coordinates of the next actual target point are, for example, (X1, Y1+Y2, Z1), or (X1+X2, Y1, Z1).

[0071] When encountering an obstacle, the flight height can be increased. However, for example, if the obstacle is too high, increasing the flight height too much may cause a large wave peak in the pipe belt route, which is not conducive to the safety of material transportation. Therefore, the pipe belt route should avoid large wave peaks and troughs as much as possible. Therefore, horizontal offset can be selected. Similarly, if there are many obstacles in the route section 100A, the horizontal offset amount will be large, and the turning amplitude of the pipe belt machine 100 may be large. In order to be safer, the flight height can be increased to avoid obstacles. That is, the next actual target point can be selected according to the actual situation, or the UAV can fly according to the increased flight height and horizontal offset, respectively, and the selection can be made according to the final influence on the route.

[0072] If there is no obstacle in the route section 100A at the next target point according to the initial route, the UAV can be controlled to fly to the next target point, that is, still fly along the initial route.

[0073] After the above steps S1 and S2, the UAV flies to the next target point or the next actual target point, and the next target point or the next actual target point becomes the current position. According to the initial route, a new next target point can be determined, and then the above steps S1 and S2 are repeated until the UAV flies to the target position of the initial route. The target position can be the end position Ld, or a position at a certain distance from the end position Ld. As will be mentioned later, a straight line route needs to be set when approaching the end position Ld.

[0074] Step four, determining the route of the pipe belt machine 100 according to the actual flight route of the UAV.

[0075] It should be noted that according to the above description, when the initial route is one, the actual flight route of the UAV can also be one or more actual flight routes obtained based on obstacle avoidance purposes. When the initial route is two or more, multiple actual flight routes will be obtained. At this time, the multiple actual routes can be compared to obtain the best route, for example, the most suitable route is selected as the pipe belt machine route by considering factors such as construction convenience, safety, cost, etc.

[0076] Continuing to refer to Figure 3 After the UAV flies, two actual routes are obtained, which are actual route one L1 and actual route two L2, and two pipe belt machine route schemes one and two are obtained accordingly. Then, the difference in engineering cost under the two schemes can be considered. As an example, the total length of the pipe belt machine 100 in scheme one is 188 meters, and the total length of the pipe belt machine 100 in scheme two is 175 meters.

[0077] In scheme one, the pipe belt machine route needs to cross the land acquisition area 200, and in scheme two, the pipe belt machine route does not need to cross the land acquisition area 200. The land acquisition area 200 usually has uncertain cost. If this part of the land acquisition area 200 can be handled through negotiation, the comparison of the engineering cost excluding the land acquisition area 200 can be continued. Figure 3 In scheme two, the total length of the pipe belt machine 100 is also shorter, so the engineering cost of scheme two is obviously lower. According to engineering practice, the total cost of scheme one is at least 3.76 million yuan, and the engineering cost of scheme two is about 3.5 million yuan. Therefore, from the cost point of view, the route of scheme two is more optimal.

[0078] On this basis, the site conditions can also be determined according to the UAV flight conditions to consider the difficulty that the routes of the two schemes may exist in the actual construction process. For example, Figure 4 In the two schemes in scheme two, the construction difficulty is basically the same, so from a comprehensive point of view, the route of scheme two can be selected as the finally determined pipe belt machine route to arrange the pipe belt machine 100.

[0079] It can be seen that the pipe belt machine route arrangement method in the embodiment of the present application can achieve the following technical effects:

[0080] The arrangement method is different from the traditional arrangement method of designing the pipe belt machine route by engineers mentioned in the background art, but uses the unmanned aerial vehicle flight technology, intelligently plans the pipe belt machine route route, realizes the precise avoidance of obstacles and other measurement difficulties, and is less prone to errors compared to manual survey. Accordingly, the work difficulty and intensity of engineers can be reduced, and the unmanned aerial vehicle intelligent planning can replace the engineers to survey the site and arrange the pipe belt machine route, which can improve the arrangement efficiency. Moreover, the cost of site survey can be saved, and the unmanned aerial vehicle can provide multiple routes for the engineering department to select, so as to realize the optimal solution of the pipe belt machine route by comparison, and realize the overall consumption reduction of the project.

[0081] For the above-mentioned pipe belt machine route arrangement method, the determined initial route can include a starting straight line route and an ending straight line route. When controlling the unmanned aerial vehicle to fly, the unmanned aerial vehicle can fly along the starting straight line route from the starting position La; after completing the flight of the starting straight line route, how to fly is determined through the above-mentioned steps S1 and S2, that is, according to the next target point and the center point of the route section 100A, the unmanned aerial vehicle is determined to fly to the next target point or the next actual target point of the initial route, until the unmanned aerial vehicle flies along the ending straight line route to the ending position Ld, and the starting point of the ending straight line route is the target position mentioned above. That is, the starting section connected with the starting position La and the ending section connected with the ending position Ld in the pipe belt machine route are preferably straight lines, and no turning is allowed, so that the arrangement space of the head-tail transition section of the pipe belt machine 100 can be reserved, and a certain straight line operation is required before and after the transition section to ensure the stability of the pipe belt machine 100 during operation. The distance between the starting straight line route and the ending straight line route is, for example, 40 times the outer diameter of the pipe belt 103 of the pipe belt machine 100 + 20 meters, and the distance of the straight line section can be set according to the model and operation safety of the pipe belt machine 100.

[0082] In the above-mentioned method, when the route section 100A is determined, the section of the pipe belt machine 100 is expanded outward by a predetermined distance. It can be known that the section of the pipe belt machine 100 can also be used as the route section 100A, but the section is expanded outward, which is used as the basis for judging obstacle avoidance, and is more beneficial to ensure the reliability of obstacle avoidance and avoid the detection error of the unmanned aerial vehicle on the obstacles affecting the safety of route arrangement.

[0083] Reference can be further made to Figure 4 , 5 understand that Figure 3 the schematic diagram of the pipe belt machine route selected in the embodiment of the present application is the route in scheme two in Figure 5 . Figure 4 the elevation arrangement diagram of the pipe belt machine route in ​ .

[0084] After the pipe belt machine route is determined, the positions of the plurality of columns 900 supporting the pipe belt machine 100 can be determined. The pipe belt machine 100 is arranged at a distance from the ground, and the pipe belt machine 100 needs to be supported on the ground by a plurality of columns 900 distributed along the length direction of the pipe belt machine 100. The arrangement positions of the plurality of columns 900 can be designed according to the bearing requirement. Then, the unmanned aerial vehicle can fly along the determined pipe belt machine route. When the unmanned aerial vehicle flies to the position corresponding to the column 900, metal detection is performed on the ground below the position to verify whether the ground is suitable for foundation excavation to fix the column 900, that is, to provide data for the feasibility analysis of fixing the column 900, such as the type and content of the detected metal, which will affect the construction. Then, the position of the column 900 can be adjusted, and the positions of other columns 900 can also be adjusted based on the bearing requirement, until all the columns 900 can be successfully installed. It can be known that the unmanned aerial vehicle is not limited to metal detection at the designed position of the column 900, but can also directly perform comprehensive metal detection along the determined pipe belt machine route. Then, according to the metal detection of the ground below the pipe belt machine route, the number and distribution scheme of the columns 900 can be determined according to the bearing requirement.

[0085] The above mainly discusses the arrangement method of the pipe belt machine route. Correspondingly, the arrangement system of the pipe belt machine route is provided, which includes an unmanned aerial vehicle. The unmanned aerial vehicle has a distance module, a cross section simulation module and an obstacle avoidance module.

[0086] The distance module is used to detect the distance between the unmanned aerial vehicle and the obstacle. The distance can be a vertical distance or a horizontal lateral distance. The distance module can transmit the measured distance data to the obstacle avoidance module.

[0087] The cross section simulation module is used to obtain the route cross section 100A of the pipe belt machine 100 and transmit the simulated route cross section 100A to the obstacle avoidance module.

[0088] The obstacle avoidance module stores an initial route. The related data of the initial route can be input to the obstacle avoidance module of the unmanned aerial vehicle. The obstacle avoidance module is also used to determine whether there is an obstacle in the route cross section 100A when the center point of the route cross section 100A is located at the next target point of the initial route according to the distance detected by the distance module and the route cross section 100A. That is, the obstacle avoidance module is used to determine whether the initial route needs to be changed. If there is no obstacle in the route cross section 100A, the obstacle avoidance module controls the unmanned aerial vehicle to fly to the next target point. If there is an obstacle in the route cross section 100A, the obstacle avoidance module controls the unmanned aerial vehicle to increase the flight height or offset in the horizontal direction to avoid the obstacle. The next target point after the flight height or the horizontal offset is increased serves as the next actual target point, and the unmanned aerial vehicle flies to the next actual target point.

[0089] The arrangement system of the pipe belt machine route in the embodiment further comprises a flight limitation module. The obstacle avoidance module controls the flight of the unmanned aerial vehicle according to the limitation instruction stored in the flight limitation module. The stored limitation instruction at least comprises one of the following:

[0090] The limitation instruction one is that the unmanned aerial vehicle flies straight for a first predetermined distance from the starting position La, that is, flies along the starting straight route. The length of the starting straight route is the first predetermined distance. The unmanned aerial vehicle starts to fly straight when it is at a second predetermined distance from the ending position Ld, that is, flies along the ending straight route. The length of the ending straight route is the second predetermined distance.

[0091] The limitation instruction two is that the turning radius of the unmanned aerial vehicle when turning does not exceed a preset value.

[0092] The limitation instruction three is that the path of the unmanned aerial vehicle flying comprises an arc route and a straight route. The arc route and the straight route are tangent.

[0093] Regarding the limitation instruction two, for example, the following table can be referred to:

[0094]

[0095] Wherein, d g (mm) is the pipe diameter of the pipe belt 103.

[0096] The pipe belt machine 100 can have a curved segment in the vertical plane. The curved segment comprises a convex arc segment and a concave arc segment. The convex arc segment is a local segment in which the pipe belt machine 100 arches upward. The concave arc segment is a local segment in which the pipe belt machine 100 is concave downward. The turning radius is the curvature radius. The curvature radius needs to be limited according to the different materials of the pipe belt 103. In this way, the safety of the pipe belt machine 100 can be ensured. When the obstacle avoidance module performs the obstacle avoidance operation, the limitation instruction two stored in the flight limitation module can be combined to determine the amplitude of the obstacle avoidance. As can be seen from the above table, the hardness of the steel wire core is greater than that of the polyester fabric core and the polyurethane fabric core. The minimum curvature radius needs to be set relatively larger to prevent damage to the pipe belt 103. According to the difference between the convex and concave areas of the vertical curved segment, the minimum curvature radius is also different. The minimum curvature radius of the concave arc segment can be designed to be relatively small. This is also adaptively designed based on the stress difference between the convex and concave bearing.

[0097]

[0098] Wherein, when the pipe belt 103 adopts polyester and polyurethane fabric cores, the central angle of the horizontal turning segment of the pipe belt 103 with the steel wire core should not exceed 90°.

[0099] Likewise, the minimum curvature radius of the horizontal turning section is also affected by the material of the pipe belt 103. Table 2 illustrates how the minimum curvature radius of the pipe belt 103 of more material types is selected. The main principles include: the greater the material hardness, the greater the minimum curvature radius of the horizontal turning section; the greater the pipe diameter, the greater the minimum curvature radius of the horizontal turning section; and the greater the central angle, the greater the minimum curvature radius of the horizontal turning section.

[0100] The above-mentioned third limitation instruction is to ensure that the designed pipe belt machine route is as gentle as possible. In theory, any continuous smooth curve can be used as the route curve of the pipe belt machine 100. In actual design, the design and production difficulty is considered. When the flight path of the unmanned aerial vehicle includes an arc-shaped route and a straight line route, the arc-shaped route and the straight line route can be tangentially arranged.

[0101] In addition to the above-mentioned limitation instructions, the flight limitation module can also set other limitation instructions, such as avoiding areas that cannot be crossed or have a huge crossing cost, such as other enterprise factory areas, villages and towns, sea areas, basic farmland, etc. If the obtained plan view has these areas, the limitation instructions can be input into the flight limitation module of the unmanned aerial vehicle. For example, the project has undulating terrain, the total profile does not appear a large peak-valley difference and a large number of tunnels or high-rise columns 900. If they exist, they can be excluded when designing the initial route, or excluded in subsequent flight planning.

[0102] In addition, the unmanned aerial vehicle in this embodiment also has a metal detection module. As described above, the metal detection module is used for metal detection under the ground to confirm the feasibility of column 900 foundation excavation.

[0103] The above is only a preferred embodiment of the present application. It should be noted that for those skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, which should also be considered as the protection scope of the present application.

Claims

1. A method of arranging a pipe belt machine route, characterized in that, The method comprises: determining a start position and an end position of a pipe belt conveyor route to be designed, and determining a route section according to a section of the pipe belt conveyor; determining at least one initial route from the start position to the end position according to a plan view of a region between the start position and the end position, and then controlling the UAV to fly to a target position of the initial route according to the following steps: determining a next target point of the UAV flight according to the initial route; judging whether there is an obstacle in the route section when the center point of the route section is located at the next target point; if there is no obstacle, then controlling the UAV to fly to the next target point; if there is an obstacle, then increasing the flight height or offsetting in the horizontal direction to avoid the obstacle, the next target point after the flight height or horizontal offset is the next actual target point, and the UAV flies to the next actual target point; after the UAV flies to the end position, determining the pipe belt conveyor route according to the actual flight route of the UAV; when the UAV turns, controlling the turning radius of the UAV to be less than a preset value; the pipe belt of the pipe belt conveyor comprises at least one of a vertical curve segment and a horizontal turning segment, the turning radius is a curvature radius, and the greater the material hardness of the pipe belt of the pipe belt conveyor, the greater the minimum curvature radius of the vertical curve segment and / or the horizontal turning segment.

2. A method of arranging a pipe belt machine route according to claim 1, characterized in that, The initial route comprises a start straight line route and an end straight line route; controlling the UAV to fly along the start straight line route from the start position; after the flight of the start straight line route is completed, determining the next target point or the next actual target point according to the next target point and the center point of the route section; the start point of the end straight line route is the target position, and after the UAV flies to the target position, the UAV flies along the end straight line route to the end position.

3. The method of arranging a pipe belt machine route according to claim 1, characterized in that, The route section is the section of the pipe belt conveyor, or the route section is obtained by outwardly expanding the section of the pipe belt conveyor by a predetermined size.

4. The method of arranging a pipe belt machine route according to claim 1, characterized in that, The UAV is controlled to fly in the region between the start position and the end position, and the plan view of the region between the start position and the end position is obtained by scanning through the UAV.

5. A method of arranging the path of a pipe belt machine according to any one of claims 1 - 4, characterized in that, The flight path of the UAV comprises a straight line route and an arcuate route, and the arcuate route and the straight line route are tangent to each other.

6. A method of arranging the path of a pipe belt machine according to any one of claims 1 - 4, characterized in that, The UAV performs metal detection under the ground during the flight.

7. An arrangement system of a pipe belt machine route, characterized in that, The UAV comprises: a distance module for detecting the distance between the UAV and an obstacle; a section simulation module for obtaining a route section according to the section of the pipe belt conveyor; an obstacle avoidance module storing an initial route and judging whether there is an obstacle in the route section when the center point of the route section is located at a next target point of the initial route according to the distance detected by the distance module; if there is no obstacle, then the obstacle avoidance module controls the UAV to fly to the next target point; If there is an obstacle, the obstacle avoidance module controls the UAV to increase flight height or to offset in horizontal direction to avoid the obstacle, the next target point is the next actual target point after the flight height or horizontal offset amount is increased, and the obstacle avoidance module controls the UAV to fly to the next actual target point; The UAV further comprises a flight limitation module, and the obstacle avoidance module controls flight of the UAV according to a limitation instruction of the flight limitation module, the limitation instruction comprising: a turning radius of the UAV when turning is not more than a preset value; the pipe belt of the pipe belt machine comprises at least one of a vertical curve segment and a horizontal turning segment, the turning radius is a curvature radius, and the greater the hardness of the material of the pipe belt of the pipe belt machine, the greater the minimum curvature radius of the vertical curve segment and / or the horizontal turning segment.

8. The arrangement of systems of a pipe belt machine route according to claim 7, characterized in that, The limitation instruction further comprises at least one of: The UAV flies in a straight line from a starting position for a first predetermined distance, and the UAV starts to fly in a straight line when being at a second predetermined distance from an end position; The path of the UAV flying comprises an arc route and a straight line route, and the arc route and the straight line route are tangent to each other.

9. The arrangement of systems of a pipe belt machine route according to claim 7, characterized in that, The UAV further has a metal detection module for detecting metal under the ground.

10. The arrangement of systems of a pipe belt machine route according to any one of claims 7-9, characterized in that, The UAV further comprises a scanning module for scanning to obtain a plan view of an area between a starting position and an end position of a route of the pipe belt machine.

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