Method and system for identifying and monitoring flight environment of low-altitude aircraft based on offshore building

Abstract

The invention provides a method and a system for identifying and monitoring a flight environment of a low-altitude aircraft based on an offshore building, belongs to the technical field of low-altitude aircrafts, and is used for solving the problem that the low-altitude aircraft is difficult to well execute a flight task in a complex and dynamic flight environment in the prior art. On the basis of the acquired flight environment monitoring information and a pre-constructed building feature library, special building features and corresponding building state information are identified and determined, then a building influence space of the special building features is determined, and then environment monitoring result information of a flight environment space containing marked space state information is generated. The environment monitoring result information is used for guiding the low-altitude aircraft to fly, so that the low-altitude aircraft can better avoid obstacles and plan paths, and the low-altitude aircraft can execute flight tasks.

Description

Technical Field

[0001] The present application relates to the technical field of low-altitude aircraft, and in particular to a method and system for identifying and monitoring the flight environment of low-altitude aircraft based on offshore buildings. Background Art

[0002] During the flight of low-altitude aircraft, it is necessary to identify the flight environment in order to better perform navigation, obstacle avoidance, positioning, etc., which is more conducive to the execution of related tasks by low-altitude aircraft. At present, the identification of the flight environment by low-altitude aircraft generally relies on technologies such as radar and computer vision. Only relying on radar and computer vision technologies is sufficient to support the execution of flight missions in simple and static flight environments. However, in complex and dynamic flight environments such as offshore buildings, the identification of the flight environment based on radar, computer vision and other technologies is often difficult to well support the execution of low-altitude aircraft flight missions. Summary of the invention

[0003] The present application provides a method and system for identifying and monitoring the flight environment of low-altitude aircraft based on offshore buildings, which is conducive to supporting better execution of flight missions of low-altitude aircraft in the flight environment of offshore buildings.

[0004] In the first aspect, the present application provides a method for identifying and monitoring the flight environment of low-altitude aircraft based on offshore buildings. The method comprises:

[0005] Obtain flight environment monitoring information;

[0006] Based on a pre-built building feature library, identifying special building features in the flight environment monitoring information, and obtaining building status information of the special building features;

[0007] Determine a building influence space of a special building feature according to the special building feature and the building status information;

[0008] The environmental monitoring result information is determined in combination with the flight environment monitoring information and the building impact information. The environmental monitoring result information includes space status information of the flight environment space. The space status information is whether the flight is allowed or prohibited.

[0009] By adopting the above-mentioned technical scheme, it is possible to identify special building features in a flight environment including offshore buildings, and then intelligently determine the building impact space of the special building features, which is conducive to more intelligent and reasonable determination of the spatial state of the flight environment space, and then conducive to supporting better route planning, obstacle avoidance, etc. during the flight of low-altitude aircraft, avoiding mutual influence between offshore buildings and low-altitude aircraft, that is, it is conducive to supporting better execution of low-altitude aircraft flight missions.

[0010] Further, the identifying the special building features in the flight environment monitoring information based on the pre-built building feature library and obtaining the building status information of the special building features includes:

[0011] Based on the flight environment monitoring information, an environmental obstacle model is constructed, and motion state information of the environmental obstacle model is determined, where the motion state information is a moving state or a stationary state;

[0012] Based on the building feature library, identifying a special building feature in the environmental obstacle model, the building feature library including a building feature model, if the environmental obstacle is in motion and a model similarity between the environmental obstacle model and the building feature model is higher than a first similarity threshold, determining that the environmental obstacle is a special building feature, if the environmental obstacle is stationary and a model similarity between the environmental obstacle model and the building feature model is higher than a second similarity threshold, determining that the environmental obstacle is a special building feature, the first similarity threshold being lower than the second similarity threshold;

[0013] Building state information of a particular building feature is determined based on the motion state information of the environmental obstacle model.

[0014] Furthermore, the method for determining the model similarity between the environmental obstacle model and the building feature model includes:

[0015] Identify the same contour feature points in the environmental obstacle model and the building feature model;

[0016] Align the same contour feature points, and determine the model overlap volume and model non-overlap volume of the environmental obstacle model and the building feature model;

[0017] The model similarity is calculated by subtracting the square of the model overlap volume from the model non-overlap volume and dividing the result by the square of the model overlap volume.

[0018] Further, the building state information of a particular building feature is determined according to the motion state information of the environmental obstacles, including:

[0019] The building state information includes building form and building motion; the building form of a particular building feature is determined according to an environmental obstacle model, and the building motion is determined according to the building form and the motion state of the environmental obstacle model.

[0020] Further, the building influence space of the special building feature is determined according to the special building feature and the building status information, including:

[0021] Determine the building action space within a preset time period according to the building state information;

[0022] The building action space is determined to be a building influence space.

[0023] In the second aspect, the present application provides a low-altitude aircraft flight environment identification and monitoring system based on offshore buildings. The system includes:

[0024] Data acquisition module, used to obtain flight environment monitoring information;

[0025] A feature recognition module, for recognizing special building features in the flight environment monitoring information based on a pre-built building feature library, and obtaining building status information of the special building features;

[0026] an impact determination module, configured to determine a building impact space of a special building feature according to the special building feature and the building status information; and

[0027] The result determination module is used to determine the environmental monitoring result information by combining the flight environment monitoring information and the building impact information, wherein the environmental monitoring result information includes the space status information of the flight environment space, and the space status information is whether the flight is allowed or prohibited.

[0028] Furthermore, the feature recognition module is further configured to:

[0029] Based on the flight environment monitoring information, an environmental obstacle model is constructed, and motion state information of the environmental obstacle model is determined, where the motion state information is a moving state or a stationary state;

[0030] Based on the building feature library, identifying a special building feature in the environmental obstacle model, the building feature library including a building feature model, if the environmental obstacle is in motion and a model similarity between the environmental obstacle model and the building feature model is higher than a first similarity threshold, determining that the environmental obstacle is a special building feature, if the environmental obstacle is stationary and a model similarity between the environmental obstacle model and the building feature model is higher than a second similarity threshold, determining that the environmental obstacle is a special building feature, the first similarity threshold being lower than the second similarity threshold;

[0031] Building state information of a particular building feature is determined based on the motion state information of the environmental obstacle model.

[0032] Furthermore, the feature recognition module is further configured to:

[0033] Identify the same contour feature points in the environmental obstacle model and the building feature model;

[0034] Align the same contour feature points, and determine the model overlap volume and model non-overlap volume of the environmental obstacle model and the building feature model;

[0035] The model similarity is calculated by subtracting the square of the model overlap volume from the model non-overlap volume and dividing the result by the square of the model overlap volume.

[0036] Furthermore, the feature recognition module is further configured to:

[0037] The building state information includes building form and building motion; the building form of a particular building feature is determined according to an environmental obstacle model, and the building motion is determined according to the building form and the motion state of the environmental obstacle model.

[0038] Furthermore, the impact determination module is further configured to:

[0039] Determine the building action space within a preset time period according to the building state information;

[0040] The building action space is determined to be a building influence space.

[0041] In summary, this application at least has the following beneficial effects:

[0042] A method and system for identifying and monitoring the flight environment of a low-altitude aircraft based on offshore buildings are provided, which can identify offshore buildings and determine the impact space of offshore buildings, so that the low-altitude aircraft can avoid the impact of offshore buildings, which is conducive to the low-altitude aircraft to better perform flight missions.

[0043] It should be understood that the contents described in the Summary of the Invention are not intended to limit the key or important features of the embodiments of the present application, nor are they intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The above and other features, advantages and aspects of the embodiments of the present application will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, wherein:

[0045] Figure 1 A flow chart showing a method for identifying and monitoring a low-altitude aircraft flight environment based on offshore buildings in an embodiment of the present application is shown;

[0046] Figure 2 A block diagram of a low-altitude aircraft-based offshore building flight environment identification and monitoring system in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0048] In addition, the term "and / or" in this article only describes the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0049] The present application provides a method and system for identifying and monitoring the flight environment of low-altitude aircraft based on offshore buildings, which can identify offshore buildings and determine the impact space of offshore buildings, so that low-altitude aircraft can avoid the impact of offshore buildings, which is conducive to low-altitude aircraft to better perform flight missions.

[0050] In a first aspect, the present application provides a method for low-altitude aircraft to identify and monitor the flight environment of offshore buildings. The method can be performed by a low-altitude aircraft.

[0051] Low-altitude aircraft are generally drones, which are equipped with radars and cameras to monitor the flight environment and obtain flight environment monitoring information. By processing the flight environment monitoring information, the spatial state information of the perceptible flight environment space can be obtained. Distinguishing the spatial state information of the flight environment space is conducive to better flight route planning and avoiding mutual impact between low-altitude aircraft and offshore buildings.

[0052] Figure 1 A flow chart of a method for identifying and monitoring the flight environment of a low-altitude aircraft based on offshore buildings in an embodiment of the present application is shown.

[0053] Reference Figure 1 , the method specifically comprises the following steps:

[0054] S110: Acquire flight environment monitoring information.

[0055] In an embodiment of the present application, the flight environment monitoring information includes radar monitoring information and monitoring video information. The combination of radar monitoring information and monitoring video information can comprehensively reflect the situation of the flight space around the low-altitude aircraft.

[0056] S120: Based on a pre-constructed building feature library, identify special building features in the flight environment monitoring information, and obtain building status information of the special building features.

[0057] The method of this step specifically includes: constructing an environmental obstacle model based on the flight environment monitoring information, and determining the motion state information of the environmental obstacle model, wherein the motion state information is a moving state or a stationary state; identifying special building features in the environmental obstacle model based on the building feature library, wherein the building feature library contains building feature models; if the environmental obstacle is in a moving state and the model similarity between the environmental obstacle model and the building feature model is higher than a first similarity threshold, then determining that the environmental obstacle is a special building feature; if the environmental obstacle is in a stationary state and the model similarity between the environmental obstacle model and the building feature model is higher than a second similarity threshold, then determining that the environmental obstacle is a special building feature, wherein the first similarity threshold is lower than the second similarity threshold; determining the building state information of the special building feature according to the motion state information of the environmental obstacle model.

[0058] The environmental obstacle model is a three-dimensional model. The environmental obstacle model can be obtained by three-dimensional reconstruction using flight environment monitoring information, and the motion state information of the environmental obstacle model can be determined based on the time sequence. The building feature library pre-stores the building feature model and the action mode of the building feature model. By comparing the model similarity between the environmental obstacle model and the building feature model, it can be determined which building feature model the environmental obstacle model conforms to. Since offshore buildings may carry cargo or personnel when working, the cargo or personnel will also be identified as part of the environmental obstacle feature. Therefore, if the environmental obstacle model is in a static state, a higher second similarity threshold is required to determine that the environmental obstacle model conforms to the building feature model. If the environmental obstacle model is in a moving state, only a lower first similarity threshold is required to determine that the environmental obstacle model conforms to the building feature model. In this way, the special building features in the environmental obstacle model can be determined. Special building features represent offshore buildings that can move.

[0059] In the method of this step, the method for determining the model similarity between the environmental obstacle model and the building feature model includes: identifying the same contour feature points in the environmental obstacle model and the building feature model; aligning the same contour feature points, determining the model overlap volume and the model non-overlap volume of the environmental obstacle model and the building feature model; calculating the square of the model overlap volume minus the model non-overlap volume and dividing the result by the square of the model overlap volume as the model similarity.

[0060] In the method of this step, the building state information includes building form and building action; the building form of the special building feature is determined according to the environmental obstacle model, and the building action is determined according to the motion state of the building form and the environmental obstacle model. Since the action mode of the offshore building is pre-stored in the building feature library, after determining the building state information, that is, determining the building form (current posture) and the building action, the subsequent building action can be predicted in combination with the action mode, that is, determining the complete building state information.

[0061] S130: Determine a building influence space of the special building feature according to the special building feature and the building status information.

[0062] The method of this step specifically includes: determining the building action space within a preset time period according to the building state information; and determining the building action space as the building influence space. Since the building state information includes the building form and building action, the building action space can be determined by combining the building action within a period of time in the future, and then the building influence space can be determined.

[0063] S140: Determine environmental monitoring result information in combination with the flight environment monitoring information and the building impact information, wherein the environmental monitoring result information includes space status information of a flight environment space, and the space status information indicates whether flight is permitted or prohibited.

[0064] In the method of this step, the space affected by the fixed environmental obstacle model and the building-affected space with special building features are generally marked as a prohibited flight state, and other spaces can be marked as a permitted flight state, so that the environmental monitoring result information of the flight environment of offshore buildings can be realized. The environmental monitoring result information can be used to guide the obstacle avoidance and flight path planning of low-altitude aircraft, which is conducive to better flight of low-altitude aircraft and thus conducive to the realization of flight missions.

[0065] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the embodiments of the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0066] In a second aspect, the present application provides a low-altitude aircraft-based offshore building flight environment identification and monitoring system. The system can be included in the low-altitude aircraft, or included in a server that controls the low-altitude aircraft.

[0067] Figure 2A block diagram of a low-altitude aircraft-based offshore building flight environment identification and monitoring system in an embodiment of the present application is shown.

[0068] Reference Figure 2 , the system specifically comprises:

[0069] The data acquisition module 210 is used to acquire flight environment monitoring information;

[0070] A feature recognition module 220, for recognizing special building features in the flight environment monitoring information based on a pre-built building feature library, and obtaining building status information of the special building features;

[0071] An impact determination module 230, configured to determine a building impact space of a special building feature according to the special building feature and the building status information; and

[0072] The result determination module 240 is used to determine the environmental monitoring result information by combining the flight environment monitoring information and the building impact information. The environmental monitoring result information includes the space status information of the flight environment space. The space status information is whether the flight is allowed or prohibited.

[0073] Furthermore, the feature recognition module 220 is further configured to:

[0074] Based on the flight environment monitoring information, an environmental obstacle model is constructed, and motion state information of the environmental obstacle model is determined, where the motion state information is a moving state or a stationary state;

[0075] Based on the building feature library, identifying a special building feature in the environmental obstacle model, the building feature library including a building feature model, if the environmental obstacle is in motion and a model similarity between the environmental obstacle model and the building feature model is higher than a first similarity threshold, determining that the environmental obstacle is a special building feature, if the environmental obstacle is stationary and a model similarity between the environmental obstacle model and the building feature model is higher than a second similarity threshold, determining that the environmental obstacle is a special building feature, the first similarity threshold being lower than the second similarity threshold;

[0076] Building state information of a particular building feature is determined based on the motion state information of the environmental obstacle model.

[0077] Furthermore, the feature recognition module 220 is further configured to:

[0078] Identify the same contour feature points in the environmental obstacle model and the building feature model;

[0079] Align the same contour feature points, and determine the model overlap volume and model non-overlap volume of the environmental obstacle model and the building feature model;

[0080] The model similarity is calculated by subtracting the square of the model overlap volume from the model non-overlap volume and dividing the result by the square of the model overlap volume.

[0081] Furthermore, the feature recognition module 220 is further configured to:

[0082] The building state information includes building form and building motion; the building form of a particular building feature is determined according to an environmental obstacle model, and the building motion is determined according to the building form and the motion state of the environmental obstacle model.

[0083] Furthermore, the impact determination module 230 is further configured to:

[0084] Determine the building action space within a preset time period according to the building state information;

[0085] The building action space is determined to be a building influence space.

[0086] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the described system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0087] In summary, this application at least has the following beneficial effects:

[0088] A method and system for identifying and monitoring the flight environment of a low-altitude aircraft based on offshore buildings are provided, which can identify offshore buildings and determine the impact space of offshore buildings, so that the low-altitude aircraft can avoid the impact of offshore buildings, which is conducive to the low-altitude aircraft to better perform flight missions.

[0089] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the aforementioned disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in this application (but not limited to) by each other to form a technical solution.

Claims

1. A method for identifying and monitoring the flight environment of low-altitude aircraft based on offshore buildings, characterized in that: include: Obtain flight environment monitoring information; Based on a pre-built building feature library, identifying special building features in the flight environment monitoring information, and obtaining building status information of the special building features; Determine a building influence space of a special building feature according to the special building feature and the building status information; The environmental monitoring result information is determined in combination with the flight environment monitoring information and the building impact information. The environmental monitoring result information includes space status information of the flight environment space. The space status information is whether the flight is allowed or prohibited.

2. The method for identifying and monitoring the flight environment of low-altitude aircraft based on offshore buildings according to claim 1 is characterized in that: The identifying of special building features in the flight environment monitoring information based on the pre-built building feature library and obtaining building status information of the special building features includes: Based on the flight environment monitoring information, an environmental obstacle model is constructed, and motion state information of the environmental obstacle model is determined, where the motion state information is a moving state or a stationary state; Based on the building feature library, identifying a special building feature in the environmental obstacle model, the building feature library including a building feature model, if the environmental obstacle is in motion and a model similarity between the environmental obstacle model and the building feature model is higher than a first similarity threshold, determining that the environmental obstacle is a special building feature, if the environmental obstacle is stationary and a model similarity between the environmental obstacle model and the building feature model is higher than a second similarity threshold, determining that the environmental obstacle is a special building feature, the first similarity threshold being lower than the second similarity threshold; Building state information of a particular building feature is determined based on the motion state information of the environmental obstacle model.

3. The method for identifying and monitoring the flight environment of low-altitude aircraft based on offshore buildings according to claim 2 is characterized in that: Methods for determining the model similarity between the environmental obstacle model and the building feature model include: Identify the same contour feature points in the environmental obstacle model and the building feature model; Align the same contour feature points, and determine the model overlap volume and model non-overlap volume of the environmental obstacle model and the building feature model; The model similarity is calculated by subtracting the square of the model overlap volume from the model non-overlap volume and dividing the result by the square of the model overlap volume.

4. The method for identifying and monitoring the flight environment of low-altitude aircraft based on offshore buildings according to claim 2 is characterized in that: The building state information for determining the special building characteristics according to the motion state information of the environmental obstacles includes: The building state information includes building form and building motion; the building form of a particular building feature is determined according to an environmental obstacle model, and the building motion is determined according to the building form and the motion state of the environmental obstacle model.

5. The method for identifying and monitoring the flight environment of low-altitude aircraft based on offshore buildings according to claim 1 is characterized in that: The building influence space for determining the special building feature according to the special building feature and the building status information includes: Determine the building action space within a preset time period according to the building state information; The building action space is determined to be a building influence space.

6. Low-altitude aircraft flight environment identification and monitoring system based on offshore buildings, characterized by: include: A data acquisition module (210), used to acquire flight environment monitoring information; A feature recognition module (220) is used to recognize special building features in the flight environment monitoring information based on a pre-built building feature library, and obtain building status information of the special building features; An impact determination module (230) is used to determine a building impact space of a special building feature based on the special building feature and the building status information; as well as A result determination module (240) is used to determine environmental monitoring result information in combination with the flight environment monitoring information and the building impact information, wherein the environmental monitoring result information includes space status information of the flight environment space, and the space status information is flight permission or flight prohibition.

7. The low-altitude aircraft flight environment identification and monitoring system based on offshore buildings according to claim 6 is characterized in that: The feature recognition module (220) is further configured to: Based on the flight environment monitoring information, an environmental obstacle model is constructed, and motion state information of the environmental obstacle model is determined, where the motion state information is a moving state or a stationary state; Based on the building feature library, identifying a special building feature in the environmental obstacle model, the building feature library including a building feature model, if the environmental obstacle is in motion and a model similarity between the environmental obstacle model and the building feature model is higher than a first similarity threshold, determining that the environmental obstacle is a special building feature, if the environmental obstacle is stationary and a model similarity between the environmental obstacle model and the building feature model is higher than a second similarity threshold, determining that the environmental obstacle is a special building feature, the first similarity threshold being lower than the second similarity threshold; Building state information of a particular building feature is determined based on the motion state information of the environmental obstacle model.

8. The low-altitude aircraft flight environment identification and monitoring system based on offshore buildings according to claim 7 is characterized in that: The feature recognition module (220) is further configured to: Identify the same contour feature points in the environmental obstacle model and the building feature model; Align the same contour feature points, and determine the model overlap volume and model non-overlap volume of the environmental obstacle model and the building feature model; The model similarity is calculated by subtracting the square of the model overlap volume from the model non-overlap volume and dividing the result by the square of the model overlap volume.

9. The low-altitude aircraft flight environment identification and monitoring system based on offshore buildings according to claim 7 is characterized in that: The feature recognition module (220) is further configured to: The building state information includes building form and building motion; the building form of a particular building feature is determined according to an environmental obstacle model, and the building motion is determined according to the building form and the motion state of the environmental obstacle model.

10. The low-altitude aircraft flight environment identification and monitoring system based on offshore buildings according to claim 9 is characterized in that: The impact determination module (230) is further configured to: Determine the building action space within a preset time period according to the building state information; The building action space is determined to be a building influence space.

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