Flight path planning method of unmanned aerial vehicle and unmanned aerial vehicle

Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to a flight path planning method of an unmanned aerial vehicle and the unmanned aerial vehicle, and the method comprises the following steps: S1, obtaining topographic features and beacon light position information in a flight range; s2, constructing a two-dimensional map by taking urban roads as a network, marking the positions of the beacon lights on the two-dimensional map, making an X-axis and Y-axis two-dimensional coordinate system with each intersection, and determining the distances between the beacon lights and the X-axis and the Y-axis of the nearest intersection; s3, acquiring height information of the urban building, inputting a height value Z after a navigation mark position lamp marks a position of the two-dimensional map, and constructing the two-dimensional map with the height value; and S4, importing the map information into a storage module of the unmanned aerial vehicle. According to the flight path planning method of the unmanned aerial vehicle, the unmanned aerial vehicle and the beacon light in the city, the position of the high-rise building is determined, so that the unmanned aerial vehicle can selectively bypass the position of the high-rise building or fly over the marked position according to the marked position of the beacon light at the set flight height, and the flight path planning efficiency of the unmanned aerial vehicle at night in the city is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and specifically to a flight path planning method and an unmanned aerial vehicle for an unmanned aerial vehicle. Background Art

[0002] An unmanned aerial vehicle (UAV), simply referred to as a "drone", is an unpiloted aircraft that is controlled by a radio remote control device and a self - contained program control device, or is operated completely or intermittently autonomously by an on - board computer. Drones can be divided into military and civilian applications according to their application fields. In the military aspect, drones are divided into reconnaissance aircraft and target drones. In the civilian aspect, the combination of drones and industry applications is the real demand for drones. Their applications in fields such as aerial photography, agriculture, plant protection, micro - self - shooting, express delivery, disaster relief, observing wild animals, monitoring infectious diseases, mapping, news reporting, power line inspection, disaster relief, film and television shooting, creating romance, etc. have greatly expanded the uses of drones themselves. Developed countries are also actively expanding industry applications and developing drone technologies.

[0003] ‌UAV path planning refers to planning a reasonable flight path for a UAV in three - dimensional space so that it can complete tasks safely and efficiently. Path planning is one of the key technologies for UAV autonomous flight, and it can determine the flight path of the UAV through algorithms and models. Reasonable path planning can avoid obstacles, optimize flight time, and save energy consumption, thereby improving the operation efficiency and safety of the UAV. There are various methods, including ant colony algorithms, particle swarm algorithms, etc. These algorithms simulate the behaviors of organisms in nature and find the optimal path through pheromone transmission or cooperation and competition among particles‌, AI algorithms, which are applicable to two - dimensional and three - dimensional path planning and find the shortest path from the starting point to the ending point by guiding the search process through a heuristic function, artificial potential field method, which guides the UAV to avoid obstacles and plan a path through potential field theory. This method is simple and intuitive, but may fall into a local optimal solution in some cases, sampling methods, such as probabilistic roadmap (PRM) and rapidly - exploring random tree (RRT), which generate a path map through sampling and are applicable to complex environments or dynamic obstacle environments‌‌‌‌.

[0004] In an urban environment, due to the large number of high - rise buildings and complex three - dimensional environments, the efficiency of traditional path planning methods during the flight of drones is low. Especially when path planning is carried out at night, it affects the position recognition, thereby reducing the efficiency of real - time path planning after image capture. Summary of the Invention

[0005] The object of the present invention is to provide a flight path planning method and an unmanned aerial vehicle (UAV) for solving the problem proposed in the above background technology that in an urban environment, due to the large number of high-rise buildings and complex three-dimensional environment, the traditional path planning method is inefficient during the flight of the UAV, especially when path planning is carried out at night, the recognition of positions is affected, thereby reducing the efficiency of real-time path planning after the image capture. To achieve the above object, the present invention provides the following technical solutions: A flight path planning method and an unmanned aerial vehicle (UAV), including the following steps: S1: Obtain the terrain features within the flight range and the position information of beacon lights; S2: Construct a two-dimensional map with urban roads as the network, mark the positions of beacon lights on the two-dimensional map, establish a two-dimensional coordinate system with X and Y axes for each intersection, and determine the distances between the beacon lights and the nearest intersection on the X and Y axes; S3: Obtain the height information of urban buildings, input the height value Z after marking the positions of beacon lights on the two-dimensional map, and construct a two-dimensional map with height values; S4: Import the map information into the storage module of the UAV; S5: Obtain the starting point position through the positioning module installed on the UAV, obtain the target point according to the input position, determine the straight-line path between the starting point and the target point through the processing module, and determine whether the UAV needs to detour along this path according to the input flight height; S6: Compare the height value Z within the fan-shaped range along the flight direction. If the input flight height is greater than the height value Z, keep going straight along the original path, while if the input flight height is less than the height value Z, compare the height value Z within the fan-shaped range along the flight direction with the marked positions where the height value Z is greater than the height value Z, and fly along this position; S7: Determine the straight-line path between the current position and the target position when the UAV reaches the marked position; S8: Repeat the above S6 and S7 to plan the flight path for the UAV.

[0006] The terrain features include urban road information and urban floor heights. The two-dimensional map is composed of the central axes of urban roads in two directions, X and Y, and X and Y extend to the marked positions of the nearest beacon lights.

[0007] Further preferably, it includes a structural plate. One side of the bottom of the structural plate is hinged with a connecting arm. The bottom of the connecting arm is hinged with a clamping jaw. The bottom of the clamping jaw is fixedly connected with an image capture module.

[0008] Further preferably, a frame is fixedly connected to the top of the structural plate, and a control terminal is fixedly connected to the top of the frame. The control terminal is electrically connected to the image capture module.

[0009] Further preferably, the image capture module is composed of a digital camera and an infrared camera.

[0010] Further preferably, a positioning module, a processing module, a storage module and a wireless communication module are integrated in the control terminal, and a battery module is fixedly connected to the bottom of the rack, and the battery module is used to provide power for the control terminal.

[0011] Compared with the prior art, the beneficial effects of the present invention are as follows: In the present invention, when the drone flies at a fixed height over the city at night, the position of the beacon light is captured by the picture capturing module at the bottom of the drone, and the ratio of the numerical values of the coordinates X and Y on each surrounding beacon light is compared with the two-dimensional map in the storage module to determine the approximate position of the drone, and the positioning module is used to obtain the current position of the drone, thereby improving the feedback accuracy of the position coordinates of the drone.

[0012] In the present invention, the beacon lights in the city determine the positions of high-rise buildings, so that the drone can choose to bypass the positions of high-rise buildings or fly over the marked positions according to the marked positions of the beacon lights at the set flight height, thereby improving the flight path planning efficiency of the drone at night in the city. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic structural diagram of the flowchart of the present invention; Figure 2 It is a schematic three-dimensional structure diagram of the drone of the present invention.

[0014] In the figure: 1, structural plate; 2, connecting arm; 3, jaw; 4, picture capturing module; 5, rack; 6, control terminal; 7, battery module. DETAILED DESCRIPTION OF THE INVENTION

[0015] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technical staff in the art without creative work fall within the protection scope of the present invention.

[0016] Please refer to Figure 1 - Figure 2 , the present invention provides a technical solution: a flight path planning method and a drone for a drone, including the following steps: S1: Obtain the terrain features and the position information of the beacon lights within the flight range; S2: Construct a two-dimensional map with the urban roads as the network, mark the positions of the beacon lights on the two-dimensional map, establish a two-dimensional coordinate system with X and Y axes at each intersection, and determine the distances between the beacon lights and the nearest intersection on the X and Y axes; S3: Obtain the information of the height of urban buildings, input the height value Z at the position marked by the beacon light on the two-dimensional map, and construct a two-dimensional map with the height value. S4: Import the map information into the storage module of the drone. S5: Obtain the starting point position through the positioning module installed on the drone, obtain the target point according to the input position, determine the straight-line path between the starting point and the target point through the processing module, and determine whether the drone needs to detour along this path according to the input flight height. S6: Compare the height value Z within the fan-shaped range in the flight direction. If the input flight height is greater than the height value Z, keep going straight along the original path; if the input flight height is less than the height value Z, compare the marked positions where the height value Z is greater than the height value Z within the fan-shaped range in the flight direction, and fly along this position. S7: Determine the straight-line path between the current position and the target position when the drone arrives at the marked position. S8: Repeat the above S6 and S7 to plan the flight path for the drone.

[0017] The terrain features include urban road information and the height of urban floors. The two-dimensional map is composed of the central axes of urban roads in the X and Y directions, and X and Y extend to the position marked by the nearest beacon light.

[0018] In this embodiment, as Figure 2 shown, it includes a structural plate 1. One side of the bottom of the structural plate 1 is hinged with a connecting arm 2. The bottom of the connecting arm 2 is hinged with a clamping jaw 3. The bottom of the clamping jaw 3 is fixedly connected with an image capture module 4.

[0019] In this embodiment, as Figure 2 shown, the top of the structural plate 1 is fixedly connected with a frame 5. The top of the frame 5 is fixedly connected with a control terminal 6. The control terminal 6 is electrically connected to the image capture module 4.

[0020] In this embodiment, as Figure 2 shown, the image capture module 4 is composed of a digital camera and an infrared camera.

[0021] In this embodiment, as Figure 2 shown, the control terminal 6 integrates a positioning module, a processing module, a storage module and a wireless communication module. The bottom of the frame 5 is fixedly connected with a battery module 7. The battery module 7 provides power for the control terminal 6.

[0022] The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments, and the above embodiments and the descriptions in the specification are only preferred examples of the present invention and are not used to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A flight path planning method for an unmanned aerial vehicle, characterized in that: The steps include: S1: Obtain terrain features and navigation light location information within the flight range; S2: Construct a two-dimensional map with urban roads as the network, mark the location of the beacon lights on the two-dimensional map, make a two-dimensional coordinate system of X and Y axes for each intersection, and determine the distance between the beacon lights and the nearest intersection on the X and Y axes; S3: Obtain the height information of urban buildings, input the height value Z after the navigation light mark position on the two-dimensional map, and construct a two-dimensional map with the height value; S4: Importing map information into the storage module of the drone; S5: Obtain the starting point position through the positioning module installed on the drone, obtain the target point according to the input position, determine the straight line path between the starting point and the target point through the processing module, and determine whether the drone needs to detour along the path according to the input flight altitude; S6: Compare the altitude value Z within the fan-shaped range along the flight direction. If the input flight altitude is greater than the altitude value Z, the aircraft will keep going straight along the original path. If the input flight altitude is less than the altitude value Z, the aircraft will compare the marked position where the altitude value Z is greater than the altitude value Z within the fan-shaped range of the flight direction and fly along the marked position. S7: When the UAV reaches the marked position, it determines the straight path between the current position and the target position; S8: Repeat the above S6 and S7 to plan a flight path for the drone.

2. The method for planning a flight path of an unmanned aerial vehicle according to claim 1, characterized in that: The terrain features include city road information and city floor heights. The two-dimensional map is composed of city road central axes in two directions, X and Y, and X and Y extend to the nearest beacon light mark position.

3. A flight path planning UAV according to any one of claims 1-2, characterized in that: It comprises a structural plate (1), a connecting arm (2) is hingedly connected to one side of the bottom of the structural plate (1), a clamping claw (3) is hingedly connected to the bottom of the connecting arm (2), and a picture capturing module (4) is fixedly connected to the bottom of the clamping claw (3).

4. A flight path planning UAV according to claim 3, characterized in that: The top of the structural plate (1) is fixedly connected to a frame (5), the top of the frame (5) is fixedly connected to a control terminal (6), and the control terminal (6) is electrically connected to the picture capture module (4).

5. The flight path planning method of an unmanned aerial vehicle and the unmanned aerial vehicle according to claim 3, characterized in that: The picture capturing module (4) is composed of a digital camera and an infrared camera.

6. The flight path planning method of an unmanned aerial vehicle and the unmanned aerial vehicle according to claim 4, characterized in that: The control terminal (6) is integrated with a positioning module, a processing module, a storage module and a wireless communication module. The bottom of the rack (5) is fixedly connected with a battery module (7), and the battery module (7) is used to provide power to the control terminal (6).

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