Lifting flight method, device and equipment of unmanned aerial vehicle and storage medium

Abstract

The invention discloses a lifting flight method, device and equipment of an unmanned aerial vehicle and a storage medium, and relates to the technical field of unmanned aerial vehicles. The unmanned aerial vehicle is provided with a ground sensor and a hoisting system, the hoisting system comprises a hoisting rope and goods hoisted on the hoisting rope, and the method comprises the steps that an original passing path of the goods is obtained; acquiring ground sensing information acquired by a ground sensor; establishing an environmental topographic map according to the ground sensing information; according to the environmental topographic map and the original passing path, planning an expected moving track of the goods; and controlling the unmanned aerial vehicle to fly according to the expected moving trajectory. Through the technical means, when the unmanned aerial vehicle hoists and flies, goods always keep a safe distance from the ground, and the unmanned aerial vehicle does not need to keep the target flight height to continuously fly, so that the problem that the unmanned aerial vehicle cannot normally execute a hoisting task due to high-altitude control or other reasons in the prior art is solved, and the execution efficiency of the hoisting task is ensured.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a method, device, equipment and storage medium for hoisting and flying an unmanned aerial vehicle. Background Art

[0002] With the rapid development of drones, drones are increasingly used in industries, logistics, agriculture and other fields. Especially in lifting tasks, drones have become an important supplement to traditional transportation methods due to their high efficiency and flexibility. When drones perform lifting tasks, there is a risk that the lifted goods will touch the ground. In order to avoid the goods touching the ground, the flight altitude of the drone is the key.

[0003] In the existing technology, the target flight altitude of the drone can be pre-set, and the drone can be controlled to rise vertically to the target flight altitude after takeoff, then fly horizontally to the cargo unloading point, and land vertically at the unloading point. However, in some areas, the drone may be unable to climb to the target flight altitude due to high-altitude control or other reasons, resulting in the drone being unable to perform the lifting task, affecting the efficiency of the lifting task. Summary of the invention

[0004] The present application provides a method, device, equipment and storage medium for the lifting flight of an unmanned aerial vehicle, so as to plan a desired operation trajectory that imitates the terrain and keeps a safe distance from the ground through an environmental topographic map, and control the flight of the unmanned aerial vehicle according to the desired operation trajectory, so that the cargo always keeps a safe distance from the ground during the unmanned aerial vehicle lifting flight, and the unmanned aerial vehicle does not need to maintain a target flight altitude for continuous flight, which solves the problem in the prior art that unmanned aerial vehicles cannot normally perform lifting tasks due to high-altitude control or other reasons, and ensures the execution efficiency of the lifting tasks.

[0005] In a first aspect, the present application provides a method for hoisting flight of a drone, wherein the drone is provided with a ground sensor and a hoisting system, wherein the hoisting system includes a hoisting rope and cargo hoisted on the hoisting rope, and the method includes:

[0006] Obtaining the original route of the goods;

[0007] Acquire ground sensing information collected by ground sensors;

[0008] Establishing an environmental topographic map based on the ground sensing information;

[0009] Planning the expected running trajectory of the cargo according to the environmental topographic map and the original route;

[0010] The UAV is controlled to fly according to the expected flight trajectory.

[0011] In a second aspect, the present application provides a hoisting flight device for an unmanned aerial vehicle, wherein the unmanned aerial vehicle is provided with a ground sensor and a hoisting system, wherein the hoisting system includes a hoisting rope and cargo hoisted on the hoisting rope, and the device includes:

[0012] An original path acquisition module is configured to acquire the original path of the goods;

[0013] A sensor information collection module is configured to obtain ground sensor information collected by a ground sensor;

[0014] A terrain map building module, configured to build an environmental terrain map according to the ground sensing information;

[0015] A cargo trajectory planning module, configured to plan the expected running trajectory of the cargo according to the environmental topographic map and the original path;

[0016] The flight control module is configured to control the flight of the UAV according to the expected flight trajectory.

[0017] In a third aspect, the present application provides a drone hoisting flight device, comprising:

[0018] One or more processors; a memory storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the hoisting flight method as described in the first aspect.

[0019] In a fourth aspect, the present application provides a storage medium comprising computer executable instructions, which, when executed by a computer processor, are used to execute the hoisting flight method as described in the first aspect.

[0020] In this application, by obtaining the original path of the goods, obtaining the real-time ground sensing information collected by the ground sensor, constructing a high-precision environmental topographic map based on the ground sensing information, and adjusting the height of the original path through the environmental topographic map, the desired running trajectory that imitates the ground and maintains a safe height from the ground is planned according to the adjusted original path, and the flight of the drone is controlled by the expected running trajectory to ensure that the goods always maintain a safe distance from the ground during the lifting process, thereby improving the safety of the goods and the drone. The drone does not need to maintain the target flight altitude for continuous flight during the lifting flight, which solves the problem in the prior art that the drone cannot perform the lifting task normally due to high-altitude control or other reasons, and ensures the execution efficiency of the lifting task. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a flow chart of a method for hoisting and flying a UAV provided in an embodiment of the present application;

[0022] Figure 2 This is a flowchart of determining the original path provided by an embodiment of the present application;

[0023] Figure 3 is a schematic diagram of the hoisting flight of a drone provided in an embodiment of the present application;

[0024] Figure 4 is a flow chart of constructing an environmental topographic map provided by an embodiment of the present application;

[0025] Figure 5 It is a schematic diagram of the moment when the drone provided by the embodiment of the present application pulls up the cargo;

[0026] Figure 6 It is a schematic diagram of a cargo area, a sling area and corresponding neighborhoods provided in an embodiment of the present application;

[0027] Figure 7 is a schematic diagram of a drone and the ground provided in an embodiment of the present application;

[0028] Figure 8 This is a flowchart of planning an expected running trajectory provided by an embodiment of the present application;

[0029] Fig. 9 is a schematic diagram of the original waypoints provided in the embodiment of the present application;

[0030] Fig.10 It is a schematic diagram of original waypoints and expected waypoints provided in an embodiment of the present application;

[0031] Fig.11 is a schematic diagram of distance sampling points provided in an embodiment of the present application;

[0032] Fig.12 This is a flow chart of controlling the flight of a drone provided by an embodiment of the present application;

[0033] Fig.13 It is a structural schematic diagram of a hoisting flight device of a UAV provided in an embodiment of the present application;

[0034] Fig.14 It is a structural schematic diagram of a lifting flight device for an unmanned aerial vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical scheme and advantages of the present application clearer, the specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. It is understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for the convenience of description, only the part related to the present application but not all the contents are shown in the accompanying drawings. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow chart describes each operation (or step) as a sequential process, many of the operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of each operation can be rearranged. The process can be terminated when its operation is completed, but it can also have additional steps not included in the accompanying drawings. The process can correspond to a method, a function, a procedure, a subroutine, a subprogram, etc.

[0036] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0037] In the relevant implementation methods, when the drone performs the lifting task, most of them adopt the fixed-altitude flight method, that is, after taking off, the drone rises vertically to the target flight altitude set for the lifting task, then flies horizontally to the top of the cargo unloading point, and lands vertically after reaching the top of the unloading point. However, in areas with large changes in altitude, such as areas with large altitude differences such as high mountains and canyons, the drone may be subject to high-altitude control or other reasons and cannot climb to the target flight altitude, resulting in the drone being unable to perform the lifting task using the fixed-altitude flight method, affecting the execution efficiency of the lifting task. In addition, the drone can also perform the lifting task using the ground-simulating flight method, that is, according to the ground height collected by the ground sensor, the drone is controlled to maintain a safe distance from the ground for lifting flight. However, the data collected by the ground sensor contains the information of the lifting rope and cargo, resulting in inaccurate measurement of the ground height, so that the drone cannot maintain a safe distance from the ground during the lifting flight, increasing the risk of cargo touching the ground, and the safety of the cargo and the drone cannot be guaranteed.

[0038] In order to solve the problems existing in the above implementation methods, this embodiment provides a lifting flight method, which constructs a high-precision environmental topographic map with the ground sensing information collected by the ground sensor in real time, plans the expected operation trajectory that imitates the ground and keeps a safe distance from the ground through the environmental topographic map, and controls the flight of the drone according to the expected operation trajectory, so that the cargo always keeps a safe distance from the ground during the drone lifting flight, reduces the risk of cargo touching the ground, and improves the safety of the drone and cargo. The drone does not need to maintain the target flight altitude for continuous flight, which ensures the execution efficiency of the lifting task.

[0039] The lifting flight method provided in this embodiment can be performed by a lifting flight device, and the lifting flight device can be implemented by software and / or hardware. The lifting flight device can be composed of two or more physical entities, or it can be composed of one physical entity. For example, the lifting flight device can be a drone, or it can be a processor of a drone. In this embodiment, the drone is provided with a ground sensor and a lifting system, and the lifting system includes a lifting rope and the cargo suspended on the lifting rope. When the drone performs a lifting task, it can collect real-time ground sensing information through the ground sensor, and then adjust its own height according to the ground sensing information to ensure that during the lifting flight, the cargo suspended by the lifting rope always maintains a safe distance from the ground. After the drone reaches the unloading point and unloads the cargo, the lifting task is completed.

[0040] The hoisting and flying device is installed with at least one type of operating system, and the hoisting and flying device can install at least one application based on the operating system, and the application can be an application that comes with the operating system, or an application downloaded from a third-party device or server. In this embodiment, the hoisting and flying device has at least an application that can execute the hoisting and flying method.

[0041] For ease of understanding, this embodiment is described by taking a drone as an example of the main body performing the lifting flight method.

[0042] Figure 1 A flow chart of a method for hoisting and flying a UAV provided in an embodiment of the present application is given. Figure 1 The hoisting flight method specifically includes:

[0043] S110: Obtain the original route of the goods.

[0044] Among them, the original path is the path that the cargo passes when the drone maintains a safe distance from the horizontal plane where the take-off point is located to perform the lifting task. Exemplarily, the user can configure the task information of the lifting task through the remote control device, and add the starting point, end point, transportation area, original path of the cargo, lifting rope length, maximum flight speed, maximum flight acceleration, unloading point, maximum lifting rope swing angle, cargo shape and other information in the task information. The remote control device uploads the task information to the drone, and the drone performs the corresponding lifting task based on the task information. The drone can obtain the original path set in the lifting task, that is, obtain the pre-configured original path in the task information of the lifting task. In addition, the original path can be composed of multiple waypoints. The user adds multiple waypoints used to form the original path in the task information. After the drone receives the task information uploaded by the remote control device, it obtains multiple waypoints of the original path in the task information.

[0045] The remote control device may be a remote controller that cooperates with the drone, or may be a user terminal, such as a user's mobile phone, tablet computer, etc.

[0046] Optionally, the drone can receive the original route sent by the remote control device, and can determine the starting point and end point of the cargo transportation according to the task information set by the user, or determine the lifting area information through which the drone passes to complete the lifting task through the remote control device, and then, based on the cargo starting point and end point, or the lifting area information, perform path planning, generate the drone's initial flight path, and generate the original route of the goods, and then the original route of the goods can be sent to the drone.

[0047] Optionally, the original path can also be derived from the initial flight path of the drone. The initial flight path is the projection of the path that the drone passes when performing the lifting task in the horizontal plane, that is, the initial flight path includes the horizontal position of the waypoints passed by the drone but does not include the height information. For example, Figure 2 This is a flow chart of determining the original path provided by the embodiment of the present application. Figure 2 As shown, the step of determining the original path includes S1101-S1103:

[0048] S1101. Determine the horizontal position of the initial flight path of the UAV as the horizontal position of the original path of the cargo.

[0049] For example, the user can add the initial flight path of the drone to the task information of the lifting task through the remote control device, or add the take-off point and the unloading point to the task information. The remote control device automatically plans the initial flight path with the take-off point as the starting point and the unloading point as the end point according to the take-off point and the unloading point. After receiving the task information sent by the remote control device, the drone can obtain the initial flight path in the task information. After that, the horizontal position of each waypoint on the initial flight path is determined as the horizontal position of the corresponding waypoint on the original path.

[0050] S1102. Determine the preset safety distance as the height of each waypoint in the original route of the cargo relative to the take-off point; wherein the preset safety distance is the safety distance maintained between the cargo and the ground.

[0051] Exemplarily, the preset safety distance is determined as the altitude position of each waypoint in the original path so that each waypoint on the original path maintains a safety distance from the horizontal plane where the take-off point is located.

[0052] S1103: Generate the original path of the cargo according to the horizontal position of the original path of the cargo and the height of each waypoint relative to the take-off point.

[0053] Exemplarily, the horizontal position and the height position corresponding to the waypoint on the original path are combined to obtain the three-dimensional position of the waypoint in space, and the three-dimensional positions of each waypoint are summarized to obtain the original path.

[0054] This embodiment reversely infers the original path of the cargo through the initial flight path of the drone, so that the cargo can move along the initial flight path during the lifting process, avoiding collision with surrounding obstacles, thereby improving the safety of cargo lifting.

[0055] S120: Acquire ground sensing information collected by a ground sensor.

[0056] Among them, the ground sensor is a sensor installed on the drone for collecting the drone's ground height. The ground sensor includes but is not limited to laser radar, depth camera and millimeter wave radar. The ground sensing information is the collected height information of the drone relative to the area below. When the drone performs a lifting task, the ground sensor can be turned on to obtain the ground sensing information collected by the ground sensor in real time.

[0057] S130: Establish an environmental topographic map based on ground sensing information.

[0058] For example, after acquiring the ground sensing information, the UAV can establish an environmental topographic map based on the height information of each location point contained in the ground sensing information. The environmental topographic map includes the height information of each location point relative to the horizontal plane where the take-off point is located.

[0059] Need to explain, Figure 3 Schematic diagram of the UAV lifting flight provided by the embodiment of the present application. Figure 3 As shown, when the drone 10 is flying in a lifting operation, the area below the drone 10 includes the lifting rope 11, the cargo 12 and the ground 13. That is, the ground sensing information includes the height information of the drone 10 relative to the lifting rope 11, the cargo 12 and the ground 13. In order to obtain accurate height information of the ground 13, the lifting rope data and the cargo data in the ground sensing information can be filtered out to obtain terrain data representing the height information of the ground 13. Among them, the lifting rope data is the height information of the drone relative to the lifting rope collected by the ground sensor, and the cargo data is the height information of the drone relative to the cargo.

[0060] In order to construct a high-precision environmental topographic map, the interference data in the ground sensing information can be filtered first, and then the environmental topographic map can be constructed based on the filtered ground sensing information. Figure 4 This is a flow chart of constructing an environmental topographic map provided by an embodiment of the present application. Figure 4 As shown, the step of constructing the environmental topographic map specifically includes S1301-S1302:

[0061] S1301. Filter the sling data and cargo data in the ground sensing information to obtain the remaining ground sensing information.

[0062] Exemplarily, when the ground sensor is a depth camera, the rope pixels and cargo pixels can be identified based on the image captured by the depth camera, and the rope data and cargo data in the ground sensing information can be determined based on the identified rope pixels and cargo pixels, and then the determined rope data and cargo data can be removed from the ground sensing information to obtain the remaining ground sensing information, which can be used as terrain data. When the ground sensor is a laser radar or a millimeter wave radar, three-dimensional modeling can be performed based on the three-dimensional point cloud data obtained by scanning the laser radar or millimeter wave radar to obtain a three-dimensional model of the area below the drone, and the rope model and cargo model can be identified in the three-dimensional model based on the rope shape and the cargo shape, and the rope data and cargo data in the ground sensing information can be determined based on the identified rope model and cargo model, and then the determined rope data and cargo data can be removed from the ground sensing information to obtain the remaining ground sensing information, which can be used as terrain data.

[0063] By filtering the rope data and cargo data in the ground sensor information, the length and direction of the rope can also be determined. The cargo is at the end of the rope, and then the rope and the ground sensor information within a certain range around it can be filtered according to the length and direction of the rope. That is, the ground sensor information within a specified range around the rope and the cargo is filtered as the rope data and cargo data.

[0064] In addition, the position of the sling and the cargo position can be inferred from the position of the drone, the length of the sling and the direction of the sling, and the sling data and cargo data in the ground sensing information can be determined according to the sling position and the cargo position, and then the sling data and cargo data can be removed from the ground sensing information to obtain the terrain data. Exemplarily, the step of filtering the sling data and cargo data in the ground sensing information specifically includes S13011-S13013:

[0065] S13011. Obtain the length and direction of the lifting rope.

[0066] Exemplarily, the drone may obtain the length of the lifting rope set in the lifting task, that is, obtain the pre-configured length of the lifting rope in the task information of the lifting task.

[0067] Alternatively, the flight power of the drone is detected in real time after the drone starts to start. When it is detected that the change in the flight power when the drone pulls up the cargo is greater than a preset change threshold, the length of the sling is determined according to the sling angle and the position of the drone. For example, when the drone takes off, the cargo is parked on the ground. At this time, the flight power of the drone is relatively small. When the drone pulls the cargo off the ground, the flight power of the drone suddenly increases due to the sudden increase in the load of the drone. The preset change threshold can be regarded as the minimum change in the flight power before and after the drone takes off with the cargo. That is, when it is detected that the change in the flight power before and after the drone is greater than the preset change threshold, it can be determined that the drone has just pulled the cargo off the ground. When the drone pulls the cargo off the ground, the cargo is also approximately on the ground. At this time, the sling used by the drone to connect the cargo is in a taut state, and the Euclidean distance between the drone and the cargo is approximately equal to the length of the sling. Figure 5 Schematic diagram of the drone pulling up cargo provided by the embodiment of the present application. Figure 5As shown, when the drone 10 pulls up the cargo 12, the cargo 12 is still on the ground, the rope 11 between the drone 10 and the cargo 12 is in a taut state, and the Euclidean distance between the drone 10 and the cargo 12 is equal to the length of the rope 11. The drone 10, the cargo 12, and the projection point of the drone 10 on the ground form a right triangle. The swing angle θ of the rope 11 is the angle between the line segment between the drone 10 and the cargo 12 and the line segment between the drone 10 and the projection point. The length of the line segment between the drone 10 and the projection point is equal to the height of the drone 10. According to the cosine theorem of the triangle, the ratio of the height of the drone 10 to the length L of the rope 11 is equal to cos θ. The height of the drone 10 can be determined according to the position of the drone 10, and cos θ can be determined according to the swing angle θ of the rope 11. The ratio of the height of the drone 10 to cos θ is determined as the length L of the rope 11. It can be understood that if the volume of the cargo 12 is ignored, the ratio of the height of the drone 10 to cosθ is determined as the length L of the sling 11. If the volume of the cargo 12 is not ignored, the distance between the drone 10 and the cargo 12 can be determined according to the shape of the cargo 12, the height of the drone 10 and cosθ, and then the length L of the sling 11 can be determined.

[0068] It should be noted that the rope swing angle and the rope direction can be regarded as the same parameter, except that the rope swing angle is a scalar and the rope direction is a vector. The rope swing angle can be determined based on the rope direction, or the rope swing angle can be determined in the same way as the rope direction. For example, the rope swing angle can be detected by a motion sensor installed on the rope hook or a force sensor installed at the connection between the rope and the drone. Alternatively, the rope swing angle can be determined by the acceleration of the drone. The motion sensor can be a gyroscope or an IMU (inertial measurement unit). Reference Figure 5 , assuming that the acceleration of drone 10 is (a x , a y , a z ), then the acceleration of cargo 12 is (a x , a y , a z +g), a x , a y , a z are the acceleration components in the X, Y and Z directions respectively, and g is the acceleration due to gravity. After force analysis, the swing angle and acceleration of the suspension rope 11 satisfy the following relationship:

[0069]

[0070] When it is detected that the change in the flight power of the UAV is greater than a preset change threshold, the current acceleration of the UAV is obtained, the current swing angle of the suspension rope is determined according to the acceleration of the UAV and the acceleration of gravity, and the length of the suspension rope is determined according to the swing angle of the suspension rope.

[0071] The direction of the sling is the direction of the sling in the world coordinate system, which can be represented by a three-dimensional vector. In this embodiment, the direction of the sling can be detected by a motion sensor installed on the sling hook or by a force sensor installed at the connection between the sling and the drone. In addition, the acceleration of the cargo can be determined by the acceleration of the drone, and the direction of the sling can be determined based on the acceleration of the cargo. Figure 5 , the UAV 10 acceleration (a x , a y , a z ) in the Z direction z Add the gravitational acceleration g to get the acceleration of the cargo 12 (a x , a y , a z +g), while the acceleration of cargo 12 (a x , a y , a z +g) is the direction of the rope 11, so the acceleration of the cargo 12 is normalized, that is, the acceleration of the cargo 12 is divided by the corresponding modulus length to obtain the direction of the rope 11, and the direction of the rope 11 is a L / ||a L ||, a L =(a x , a y , a z + g).

[0072] S13012. Determine the cargo position and the sling position based on the sling direction, sling length and drone position.

[0073] refer to Figure 5 , the position of the cargo 12 can be regarded as the translation of the position of the drone 10 along the rope 11, that is, the product of the direction of the rope 11 and the length of the rope 11 is the translation vector of the drone 10 position to the cargo 12 position. In this regard, the translation vector between the drone 10 and the cargo 12 is determined according to the length and direction of the rope; the sum of the translation vector and the position of the drone 10 is determined as the position of the cargo 12. For example, assuming that the position of the cargo 12 is (x, y, z), the position of the drone 10 is (x, y, z) + L*a L / ||A L ||, that is, multiplying the length of the sling 11 by the direction of the sling 11 to obtain the translation vector, and subtracting the offset vector from the position of the drone 10 to obtain the position of the cargo 12.

[0074] refer to Figure 5The rope 11 can be regarded as a straight line segment between the cargo 12 and the drone 10. After the position of the cargo 12 is determined, the position of the line between the cargo 12 and the drone 10 can be determined as the position of the rope 11. Alternatively, the position of the drone 10 can be determined as the end point position of the rope 11, and the position of the rope 11 can be determined based on the end point position of the rope 11, the direction of the rope 11, and the length of the rope 11.

[0075] S13013. Determine the lifting rope data and cargo data in the ground sensing information according to the lifting rope position and the cargo position, and filter the lifting rope data and cargo data in the ground sensing information to obtain the remaining ground sensing information.

[0076] Exemplarily, the rope area is determined according to the rope position and the rope cross-sectional area, and the data in the ground sensing information that falls into the rope area is determined as the rope data. The cargo area is determined according to the cargo position and the cargo shape, and the data in the ground sensing information that falls into the cargo area is determined as the cargo data.

[0077] It should be noted that when the ground sensor scans the sling and cargo, it will be affected by the sling and cargo and collect some noise data around them. In order to ensure the accuracy of the terrain data subsequently acquired, when filtering the sling data and cargo data, the noise data around them can be filtered out.

[0078] For example, the rope area can be determined according to the rope position, the rope neighborhood with the rope area as the center within a preset distance range can be determined, and the ground sensing information in the rope area and the rope neighborhood can be determined as the rope data; the cargo area can be determined according to the cargo position, the cargo neighborhood with the cargo area as the center within a preset distance range can be determined, and the ground sensing information in the cargo area and the cargo neighborhood can be determined as the cargo data. Figure 6 Schematic diagram of the cargo area, the sling area and the corresponding neighborhood provided in the embodiment of the present application. Figure 6As shown, the rope area 14 is determined according to the rope position and the rope cross-sectional area, and the area around the rope area 14 and within the preset distance range is determined as the rope neighborhood 16. The cargo area 15 is determined according to the cargo position and cargo shape, and the area around the cargo area 15 and within the preset distance range is determined as the cargo neighborhood 17. The data in the rope area 14 and the rope neighborhood 16 in the ground sensing information are all determined as rope data, and the data in the cargo area 15 and the cargo neighborhood 17 in the ground sensing information are all determined as cargo data, so that the height data of the rope and the cargo and the corresponding noise data can be deleted from the ground sensing information later, and accurate terrain data is retained. Among them, the preset distance range can be set according to actual needs, but no matter how the preset distance range is determined, it will not include the terrain data below in the neighborhood of the cargo or rope, that is, when filtering the rope data and cargo data, the terrain data will not be filtered out, which further improves the accuracy of the terrain data. This embodiment deletes the data belonging to the sling, cargo and surrounding noise in the ground sensing information to retain the terrain data belonging to the ground, thereby improving the accuracy of terrain data acquisition and ensuring the accuracy of the expected operating trajectory and drone flight trajectory in subsequent planning.

[0079] This embodiment infers the cargo position and the sling position through the positional relationship between the UAV, the sling and the cargo, thereby filtering the cargo data and the sling data in the ground sensor information according to the cargo position and the sling position. There is no need to detect the cargo data and the sling data in the ground sensor information through a complex recognition algorithm, which improves the efficiency of obtaining terrain data, reduces the computing load of the UAV, and is beneficial to improving the control stability of the UAV.

[0080] S1302: Create an environmental topographic map based on the remaining ground sensing information.

[0081] For example, Figure 7 Schematic diagram of the drone and the ground provided in the embodiment of the present application. Figure 7 As shown, the height H1 of the drone 10 relative to each position point on the ground 13 in the terrain data represents the vertical distance between the drone 10 and the vertex of the terrain envelope at the corresponding position point. The drone 10 takes off from the ground plane 18, and the height of the take-off point is the height of the ground plane 18, and the height H2 of the drone 10 is the vertical distance between the drone 10 and the take-off point. When the remaining ground sensing information after filtering is used as terrain data to establish an environmental terrain map, the height H1 corresponding to each position point in the terrain data can be subtracted from the height H2 of the drone 10 to obtain the terrain height H3 of the corresponding position point, which can represent the vertical distance between the vertex of the terrain envelope at the corresponding position point and the take-off point. Afterwards, the environmental terrain map can be constructed according to the terrain heights of each position point.

[0082] In this embodiment, when the original passing path or initial flight path of the lifting task is executed for the first time, the terrain height of the corresponding position point in the initial environmental topographic map is updated according to the height of each position point in the terrain data; wherein the terrain height of each position point in the initial environmental topographic map is zero. The initial environmental topographic map is an environmental topographic map established relative to the height of the take-off point before the UAV takes off, and the terrain height corresponding to any position point in the initial environmental topographic map is zero. Of course, before the initial environmental topographic map is established, it will be determined whether the original passing path or initial flight path is executed for the first time. If so, the initial environmental topographic map will be established, otherwise it will not be established. The height of each position point in the terrain data is the vertical distance between the UAV and the vertex of the terrain envelope at the corresponding position point, and the difference between the height of the UAV and the height of each position point is determined as the terrain height of the corresponding position point in the initial environmental topographic map. Reference Figure 7 , subtract the height H1 of the position point A from the height H2 of the drone 10 to obtain the height H3, and use the height H3 as the terrain height of the position point A in the initial environment terrain map.

[0083] Furthermore, when the original path or initial flight path of the lifting task is not executed for the first time, the historical environmental topographic map corresponding to the original path or initial flight path is obtained, and the terrain height of the corresponding position point in the historical environmental topographic map is updated according to the height of each position point in the terrain data. The historical environmental topographic map is the environmental topographic map generated when the original path or initial flight path was executed last time, and the terrain height of each position point determined by the drone during the last execution is recorded in the historical environmental topographic map. The difference between the height of the drone and the height of each position point can be determined as the real-time terrain height of the corresponding position point. The terrain height of the corresponding position point in the historical environmental topographic map is updated according to the real-time terrain height of the position point, and the updated historical environmental topographic map is used as the current environmental topographic map. Specifically, the average value of the real-time terrain height and the terrain height in the historical environmental topographic map can replace the terrain height of the corresponding position point in the historical environmental topographic map. Alternatively, when the real-time terrain height and the terrain height in the historical environmental topographic map differ greatly, the real-time terrain height replaces the terrain height in the historical environmental topographic map, otherwise the terrain height in the historical environmental topographic map is retained. This embodiment improves the construction efficiency and construction accuracy of the environmental topographic map by constructing a real-time environmental topographic map based on the terrain data obtained in real time on the basis of the historical environmental topographic map.

[0084] S140: Plan the expected movement trajectory of the cargo according to the environmental topographic map and the original route.

[0085] For example, after constructing an environmental terrain map, an expected operation trajectory that imitates the terrain and maintains a safe distance from the terrain envelope vertices at each location point can be planned according to the terrain height of each location point in the environmental terrain map, thereby reversely inferring the flight trajectory of the UAV based on the expected operation trajectory. When the UAV flies based on the flight trajectory, the hoisted cargo moves along the expected operation trajectory imitating the terrain, and the cargo always maintains a safe distance from the ground, thereby ensuring the safety of the cargo and the UAV.

[0086] In this embodiment, Figure 8 It is a flowchart of planning the expected running trajectory provided by an embodiment of the present application.

[0087] like Figure 8 As shown, the steps of planning the expected running trajectory specifically include S1401-S1403:

[0088] S1401. Acquire multiple original waypoints on the original route.

[0089] Exemplarily, if the original path in the mission information consists of multiple original waypoints, then the multiple original waypoints in the mission information are directly obtained. If the original path is a path segment set by the user or planned by the initial flight path, multiple original waypoints are sampled on the original path. Among them, the original waypoint can be understood as the spatial point through which the cargo passes when the drone lifts the cargo in the ground plane scene corresponding to the take-off point. The original waypoint includes a horizontal position and a height. The height of each original waypoint is the vertical height relative to the take-off point. The height of each original waypoint is equal and equal to the safe distance maintained from the ground when the cargo is lifted. Fig. 9 is a schematic diagram of the original waypoints provided in the embodiment of the present application. Fig. 9 As shown, the height H4 of the original waypoint 19 is the vertical height of the original waypoint relative to the ground plane 18 of the take-off point. It can be understood that if the drone is hoisting in the scene of the ground plane 18, the cargo will pass through each original waypoint 19, that is, the cargo always maintains a safe distance from the ground plane 18. Since various terrains are formed on the ground plane 18, if the drone hoists the cargo based on the original waypoint 19, the cargo will collide with the actual ground 13. Therefore, after obtaining the original waypoint, the height of the original waypoint can be adjusted based on the terrain height of each location point in the environmental terrain map to avoid the cargo from colliding with the actual ground when the drone is hoisting the cargo.

[0090] S1402. According to the environmental topographic map, multiple original waypoints are adjusted in height to obtain multiple expected waypoints for the cargo, wherein the heights of the expected waypoints are equal to the sum of the heights of the original waypoints at the same horizontal position and the terrain heights at corresponding positions in the environmental topographic map.

[0091] The expected waypoint is the waypoint that the cargo is expected to pass when the drone performs the lifting task. Exemplarily, the corresponding position point in the environmental topographic map is determined according to the horizontal position of the original waypoint, and the sum of the terrain height of the position point and the height of the original waypoint is determined as the height of the expected waypoint at the same horizontal position, so that when the cargo reaches the expected waypoint, it maintains a safe distance from the terrain envelope vertex at the corresponding position. Fig.10 Schematic diagram of the original waypoints and the expected waypoints provided by the embodiment of the present application. Fig.10 As shown, the original waypoint 19 is adjusted to obtain the desired waypoint 21 after being adjusted by imitation of the terrain, and the connection line of multiple desired waypoints 21 is similar to the actual terrain of the ground 13. Point B is the desired waypoint 21, and point C is the vertex of the terrain envelope at the corresponding position of point B. The vertical height of point B relative to point C is equal to the height H4 of the original waypoint at the same horizontal position before adjustment, that is, the safe distance between the cargo and the ground. The height of point B is equal to the height H4 plus the terrain height H3 of point C.

[0092] S1403. Plan the expected trajectory of the cargo according to multiple expected waypoints.

[0093] For example, after adjusting the height of each original waypoint, the expected running trajectory in the future period of time can be planned using constraint information such as dynamics, kinematics, and maximum rope swing angle. The length of the expected running trajectory can be set according to actual needs. For example, the length of the expected running trajectory can be set according to the perception range of the ground sensor, because the drone can obtain terrain data within the perception range, and thus adjust the height of the original waypoint based on the terrain data within the perception range.

[0094] In this embodiment, the expected running trajectory of the cargo can be planned according to multiple expected passing waypoints, the maximum rope swing angle, and the dynamic constraint information and kinematic constraint information of the drone. The expected running trajectory includes multiple trajectory points and the position, time, speed and acceleration of the cargo when it is planned to arrive at each trajectory point. Among them, the kinematic constraint information includes the speed, acceleration, position, attitude and geometric constraints of the drone, and the dynamic constraint information includes the thrust of the drone. Multiple expected passing waypoints are fitted to obtain a smooth cargo passing route. The position, time, speed and acceleration of the cargo planned to arrive at each position point in the cargo passing route are determined according to the maximum rope swing angle, the speed, acceleration, position, attitude, geometric constraints and thrust of the drone. The cargo planned to arrive at each position point in the cargo passing route is used as each trajectory point in the expected running trajectory. The position, time, speed and acceleration of the cargo planned to arrive at each trajectory point are summarized to obtain the expected running trajectory. This embodiment uses the maximum rope swing angle and the dynamic constraint information and kinematic constraint information of the UAV to accurately plan the desired operation trajectory, so that the cargo can move along the desired operation trajectory when the UAV is flying in a lifting manner, thereby improving the control accuracy of the UAV, thereby ensuring that the cargo maintains a safe distance from the ground, and improving the safety of the cargo and the UAV.

[0095] It should be noted that the cargo and the drone are connected by a sling. It is possible that the sling will collide with the ground when the cargo moves along the expected trajectory. Therefore, after planning the expected trajectory, the drone position can be inferred based on the cargo position in the expected trajectory. According to the cargo position and the drone position, it can be determined whether the sling maintains a safe distance from the ground. When the sling maintains a safe distance from the ground, the flight trajectory can be planned based on the currently planned expected trajectory. Otherwise, the execution of the currently planned expected trajectory can be stopped.

[0096] The specific implementation process is as follows: time sampling is performed on each track point in the expected running track to obtain multiple time sampling points, and the corresponding drone position is determined according to the cargo position and cargo acceleration corresponding to each time sampling point; equidistant sampling is performed between the cargo position corresponding to the time sampling point and the drone position to obtain multiple distance sampling points, and the corresponding terrain height is determined in the environmental terrain map according to the position of the distance sampling point; when the difference between the height of the distance sampling point and the corresponding terrain height is less than the preset safety threshold, the expected running track of the cargo is replanned based on the ground sensing information and the original path. Among them, the time sampling point is the time point obtained by sampling the time of each track point.

[0097] Exemplarily, multiple time sampling points are obtained by sampling at the time of each trajectory point according to a preset time interval. For example, the time of the first trajectory point of the expected running trajectory and the time of the trajectory point with an integral multiple of the preset time interval of the time interval are taken as time sampling points. Afterwards, the cargo position and cargo acceleration at each time sampling point are obtained, that is, the location where the cargo is planned to arrive at the time sampling point and the acceleration of the cargo. The cargo position and cargo acceleration can be obtained by the location and acceleration of the trajectory point at the corresponding time in the expected running trajectory. From the above content, it can be seen that at the same time, the drone position is equal to the cargo position plus the product of the length of the sling and the direction of the sling, and the direction of the sling is equal to the acceleration of the cargo divided by the modulus. Therefore, the direction of the sling can be determined based on the acceleration of the cargo at the time sampling point, and the drone position corresponding to the time sampling point is determined according to the direction of the sling, the length of the sling and the cargo position at the time sampling point, that is, the location where the drone is planned to arrive at the time sampling point. Afterwards, multiple distance sampling points are obtained by equidistant sampling on the straight line segment between the drone position and the cargo position at the same time sampling point, and the distance sampling point is a spatial point in three-dimensional space.

[0098] Fig.11 Schematic diagram of distance sampling points provided in the embodiment of the present application. Fig.11As shown, the straight line segment between the position of the drone 11 and the position of the cargo 12 at the same sampling point is the position of the sling 11, and sampling at equal intervals on the straight line segment is sampling at the position of the sling 12, and the obtained distance sampling point 20 is the spatial point of the sling 12. According to the horizontal position of the distance sampling point 20, the terrain height at the corresponding position point can be determined in the environmental topographic map, and the difference between the height of the distance sampling point 20 and the terrain height at the corresponding position point is the vertical height H5 of the distance sampling point 20 relative to the topography envelope vertex at the corresponding position. The preset safety threshold is the safe distance between the cargo 12 and the sling 11 and the ground during lifting. When the vertical height H5 is greater than or equal to the preset safety threshold, it indicates that there is no risk of touching the ground at the sling 11 space point corresponding to the distance sampling point during the lifting process. When the vertical height H5 is less than the preset safety threshold, it indicates that there is a risk of touching the ground at the sling 11 space point corresponding to the distance sampling point during the lifting process. Therefore, once it is detected that the difference between the height of the distance sampling point 20 and the corresponding terrain height is less than the preset safety threshold, it indicates that the expected operation trajectory cannot guarantee the safe movement of the goods, and the expected operation trajectory of the goods is re-planned based on the ground sensing information and the original path. This embodiment reduces the computational load of the drone by sampling the time of each trajectory point to reduce the number of time sampling points used to detect whether the expected operation trajectory is safe. The computational load of the drone is further reduced by performing equidistant sampling between the cargo position and the drone position at the same time sampling point to reduce the number of distance sampling points used to detect whether the expected operation trajectory is safe. The lifting rope space point is characterized by the distance sampling point, and the difference between the height of the lifting rope space point and the terrain height of the corresponding position point is used to determine whether the lifting rope space point has a risk of touching the ground, thereby achieving accurate detection of whether the expected operation trajectory is safe and ensuring the safety of the cargo during lifting.

[0099] Once it is detected that the difference between the height of the sampling point and the corresponding terrain height is less than the preset safety threshold, the process can return to step S130 to re-establish the environmental terrain map, and then re-plan the expected operation trajectory through the environmental terrain map until the expected operation trajectory that can ensure the safe movement of the goods is planned.

[0100] S150: Control the flight of the UAV according to the expected flight trajectory.

[0101] For example, the control quantity of the drone can be inferred based on the position, time, speed and acceleration of the cargo when it arrives at each trajectory point in the expected motion trajectory, and then the drone's lifting flight can be controlled according to the control quantity, so that the cargo arrives at each trajectory point according to the time, speed and acceleration in the expected motion trajectory, thereby ensuring that the cargo always maintains a safe distance from the ground, thereby improving the safety of cargo lifting.

[0102] Among them, when the UAV is flying according to the initial flight path, the corresponding flight path points of the UAV in the initial flight path can be inferred according to the position, time, speed and acceleration of the goods when they arrive at each trajectory point in the expected motion trajectory, so as to adjust the flight altitude of the UAV. During the flight of the UAV, the goods can move according to the expected trajectory to ensure that the goods always maintain a safe distance from the ground.

[0103] From the above content, it can be seen that the difference between the height of the distance sampling point and the terrain height at the corresponding position point is greater than or equal to the preset safety threshold, indicating that the rope space point corresponding to the distance sampling point has no risk of touching the ground during the lifting process, that is, when and only when the rope space point corresponding to each distance sampling point has no risk of touching the ground, it can be determined that the expected operation trajectory can ensure the safe movement of the goods. Therefore, when the difference between the height of each distance sampling point and the corresponding terrain height is greater than or equal to the preset safety threshold, the UAV flight is controlled according to the expected operation trajectory. That is, the difference between the height of each distance sampling point and the corresponding terrain height is compared with the preset safety threshold one by one. Once the difference between the height of the distance sampling point and the corresponding terrain height is less than the preset safety threshold, the expected operation trajectory is stopped. When the difference between the height of all distance sampling points and the corresponding terrain height is greater than the preset safety threshold, the UAV flight is controlled according to the expected operation trajectory.

[0104] In this embodiment, in order to improve the control accuracy of the drone, the flight trajectory of the drone can be inferred based on the expected running trajectory, and then the flight of the drone can be controlled based on the flight trajectory. Fig.12 This is a flow chart of controlling the flight of a drone provided by an embodiment of the present application. Fig.12 As shown, the steps of controlling the flight of the drone specifically include S1501-S1502:

[0105] S1501. Determine the flight trajectory of the UAV according to the expected flight trajectory.

[0106] For example, the drone position, drone speed and drone acceleration at the corresponding time can be inferred from the cargo position, cargo speed and cargo acceleration at each trajectory point in the expected running trajectory, and then the drone position, drone speed and drone acceleration at each time can be summarized to obtain the flight trajectory of the drone.

[0107] Since the trajectory points in the expected running trajectory are infinite, the calculation of the drone position, drone speed and drone acceleration at the corresponding time from the cargo position, cargo speed and cargo acceleration of the trajectory point is large and time-consuming, which affects the flight control efficiency of the drone. In order to improve the calculation efficiency of the flight trajectory, each trajectory point in the expected running trajectory can be sampled, and the flight trajectory can be determined according to the sampling points. The specific steps include S15011-S15013:

[0108] S15011. Based on the control frequency, each trajectory point in the expected running trajectory is sampled to obtain multiple control points.

[0109] Exemplarily, the control point is a time point obtained by sampling the time of each trajectory point based on the control frequency. The flight controller of the drone controls the flight of the drone at a certain control frequency, and the control time can be determined based on the control frequency, and the time of the trajectory point in the expected running trajectory that is the same as the control time is determined as the control point.

[0110] S15012. Determine the drone position, drone speed, and drone acceleration corresponding to the control point based on the cargo position, cargo speed, and cargo acceleration corresponding to the control point.

[0111] Exemplarily, the direction of the lifting rope is determined according to the cargo acceleration corresponding to the control point, the position of the drone corresponding to the control point is determined according to the cargo position, the direction of the lifting rope and the length of the lifting rope corresponding to the control point, and the position acceleration corresponding to the control point is determined according to the cargo acceleration and gravity acceleration corresponding to the control point. The cargo speed corresponding to the control point is determined as the drone speed corresponding to the control point. Among them, the cargo position, cargo speed and cargo acceleration corresponding to the control point are the location where the cargo is planned to arrive at the control point, as well as the speed and acceleration during movement. The drone position, drone speed and drone acceleration corresponding to the control point are the location where the drone is planned to arrive at the control point, as well as the speed and acceleration during flight.

[0112] S15013. Plan the flight trajectory of the drone according to the drone positions, drone speeds, and drone accelerations corresponding to the multiple control points.

[0113] Exemplarily, the drone positions, drone velocities, and drone accelerations corresponding to multiple control points are summarized to obtain the flight trajectory of the drone. This embodiment samples each trajectory point by controlling the frequency to reduce the number of control points used to plan the flight trajectory, reduce the calculation load of the drone, and improve the calculation efficiency of the flight trajectory.

[0114] S1502: Control the flight of the drone according to the flight trajectory of the drone.

[0115] For example, the control amount of the drone is determined according to the time, position, speed and acceleration corresponding to each trajectory point in the flight trajectory, so as to control the drone to arrive at the corresponding position at the speed and acceleration specified in the flight trajectory at the corresponding time according to the control amount. At the same time, the cargo also arrives at the corresponding position at the speed and acceleration specified in the expected operation trajectory at the corresponding time, so that the cargo moves along the expected operation trajectory when the drone performs the lifting task, ensuring that the cargo always maintains a safe distance from the ground, thereby improving the safety of the cargo.

[0116] In this embodiment, when a controllable point is about to arrive, the drone position, drone speed, and drone acceleration corresponding to the corresponding control point in the flight trajectory are obtained. The drone position, drone speed, and drone acceleration corresponding to the control point are sent to the flight controller of the drone, and the flight controller controls the drone to fly along the flight trajectory. When the flight controller controls the drone to fly along the flight trajectory, the flight controller can determine the control amount according to the drone position, drone speed, and drone acceleration, and drive the motor to rotate according to the control amount so that the drone can reach the corresponding drone position at the control point at the corresponding drone speed and drone acceleration, and the cargo also arrives at the corresponding cargo position at the corresponding cargo speed and cargo acceleration.

[0117] This embodiment reversely infers the flight trajectory of the UAV through the expected running trajectory, and accurately controls the UAV to perform lifting flight through the flight trajectory, ensuring that the cargo always maintains a safe distance from the ground when the UAV flies based on the flight trajectory, thereby improving the safety of cargo lifting.

[0118] Since the expected operation trajectory is a trajectory planned for a period of time, there is a situation where the lifting task is not completed but the cargo is about to move to the end of the expected operation trajectory. In this regard, if the cargo moves to the end section of the expected operation trajectory when the lifting task is not completed, a new expected operation trajectory is planned based on the ground sensing information sampled in real time by the ground sensor and the original path. Among them, the end section can be understood as a small section of the path before the end point of the expected operation trajectory, and its length can be set according to actual needs. When the cargo moves to the starting point of the end section of the expected operation trajectory, a new expected operation trajectory can be planned while controlling the drone to execute the expected operation trajectory. When the new expected operation trajectory is planned and the old expected operation trajectory is executed, the drone is controlled to fly based on the new expected operation trajectory, and so on until the drone arrives at the unloading point.

[0119] After the lifting task is completed, the drone may perform a new lifting task based on the original path of this lifting task next time. Therefore, the currently constructed environmental topographic map can be associated and saved with the original path of the lifting task, so that a new environmental topographic map can be established directly based on the environmental topographic map next time, thereby improving the execution efficiency and convenience of subsequent lifting tasks.

[0120] It should be noted that most of the positioning sensors currently used by drones are RTK sensors, and RTK sensors are easily affected by the environment and have large positioning deviations. If the positioning deviation of the drone's positioning sensor in this lifting task is large, the constructed environmental terrain map is inaccurate. In order to ensure the safe execution of the next lifting task, the environmental terrain map is not associated with the original path of the lifting task and saved. In this regard, the positioning deviation of the drone can be calculated after the lifting task is completed. If the positioning deviation of the drone is equal to or equal to the preset deviation threshold, the environmental terrain map is associated with the original path of the lifting task and saved. If the positioning deviation of the drone is greater than the preset deviation threshold, the environmental terrain map is not saved. Among them, the preset deviation threshold is the minimum deviation when the positioning deviation of the drone will not affect the execution accuracy of the lifting task, that is, when the positioning deviation of the drone is less than the preset deviation threshold, it indicates that the accuracy of the environmental terrain map is high, and the environmental terrain map can be associated with the original path of the lifting task and saved for use in the next lifting task. When the positioning deviation of the drone is less than the preset deviation threshold, it indicates that the accuracy of the environmental terrain map is low, and the environmental terrain map is not saved to avoid affecting the execution accuracy of the next lifting task.

[0121] In summary, the hoisting flight method provided in the embodiment of the present application obtains the original path of the cargo, obtains the real-time ground sensing information collected by the ground sensor, constructs a high-precision environmental topographic map based on the ground sensing information, and adjusts the height of the original path through the environmental topographic map, thereby planning an expected operation trajectory that imitates the ground and maintains a safe height from the ground according to the adjusted original path, and controls the flight of the drone through the expected operation trajectory to ensure that the cargo always maintains a safe distance from the ground during the hoisting process, thereby improving the safety of the cargo and the drone. The drone does not need to maintain the target flight altitude for continuous flight during the hoisting flight, which solves the problem in the prior art that the drone cannot perform the hoisting task normally due to high-altitude control or other reasons, and ensures the execution efficiency of the hoisting task.

[0122] Based on the above embodiments, Fig.13 This is a schematic diagram of the structure of a hoisting flying device provided in an embodiment of the present application. Fig.13 The lifting flight device provided in this embodiment specifically includes: an original path acquisition module 31, a sensor information acquisition module 32, a terrain map establishment module 33, a cargo trajectory planning module 34 and a flight control module 35.

[0123] The original path acquisition module 31 is configured to acquire the original path of the goods;

[0124] The sensor information collection module 32 is configured to obtain ground sensor information collected by the ground sensor;

[0125] A terrain map building module 33 is configured to build an environmental terrain map according to ground sensing information;

[0126] The cargo trajectory planning module 34 is configured to plan the expected running trajectory of the cargo according to the environmental topographic map and the original passing path;

[0127] The flight control module 35 is configured to control the flight of the UAV according to a desired flight trajectory.

[0128] On the basis of the above embodiment, the original path acquisition module 31 includes: a horizontal position determination submodule, configured to determine the horizontal position of the initial flight path of the drone as the horizontal position of the original path of the cargo; a height determination submodule, configured to determine the preset safety distance as the height of each waypoint in the original path of the cargo relative to the take-off point; wherein the preset safety distance is the safety distance maintained between the cargo and the ground; an original path generation submodule, configured to generate the original path of the cargo according to the horizontal position of the original path of the cargo and the height of each waypoint relative to the take-off point.

[0129] On the basis of the above-mentioned embodiment, the topographic map establishing module 33 includes: a data filtering submodule, configured to filter the sling data and cargo data in the ground sensing information to obtain the remaining ground sensing information; and a topographic map establishing submodule, configured to establish an environmental topographic map according to the remaining ground sensing information.

[0130] On the basis of the above embodiment, the data filtering submodule includes: a rope information acquisition unit, configured to obtain the rope length and the rope direction; a position information acquisition unit, configured to determine the cargo position and the rope position according to the rope direction, the rope length and the drone position; a data filtering unit, configured to determine the rope data and the cargo data in the ground sensing information according to the rope position and the cargo position, and filter the rope data and the cargo data in the ground sensing information to obtain the remaining ground sensing information.

[0131] Based on the above embodiment, the rope information acquisition unit includes: a rope length acquisition subunit, configured to obtain the rope length set in the lifting task; or a rope length determination subunit, configured to determine the rope length according to the rope swing angle and the drone position when it is detected that the change in flight power when the drone pulls up the cargo is greater than a preset change threshold.

[0132] On the basis of the above embodiments, the lifting rope information acquisition unit includes: a first lifting rope direction detection subunit, configured to detect the lifting rope direction through a motion sensor installed on the lifting rope hook; or, a second lifting rope direction detection subunit, configured to detect the lifting rope direction through a force sensor installed at the connection between the lifting rope and the drone; or, a lifting rope direction determination subunit, configured to determine the cargo acceleration through the drone acceleration, and determine the lifting rope direction according to the cargo acceleration.

[0133] Based on the above embodiment, the position information acquisition unit includes: a translation vector determination subunit, configured to determine the translation vector between the drone and the cargo according to the length and direction of the sling; and a cargo position determination subunit, configured to determine the cargo position according to the translation vector and the drone position.

[0134] On the basis of the above-mentioned embodiment, the data filtering unit includes: a suspension rope data determination subunit, configured to determine the suspension rope area according to the suspension rope position, determine the suspension rope neighborhood within a preset distance range with the suspension rope area as the center, and determine the ground sensing information in the suspension rope area and the suspension rope neighborhood as the suspension rope data; a cargo data determination subunit, configured to determine the cargo area according to the cargo position, determine the cargo neighborhood within a preset distance range with the cargo area as the center, and determine the ground sensing information in the cargo area and the cargo neighborhood as the cargo data.

[0135] On the basis of the above-mentioned embodiment, the topographic map establishment submodule includes: a first topographic map construction unit, which is configured to update the terrain height of the corresponding position point in the initial environmental topographic map according to the height of each position point in the terrain data when the original route of the lifting task is executed for the first time; wherein the terrain height of each position point in the initial environmental topographic map is zero; a second topographic map construction unit, which is configured to obtain the historical environmental topographic map corresponding to the original route when the original route of the lifting task is not executed for the first time, and update the terrain height of the corresponding position point in the historical environmental topographic map according to the height of each position point in the terrain data.

[0136] On the basis of the above embodiment, the cargo trajectory planning module 34 includes: a cargo waypoint acquisition submodule, which is configured to obtain multiple original waypoints on the original route; a terrain-adjusting submodule, which is configured to adjust the height of the multiple original waypoints according to the environmental terrain map to obtain multiple expected waypoints of the cargo, and the height of the expected waypoint is equal to the cumulative value of the height of the original waypoint at the same horizontal position and the terrain height at the corresponding position point in the environmental terrain map; the first cargo trajectory planning submodule is configured to plan the expected operation trajectory of the cargo according to the multiple expected waypoints.

[0137] Based on the above embodiment, the cargo trajectory planning submodule includes: a cargo route planning unit, which is configured to plan the expected operation trajectory of the cargo according to multiple expected waypoints, the maximum rope swing angle, and the dynamic constraint information and kinematic constraint information of the drone, and the expected operation trajectory includes multiple trajectory points and the position, time, speed and acceleration of the cargo when it is planned to arrive at each trajectory point.

[0138] On the basis of the above embodiments, the lifting flight device also includes a cargo trajectory verification module, which includes: a time sampling unit, which is configured to, after planning the expected operation trajectory of the cargo according to the environmental terrain map and the original route, perform time sampling on each trajectory point in the expected operation trajectory to obtain multiple time sampling points, and determine the corresponding drone position according to the cargo position and cargo acceleration corresponding to each time sampling point; a distance sampling unit, which is configured to perform equidistant sampling between the cargo position and the drone position corresponding to the time sampling point to obtain multiple distance sampling points, and determine the corresponding terrain height in the environmental terrain map according to the position of the distance sampling point; the cargo trajectory verification unit is configured to re-plan the expected operation trajectory of the cargo based on ground sensing information and the original route when the difference between the height of the distance sampling point and the corresponding terrain height is less than a preset safety threshold.

[0139] Based on the above embodiment, the flight control module 35 includes: a first flight control submodule, which is configured to control the flight of the drone according to the expected running trajectory when the difference between the height of each distance sampling point and the corresponding terrain height is greater than or equal to a preset safety threshold.

[0140] Based on the above embodiment, the flight control module 35 includes: a flight trajectory planning submodule, configured to determine the flight trajectory of the UAV according to the expected running trajectory; and a second flight control submodule, configured to control the flight of the UAV according to the flight trajectory.

[0141] Based on the above embodiment, the flight trajectory planning submodule includes: a control point sampling unit, configured to sample each trajectory point in the expected running trajectory based on the control frequency to obtain multiple control points; a control point information determination unit, configured to determine the drone position, drone speed and drone acceleration corresponding to the control point according to the cargo position, cargo speed and cargo acceleration corresponding to the control point; a second flight trajectory planning unit, configured to plan the flight trajectory of the drone according to the drone positions, drone speeds and drone accelerations corresponding to multiple control points.

[0142] Based on the above embodiment, the second flight control submodule includes: a flight control unit, which is configured to send the drone position, drone speed and drone acceleration corresponding to the control point to the drone's flight controller, and the flight controller controls the drone to fly along the flight trajectory.

[0143] Based on the above embodiment, the cargo trajectory planning module 34 includes: a second cargo trajectory planning sub-module, which is configured to, after controlling the flight of the UAV according to the expected trajectory, if the cargo moves to the end section of the expected trajectory when the lifting task is not completed, plan a new expected trajectory based on the ground sensor information sampled in real time by the ground sensor and the original path.

[0144] On the basis of the above embodiments, the lifting flight device also includes: a terrain map saving module, which is configured to save the environmental terrain map in association with the original path of the lifting task after controlling the flight of the UAV according to the expected operating trajectory and after the lifting task is completed, if the positioning deviation of the UAV is less than or equal to a preset deviation threshold.

[0145] As mentioned above, the lifting flight device provided by the embodiment of the present application obtains the original path of the cargo, obtains the real-time ground sensing information collected by the ground sensor, constructs a high-precision environmental topographic map based on the ground sensing information, and adjusts the height of the original path through the environmental topographic map, thereby planning an expected operation trajectory that imitates the ground and maintains a safe height from the ground according to the adjusted original path, and controls the flight of the drone through the expected operation trajectory to ensure that the cargo always maintains a safe distance from the ground during the lifting process, thereby improving the safety of the cargo and the drone. The drone does not need to maintain the target flight altitude for continuous flight during the lifting flight, which solves the problem in the prior art that the drone cannot perform the lifting task normally due to high-altitude control or other reasons, and ensures the execution efficiency of the lifting task.

[0146] The lifting and flying device provided in the embodiment of the present application can be used to execute the lifting and flying method provided in the above-mentioned embodiment, and has corresponding functions and beneficial effects.

[0147] Fig.14 This is a schematic diagram of the structure of a UAV lifting flight device provided in an embodiment of the present application, with reference to Fig.14 The UAV includes: a processor 41, a memory 42, a communication device 43, an input device 44, and an output device 45. The number of processors 41 in the hoisting flying device can be one or more, and the number of memories 42 in the hoisting flying device can be one or more. The processor 41, memory 42, communication device 43, input device 44, and output device 45 of the hoisting flying device can be connected via a bus or other means.

[0148] The memory 42, as a computer-readable storage medium, can be used to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to the hoisting flight method of any embodiment of the present application (for example, the original path acquisition module 31, the sensor information acquisition module 32, the topographic map establishment module 33, the cargo trajectory planning module 34 and the flight control module 35 in the hoisting flight device). The memory 42 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the device, etc. In addition, the memory 42 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0149] The communication device 43 is used for data transmission.

[0150] The processor 41 executes various functional applications and data processing of the equipment by running the software programs, instructions and modules stored in the memory 42, that is, realizes the above-mentioned hoisting flight method.

[0151] The input device 44 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the device. The output device 45 may include a display device such as a display screen.

[0152] The drone provided above can be used to execute the lifting flight method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0153] An embodiment of the present application also provides a storage medium containing computer executable instructions. When the computer executable instructions are executed by a computer processor, they are used to execute a lifting flight method for an unmanned aerial vehicle. The lifting flight method includes: acquiring ground sensing information collected in real time by a ground sensor, filtering the lifting rope data and cargo data in the ground sensing information to obtain terrain data; establishing an environmental topographic map based on the terrain data, and planning an expected operating trajectory based on the environmental topographic map; determining the flight trajectory of the unmanned aerial vehicle based on the expected operating trajectory, and controlling the flight of the unmanned aerial vehicle based on the flight trajectory.

[0154] Storage medium - any of various types of memory devices or storage devices. The term "storage medium" is intended to include: installation media, such as CD-ROM, floppy disk or tape device; computer system memory or random access memory, such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (such as hard disk or optical storage); registers or other similar types of memory elements, etc. Storage media may also include other types of memory or combinations thereof. In addition, the storage medium may be located in the first computer system in which the program is executed, or may be located in a different second computer system, which is connected to the first computer system via a network (such as the Internet). The second computer system can provide program instructions to the first computer for execution. The term "storage medium" may include two or more storage media residing in different locations (for example, in different computer systems connected by a network). The storage medium may store program instructions (for example, embodied as a computer program) that can be executed by one or more processors.

[0155] Of course, the storage medium containing computer executable instructions provided in the embodiment of the present application, whose computer executable instructions are not limited to the above-mentioned hoisting and flying method, can also execute related operations in the hoisting and flying method provided in any embodiment of the present application.

[0156] The lifting and flying device, storage medium and drone provided in the above embodiments can execute the lifting and flying method provided in any embodiment of the present application. For technical details not described in detail in the above embodiments, please refer to the lifting and flying method provided in any embodiment of the present application.

[0157] The above are only preferred embodiments of the present application and the technical principles used. The present application is not limited to the specific embodiments herein, and various obvious changes, readjustments and substitutions that can be made by those skilled in the art will not deviate from the protection scope of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A method for hoisting and flying a drone, characterized in that: The drone is provided with a ground sensor and a lifting system, the lifting system includes a lifting rope and cargo suspended on the lifting rope, and the method includes: Obtaining the original route of the goods; Acquire ground sensing information collected by ground sensors; Establishing an environmental topographic map based on the ground sensing information; Planning the expected running trajectory of the cargo according to the environmental topographic map and the original route; The UAV is controlled to fly according to the expected flight trajectory.

2. The hoisting flying method according to claim 1, characterized in that: The obtaining of the original path of the goods includes: Determine the horizontal position of the initial flight path of the drone as the horizontal position of the original path of the cargo; The preset safety distance is determined as the height of each waypoint in the original path of the cargo relative to the take-off point; wherein the preset safety distance is the safety distance maintained between the cargo and the ground; The original path of the cargo is generated according to the horizontal position of the original path of the cargo and the height of each waypoint relative to the take-off point.

3. The hoisting flying method according to claim 1, characterized in that: The step of establishing an environmental topographic map according to the ground sensing information comprises: filtering the sling data and the cargo data in the ground sensing information to obtain the remaining ground sensing information; An environmental terrain map is established based on the remaining ground sensing information.

4. The hoisting flying method according to claim 3, characterized in that: The filtering of the sling data and the cargo data in the ground sensing information to obtain the remaining ground sensing information includes: Get the length of the lifting rope and get the direction of the lifting rope; Determine the cargo position and the rope position according to the rope direction, the rope length and the drone position; The rope data and cargo data in the ground sensing information are determined according to the rope position and the cargo position, and the rope data and cargo data in the ground sensing information are filtered to obtain the remaining ground sensing information.

5. The method for hoisting and flying according to claim 4, characterized in that: The obtaining of the length of the suspension rope comprises: Get the length of the lifting rope set in the lifting task; or, When it is detected that the change in the flight power of the drone when pulling up the cargo is greater than a preset change threshold, the length of the sling rope is determined according to the sling rope swing angle and the drone position.

6. The method for hoisting and flying according to claim 4, characterized in that: The obtaining of the direction of the suspension rope comprises: Detect the direction of the rope through a motion sensor installed on the rope hook; or, Detect the direction of the rope through a force sensor installed at the connection between the rope and the drone; or, The acceleration of the cargo is determined by the acceleration of the drone, and the direction of the lifting rope is determined based on the acceleration of the cargo.

7. The method for lifting and flying according to claim 4, characterized in that: The determining of the cargo position and the sling position according to the sling direction, the sling length and the drone position includes: Determine a translation vector between the drone and the cargo according to the length of the sling and the direction of the sling; The cargo position is determined based on the translation vector and the drone position.

8. The method for hoisting and flying according to claim 4, characterized in that: The determining of the sling data and the cargo data in the ground sensing information according to the sling position and the cargo position includes: Determine a rope suspension area according to the rope suspension position, determine a rope suspension neighborhood with the rope suspension area as the center and within a preset distance range, and determine ground sensing information within the rope suspension area and the rope suspension neighborhood as rope suspension data; A cargo area is determined according to the cargo position, a cargo neighborhood with the cargo area as the center and within a preset distance range is determined, and ground sensing information within the cargo area and the cargo neighborhood is determined as cargo data.

9. The method for hoisting and flying according to claim 3, characterized in that: Establishing an environmental terrain map according to the remaining ground sensing information, including: When the original path of the lifting task is executed for the first time, the terrain height of the corresponding position point in the initial environmental topographic map is updated according to the height of each position point in the remaining ground sensing information; wherein the terrain height of each position point in the initial environmental topographic map is zero; When the original route of the lifting task is not executed for the first time, the historical environmental topographic map corresponding to the original route is obtained, and the terrain heights of the corresponding positions in the historical environmental topographic map are updated according to the heights of each position point in the remaining ground sensing information.

10. The method for lifting and flying according to claim 1, characterized in that: The step of planning the expected running track of the cargo according to the environmental topographic map and the original path includes: Acquire a plurality of original waypoints on the original path; According to the environmental topographic map, the multiple original waypoints are adjusted in height to obtain multiple expected waypoints for the cargo, wherein the heights of the expected waypoints are equal to the sum of the heights of the original waypoints at the same horizontal position and the terrain heights at corresponding positions in the environmental topographic map; Plan the expected movement trajectory of the cargo according to the multiple expected waypoints.

11. The method for hoisting and flying according to claim 10, characterized in that: The step of planning the expected running trajectory of the cargo according to the plurality of expected waypoints includes: The expected running trajectory of the cargo is planned according to the multiple expected waypoints, the maximum rope swing angle, and the dynamic constraint information and kinematic constraint information of the UAV. The expected running trajectory includes multiple trajectory points and the position, time, speed and acceleration of the cargo when it is planned to arrive at each trajectory point.

12. The method for lifting and flying according to claim 1, characterized in that: After planning the expected running track of the goods according to the environmental topographic map and the original path, the method further includes: Performing time sampling on each track point in the expected running track to obtain a plurality of time sampling points, and determining the corresponding drone position according to the cargo position and cargo acceleration corresponding to each of the time sampling points; Perform equidistant sampling between the cargo position and the drone position corresponding to the time sampling point to obtain a plurality of distance sampling points, and determine the corresponding terrain height in the environmental topographic map according to the positions of the distance sampling points; When the difference between the height of the distance sampling point and the corresponding terrain height is less than a preset safety threshold, the expected running trajectory of the cargo is replanned based on the ground sensing information and the original path.

13. The method for lifting and flying according to claim 12, characterized in that: The step of controlling the flight of the drone according to the expected flight trajectory includes: When the difference between the height of each distance sampling point and the corresponding terrain height is greater than or equal to a preset safety threshold, the UAV is controlled to fly according to the expected running trajectory.

14. The method for hoisting and flying according to claim 1 or 13, characterized in that: The step of controlling the flight of the drone according to the expected flight trajectory includes: Determining a flight trajectory of the UAV according to the expected operating trajectory; The UAV is controlled to fly according to the flight trajectory.

15. The method for lifting and flying according to claim 14, characterized in that: Determining the flight trajectory of the UAV according to the expected running trajectory includes: Based on the control frequency, each trajectory point in the desired running trajectory is sampled to obtain a plurality of control points; Determine the drone position, drone speed, and drone acceleration corresponding to the control point according to the cargo position, cargo speed, and cargo acceleration corresponding to the control point; The flight trajectory of the drone is planned according to the drone positions, drone speeds and drone accelerations corresponding to the multiple control points.

16. The method for lifting and flying according to claim 15, characterized in that: The step of controlling the flight of the drone according to the flight trajectory comprises: The drone position, drone speed and drone acceleration corresponding to the control point are sent to the drone's flight controller, and the flight controller controls the drone to fly along the flight trajectory.

17. The method for lifting and flying according to claim 1, characterized in that: After controlling the flight of the UAV according to the expected running trajectory, the method further includes: When the lifting task is not completed, if the cargo moves to the end section of the expected operation trajectory, a new expected operation trajectory is planned based on the ground sensing information sampled in real time by the ground sensor and the original path.

18. The method for lifting and flying according to claim 1, characterized in that: After controlling the flight of the UAV according to the expected running trajectory, the method further includes: After the lifting task is completed, if the positioning deviation of the UAV is less than or equal to the preset deviation threshold, the environmental terrain map is associated with the original path of the lifting task and saved.

19. A hoisting flying device for an unmanned aerial vehicle, characterized in that: The drone is provided with a ground sensor and a lifting system, wherein the lifting system includes a lifting rope and cargo suspended on the lifting rope, and the device includes: An original path acquisition module is configured to acquire the original path of the goods; A sensor information collection module is configured to obtain ground sensor information collected by a ground sensor; A terrain map building module, configured to build an environmental terrain map according to the ground sensing information; A cargo trajectory planning module, configured to plan the expected running trajectory of the cargo according to the environmental topographic map and the original path; The flight control module is configured to control the flight of the UAV according to the expected flight trajectory.

20. A flying device for hoisting an unmanned aerial vehicle, characterized in that: include: one or more processors; A memory stores one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the hoisting flight method as described in any one of claims 1-18.

21. A storage medium containing computer executable instructions, characterized in that: The computer executable instructions, when executed by a computer processor, are used to execute the hoisting flight method as described in any one of claims 1-18.

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