Low-altitude aircraft based on offshore building flight environment identification and monitoring method and system

Abstract

This application provides a method and system for identifying and monitoring the flight environment of low-altitude aircraft based on marine structures. Belonging to the technical field of low-altitude aircraft, it addresses the problem that low-altitude aircraft struggle to perform flight missions effectively in complex and dynamic flight environments. In this method and system, based on acquired flight environment monitoring information and a pre-built building feature database, specific building features and corresponding building status information are identified. The influence space of these specific building features is then determined, generating environmental monitoring results information for the flight environment space containing marked spatial status information. This environmental monitoring results information guides the flight of the low-altitude aircraft, facilitating better obstacle avoidance and path planning, and ultimately enabling the low-altitude aircraft to perform flight missions more efficiently.

Description

Technical Field

[0001] This 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 Technology

[0002] During the flight of low-altitude aircraft, it is necessary to identify the flight environment to facilitate better navigation, obstacle avoidance, and positioning, thus enabling the aircraft to perform related tasks. Currently, low-altitude aircraft generally rely on technologies such as radar and computer vision for flight environment identification. While these technologies are sufficient to support flight missions in simple, static flight environments, they are often insufficient to effectively support the execution of flight missions in complex, dynamic environments, such as those involving offshore structures. Summary of the Invention

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

[0004] Firstly, this application provides a method for identifying and monitoring the flight environment of low-altitude aircraft based on offshore structures. The method includes:

[0005] Obtain flight environment monitoring information;

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

[0007] The building influence space of the special building characteristics is determined based on the special building features and building status information;

[0008] The environmental monitoring results are determined by combining the flight environment monitoring information and the building impact information. The environmental monitoring results include the spatial state information of the flight environment space, which indicates whether flight is permitted or prohibited.

[0009] By adopting the above technical solution, it is possible to identify the special building features in the flight environment that includes offshore structures, and then intelligently determine the building influence space of the special building features. This is conducive to more intelligent and reasonable determination of the spatial state of the flight environment space, which in turn is conducive to better route planning and obstacle avoidance during the flight of low-altitude aircraft, avoiding mutual interference between offshore structures and low-altitude aircraft, and thus helping to better support the execution of low-altitude aircraft flight missions.

[0010] Furthermore, the process of identifying specific building features in the flight environment monitoring information based on a pre-built building feature library and obtaining building status information for these specific building features includes:

[0011] Based on the flight environment monitoring information, an environmental obstacle model is constructed, and the motion state information of the environmental obstacle model is determined, wherein the motion state information is either in motion or at rest.

[0012] Based on the building feature library, special building features are identified in the environmental obstacle model. The building feature library contains building feature models. If the environmental obstacle is in motion and the model similarity between the environmental obstacle model and the building feature model is higher than a first similarity threshold, then the environmental obstacle is determined to be a special building feature. If the environmental obstacle is stationary and the model similarity between the environmental obstacle model and the building feature model is higher than a second similarity threshold, then the environmental obstacle is determined to be a special building feature. The first similarity threshold is lower than the second similarity threshold.

[0013] The building status information of special building features is determined based on the motion state information of the environmental obstacle model.

[0014] Furthermore, methods for determining the model similarity between environmental obstacle models and building feature models include:

[0015] Identify identical contour feature points in environmental obstacle models and building feature models;

[0016] Align feature points with the same contour to determine the overlapping and non-overlapping volumes of the environmental obstacle model and the building feature model;

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

[0018] Furthermore, the building state information for determining the special building characteristics based on the motion state information of environmental obstacles includes:

[0019] The building status information includes building shape and building motion; the building shape with special building characteristics is determined based on the environmental obstacle model, and the building motion is determined based on the building shape and the motion state of the environmental obstacle model.

[0020] Furthermore, the step of determining the building influence space of the special building characteristics based on the special building features and building status information includes:

[0021] The building's operational space within a preset time period is determined based on the building's status information;

[0022] The building's operational space is defined as the building's influence space.

[0023] Secondly, this application provides a low-altitude aircraft flight environment identification and monitoring system based on offshore structures. The system includes:

[0024] The data acquisition module is used to acquire flight environment monitoring information;

[0025] The feature recognition module is used to identify special building features in the flight environment monitoring information based on a pre-built building feature library, and to obtain building status information of the special building features;

[0026] The impact determination module is used to determine the building impact space of the special building characteristics based on the special building features and building status information; and

[0027] The result determination module is used to determine environmental monitoring result information by combining the flight environment monitoring information and building impact information. The environmental monitoring result information includes spatial state information of the flight environment space, which indicates whether flight is permitted or prohibited.

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

[0029] Based on the flight environment monitoring information, an environmental obstacle model is constructed, and the motion state information of the environmental obstacle model is determined, wherein the motion state information is either in motion or at rest.

[0030] Based on the building feature library, special building features are identified in the environmental obstacle model. The building feature library contains building feature models. If the environmental obstacle is in motion and the model similarity between the environmental obstacle model and the building feature model is higher than a first similarity threshold, then the environmental obstacle is determined to be a special building feature. If the environmental obstacle is stationary and the model similarity between the environmental obstacle model and the building feature model is higher than a second similarity threshold, then the environmental obstacle is determined to be a special building feature. The first similarity threshold is lower than the second similarity threshold.

[0031] The building status information of special building features is determined based on the motion state information of the environmental obstacle model.

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

[0033] Identify identical contour feature points in environmental obstacle models and building feature models;

[0034] Align feature points with the same contour to determine the overlapping and non-overlapping volumes of the environmental obstacle model and the building feature model;

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

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

[0037] The building status information includes building shape and building motion; the building shape with special building characteristics is determined based on the environmental obstacle model, and the building motion is determined based on the building shape and the motion state of the environmental obstacle model.

[0038] Furthermore, the influence determination module is further configured as follows:

[0039] The building's operational space within a preset time period is determined based on the building's status information;

[0040] The building's operational space is defined as the building's influence space.

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

[0042] A method and system for identifying and monitoring the flight environment of low-altitude aircraft based on offshore structures are provided. This system can identify offshore structures and determine their impact space, so that low-altitude aircraft can avoid the influence of offshore structures and better perform their flight missions.

[0043] It should be understood that the description in the Summary Section is not intended to limit the key or essential features of the embodiments of this application, nor is it intended to restrict the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description

[0044] The above and other features, advantages, and aspects of the embodiments of this application will become more apparent from the accompanying drawings and the following detailed description. In the drawings, the same or similar reference numerals denote the same or similar elements, wherein:

[0045] Figure 1 A flowchart of the low-altitude aircraft flight environment identification and monitoring method based on offshore buildings in an embodiment of this application is shown;

[0046] Figure 2 A block diagram of a low-altitude aircraft flight environment identification and monitoring system based on offshore buildings is shown in an embodiment of this application. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0048] Furthermore, the term "and / or" in this article only describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects are in an "or" relationship.

[0049] This application provides a method and system for identifying and monitoring the flight environment of low-altitude aircraft based on offshore structures. It can identify offshore structures and determine the space affected by them, so that low-altitude aircraft can avoid the influence of offshore structures and better perform flight missions.

[0050] Firstly, this application provides a method for identifying and monitoring the flight environment of low-altitude aircraft based on offshore structures. This method can be performed by a low-altitude aircraft.

[0051] Low-altitude aircraft are generally drones, equipped with radar and cameras to monitor the flight environment and obtain flight environment monitoring information. This information is then processed to obtain spatial state information of the perceptible flight environment. Distinguishing the spatial state information of the flight environment helps to better plan flight routes and avoid mutual interference between low-altitude aircraft and offshore structures.

[0052] Figure 1 A flowchart of the low-altitude aircraft flight environment identification and monitoring method based on offshore buildings in an embodiment of this application is shown.

[0053] Reference Figure 1 The method specifically includes the following steps:

[0054] S110: Acquire flight environment monitoring information.

[0055] In this embodiment, the flight environment monitoring information includes radar monitoring information and monitoring video information. Combining 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-built 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 in 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 either in motion or stationary; 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 motion and the model similarity between the environmental obstacle model and the building feature model is higher than a first similarity threshold, then the environmental obstacle is determined to be a special building feature; if the environmental obstacle is stationary and the model similarity between the environmental obstacle model and the building feature model is higher than a second similarity threshold, then the environmental obstacle is determined to be a special building feature, wherein the first similarity threshold is lower than the second similarity threshold; and determining the building state information of the special building feature based on the motion state information of the environmental obstacle model.

[0058] The environmental obstacle model is a three-dimensional model. It is reconstructed using flight environment monitoring information to obtain the environmental obstacle model, and its motion state information can be determined based on time series. The building feature database pre-stores building feature models and their motion patterns. By comparing the similarity between the environmental obstacle model and the building feature models, it can be determined which building feature model the environmental obstacle model conforms to. Since offshore structures may carry cargo or personnel during operation, these activities are also identified as part of the environmental obstacle features. Therefore, if the environmental obstacle model is stationary, a higher second similarity threshold is required to determine if it conforms to a building feature model; if it is in motion, only a lower first similarity threshold is needed. This allows for the identification of special building features within the environmental obstacle model. These special building features represent movable offshore structures.

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

[0060] In this step, the building status information includes building shape and building motion. The building shape, representing specific building characteristics, is determined based on an environmental obstacle model. The building motion is then determined based on the building shape and the motion state of the environmental obstacle model. Since the motion patterns of offshore buildings are pre-stored in a building feature library, after determining the building status information (i.e., determining the building shape (current posture)) and building motion, subsequent building motions can be predicted by combining the motion patterns, thus determining the complete building status information.

[0061] S130: Determine the building influence space of the special building characteristics based on the special building features and building status information.

[0062] The method in this step specifically includes: determining the building's action space within a preset time period based on the building's status information; and determining the building's action space as its influence space. Since the building's status information includes the building's form and actions, it is possible to determine the building's action space by combining the building's actions over a future period, thereby determining the building's influence space.

[0063] S140: Combine the flight environment monitoring information and building impact information to determine the environmental monitoring result information, which includes the spatial state information of the flight environment space, and the spatial state information indicates whether flight is permitted or prohibited.

[0064] In this method, the spaces affected by fixed environmental obstacles and the spaces affected by buildings with special building features are generally marked as no-fly zones, while other spaces are marked as flyable zones. This allows for the collection of environmental monitoring results for the flight environment of offshore buildings. The environmental monitoring results can guide low-altitude aircraft in obstacle avoidance and flight path planning, improving their flight performance and ultimately facilitating mission completion.

[0065] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, because according to the embodiments of this application, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application.

[0066] Secondly, this application provides a low-altitude aircraft flight environment identification and monitoring system based on offshore structures. The system can be incorporated into the low-altitude aircraft or into a server controlling the low-altitude aircraft.

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

[0068] Reference Figure 2 The system specifically includes:

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

[0070] The feature recognition module 220 is used to identify special building features in the flight environment monitoring information based on a pre-built building feature library, and to obtain building status information of the special building features;

[0071] Impact determination module 230 is used to determine the building impact space of the special building characteristics based on the special building features and building status information; and

[0072] The result determination module 240 is used to determine environmental monitoring result information by combining the flight environment monitoring information and building impact information. The environmental monitoring result information includes spatial state information of the flight environment space, which indicates whether flight is permitted or prohibited.

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

[0074] Based on the flight environment monitoring information, an environmental obstacle model is constructed, and the motion state information of the environmental obstacle model is determined, wherein the motion state information is either in motion or at rest.

[0075] Based on the building feature library, special building features are identified in the environmental obstacle model. The building feature library contains building feature models. If the environmental obstacle is in motion and the model similarity between the environmental obstacle model and the building feature model is higher than a first similarity threshold, then the environmental obstacle is determined to be a special building feature. If the environmental obstacle is stationary and the model similarity between the environmental obstacle model and the building feature model is higher than a second similarity threshold, then the environmental obstacle is determined to be a special building feature. The first similarity threshold is lower than the second similarity threshold.

[0076] The building status information of special building features is determined based on the motion state information of the environmental obstacle model.

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

[0078] Identify identical contour feature points in environmental obstacle models and building feature models;

[0079] Align feature points with the same contour to determine the overlapping and non-overlapping volumes of the environmental obstacle model and the building feature model;

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

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

[0082] The building status information includes building shape and building motion; the building shape with special building characteristics is determined based on the environmental obstacle model, and the building motion is determined based on the building shape and the motion state of the environmental obstacle model.

[0083] Furthermore, the influence determination module 230 is further configured as follows:

[0084] The building's operational space within a preset time period is determined based on the building's status information;

[0085] The building's operational space is defined as the building's influence space.

[0086] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the system described herein can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

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

[0088] A method and system for identifying and monitoring the flight environment of low-altitude aircraft based on offshore structures are provided. This system can identify offshore structures and determine their impact space, so that low-altitude aircraft can avoid the influence of offshore structures and better perform their flight missions.

[0089] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the foregoing disclosed concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A method for identifying and monitoring the flight environment of a low-altitude aircraft based on maritime structures, characterized in that, The method comprises: acquiring flight environment monitoring information; identifying a special building feature in the flight environment monitoring information based on a pre-constructed building feature library, and acquiring building state information of the special building feature; wherein the method comprises: constructing an environment obstacle model based on the flight environment monitoring information, and determining motion state information of the environment obstacle model, the motion state information being in motion or in stillness; identifying a special building feature in the environment obstacle model based on the building feature library, the building feature library containing a building feature model, if the environment obstacle is in motion and a model similarity between the environment obstacle model and the building feature model is higher than a first similarity threshold, determining that the environment obstacle is a special building feature, if the environment obstacle is in stillness and the model similarity between the environment obstacle model and the building feature model is higher than a second similarity threshold, determining that the environment obstacle is a special building feature, the first similarity threshold being lower than the second similarity threshold; and determining building state information of the special building feature according to the motion state information of the environment obstacle model; determining a building impact space of the special building feature according to the special building feature and the building state information; determining environment monitoring result information by combining the flight environment monitoring information and the building impact information, the environment monitoring result information comprising space state information of a flight environment space, the space state information being flight permission or flight prohibition; wherein the method for determining the model similarity between the environment obstacle model and the building feature model comprises: identifying same contour feature points in the environment obstacle model and the building feature model; aligning the same contour feature points, determining a model coincidence volume and a model non-coincidence volume of the environment obstacle model and the building feature model; and calculating the model similarity as a result of squaring the model coincidence volume minus the model non-coincidence volume divided by the square of the model coincidence volume; wherein the method for determining the building state information of the special building feature according to the motion state information of the environment obstacle comprises: the building state information comprising a building form and a building action; determining the building form of the special building feature according to the environment obstacle model, and determining the building action according to the building form and the motion state of the environment obstacle model; wherein the method for determining the building impact space of the special building feature according to the special building feature and the building state information comprises: determining a building action space within a preset time according to the building state information; and determining the building action space as the building impact space.

2. The low-altitude flying vehicle sea-based construction flying environment identification monitoring system is characterized in that, The method comprises: a data acquisition module (210) configured to acquire flight environment monitoring information; The feature recognition module (220) is configured to identify a special building feature in the flight environment monitoring information based on a pre-constructed building feature library, and to obtain building state information of the special building feature. The feature recognition module (220) is further configured to: construct an environment obstacle model based on the flight environment monitoring information, and determine motion state information of the environment obstacle model, the motion state information being in motion or at rest; identify a special building feature in the environment obstacle model based on the building feature library, the building feature library containing a building feature model, if the environment obstacle is in motion and a model similarity between the environment obstacle model and the building feature model is higher than a first similarity threshold, the environment obstacle is determined to be a special building feature, if the environment obstacle is at rest and the model similarity between the environment obstacle model and the building feature model is higher than a second similarity threshold, the environment obstacle is determined to be a special building feature, the first similarity threshold being lower than the second similarity threshold; and determine building state information of the special building feature according to the motion state information of the environment obstacle model; The influence determination module (230) is configured to determine a building influence space of the special building feature according to the special building feature and the building state information; and The result determination module (240) is configured to determine environment monitoring result information in combination with the flight environment monitoring information and the building influence information, the environment monitoring result information including space state information of a flight environment space, the space state information being flight permission or flight prohibition. The feature recognition module (220) is further configured to: identify same contour feature points in the environment obstacle model and the building feature model; align the same contour feature points, and determine a model coincidence volume and a model non-coincidence volume of the environment obstacle model and the building feature model; calculate a result of squaring the model coincidence volume minus the model non-coincidence volume, and divide the result by the square of the model coincidence volume, as the model similarity. The feature recognition module (220) is further configured to: the building state information includes a building form and a building action; determine the building form of the special building feature according to the environment obstacle model, and determine the building action according to the building form and the motion state of the environment obstacle model. The influence determination module (230) is further configured to: determine a building action space within a preset time length according to the building state information; and determine the building action space as the building influence space.

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