CN104197940B - A kind of unmanned plane aerial flight path obstructions point extracting method - Google Patents

Abstract

The invention discloses a kind of unmanned plane aerial flight path obstructions point extracting method, including step: step S1, determine the three-dimensional coordinate information of the barrier point detected；Step S2, calculates the space length between barrier point two-by-two；Step S3, rejects the barrier point outlier in non-effective path, and extracts the barrier point in aerial flight path.The present invention can extract unmanned plane aerial flight path obstructions point in preprocessing process, considerably reduces data volume, improves speed and the safety of unmanned aerial vehicle flight path planning.

Description

A method for extracting obstacle points in the effective flight path of UAV

technical field

The invention relates to the field of unmanned aerial vehicle autonomous track planning, in particular to a method for extracting obstacle points in the effective flight path of an unmanned aerial vehicle.

Background technique

In an unknown environment, environmental information is unclear or insufficient or even completely absent for UAVs. It is easy to accumulate errors based on the status information of the UAV itself obtained by the sensor. Therefore, due to the lack of external environmental information, including technologies such as the representation of the environment and the extraction of environmental features, the UAV cannot perform precise positioning and track. planning. At present, using images or acoustic ranging sensors on the UAV body to obtain obstacle point information in an unknown environment has a huge amount of data, and there are a lot of invalid obstacle point information, which seriously affects the processing speed of subsequent flight path planning. and planning accuracy.

Contents of the invention

The present invention is made in view of the above situation, and its purpose is to provide a method for extracting the effective flight path obstacle point of the UAV, which can extract the UAV effective flight path obstacle point in the preprocessing process, greatly reduces the amount of data, and improves the efficiency of the UAV. Speed and safety for drone trajectory planning.

The invention provides a method for extracting obstacles in the effective flight path of a drone, comprising the steps of:

Step S1, determining the three-dimensional coordinate information of the detected obstacle point.

Step S2, calculating the spatial distance between two obstacle points.

Step S3, eliminating outliers of obstacle points of non-effective paths, and extracting obstacle points of effective flight paths.

Wherein, in step S1, the determination of the three-dimensional coordinate information of the detected obstacle point includes:

The three-dimensional coordinate information of the detected obstacle point is determined according to at least one of an angle sensor, an attitude sensor, a navigation device and an obstacle point detection sensor on the drone.

In step S2, the calculation of the spatial distance between two obstacle points includes:

Calculate the spatial distance between two obstacle points according to the geometric relationship.

Further, in step S3, the step of removing the outliers of obstacle points of non-effective paths and extracting the obstacle points of effective flight paths includes:

Step S301, judging whether the detected obstacle point is an obstacle point in the forward flight direction of the UAV, if yes, keep this point, and proceed to the next step of judgment, otherwise, the obstacle point is regarded as an obstacle field of an ineffective path value, to be removed.

Step S302, judging whether the detected obstacle point is an obstacle point on the ground or vertically above the sky, if yes, keep this point, and proceed to the next step of judgment, otherwise, treat the obstacle point as an obstacle field of an ineffective path value, to be removed.

Step S303, judging whether the geometric distance between the detected obstacle point and the adjacent obstacle point is greater than the short-axis distance of the UAV ellipsoid outline, if yes, keep this point, otherwise, the obstacle point is regarded as invalid The outlier value of the obstacle point of the path is eliminated.

Step S304, after the above three steps of judgment, extract all the retained obstacle points as obstacle points in the effective flight path without one person, and establish a database of obstacle points in the effective path.

Further, after step S3, the method further includes: performing flight path planning according to the extracted obstacle points of the effective flight path.

The invention can extract the effective flight path obstacle points of the UAV in the preprocessing process, greatly reduces the amount of data, and improves the speed and safety of the UAV track planning.

Description of drawings

Fig. 1 is the processing flow schematic diagram of a kind of unmanned aerial vehicle effective flight path obstacle point extraction method of the present invention;

Fig. 2 is a schematic diagram of the sub-flow processing of a method for extracting obstacle points in the effective flight path of an unmanned aerial vehicle of the present invention;

Fig. 3 is a schematic diagram of effective path obstacle point extraction in the present invention.

detailed description

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in combination with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are exemplary only, and are not intended to limit the scope of the present invention. Also, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily obscuring the concept of the present invention.

The present invention provides a method for extracting obstacle points in the effective flight path of UAV, which can extract the obstacle points in the effective flight path of UAV in the preprocessing process, greatly reduces the amount of data, and improves the speed and speed of UAV track planning. safety.

As shown in Figure 1 and Figure 2, a method for extracting obstacle points in the effective flight path of a UAV, including steps:

Step S1, determine the three-dimensional coordinate information of the detected obstacle point according to at least one of the angle sensor, the attitude sensor, the navigation device and the obstacle point detection sensor on the drone.

Step S2, calculating the spatial distance between two obstacle points according to the geometric relationship.

Step S3, eliminating outliers of obstacle points of non-effective paths, and extracting obstacle points of effective flight paths.

Further, in step S3, the step of removing the outliers of obstacle points of non-effective paths and extracting the obstacle points of effective flight paths includes:

Step S301, judging whether the detected obstacle point is an obstacle point in the forward flight direction of the UAV, if yes, keep this point, and proceed to the next step of judgment, otherwise, the obstacle point is regarded as an obstacle field of an ineffective path value, to be removed.

Step S302, judging whether the detected obstacle point is an obstacle point on the ground or vertically above the sky, if yes, keep this point, and proceed to the next step of judgment, otherwise, treat the obstacle point as an obstacle field of an ineffective path value, to be removed.

Step S303, judging whether the geometric distance between the detected obstacle point and the adjacent obstacle point is greater than the short-axis distance of the UAV ellipsoid outline, if yes, keep this point, otherwise, the obstacle point is regarded as invalid The outlier value of the obstacle point of the path is eliminated.

Step S304, after the above three steps of judgment, extract all the retained obstacle points as obstacle points in the effective flight path without one person, and establish a database of obstacle points in the effective path.

Wherein, step S301 , step S302 and step S303 are not necessarily sequenced, they are triggered by different conditions.

Further, after step S3, the method further includes: performing flight path planning according to the extracted obstacle points of the effective flight path.

As shown in Figure 3, when the detected obstacle point is in the forward direction of the UAV's flight, and is not an obstacle point on the ground or vertically above the sky, the space distance between the adjacent obstacle points and the UAV ellipsoid shape If the former is greater than the latter, it is considered that the UAV can pass between these two points, the path is regarded as a valid path, and the obstacle point is regarded as an effective path obstacle point and is retained.

It should be understood that the above specific embodiments of the present invention are only used to illustrate or explain the principles of the present invention, and not to limit the present invention. Therefore, any modification, equivalent replacement, improvement, etc. made without departing from the spirit and scope of the present invention shall fall within the protection scope of the present invention. Furthermore, it is intended that the appended claims of the present invention cover all changes and modifications that come within the scope and metespan of the appended claims, or equivalents of such scope and metesight.

Claims (2)

1. a unmanned plane aerial flight path obstructions point extracting method, it is characterised in that include step:

Step S1, determines the three-dimensional coordinate information of the barrier point detected；The three-dimensional coordinate information of the barrier point detected is determined according at least one in the angular transducer on unmanned plane, attitude transducer, navigator and barrier point detection sensor；

Step S2, calculates the space length between barrier point two-by-two；The space length between barrier point two-by-two is calculated according to geometrical relationship；

Step S3, rejects the barrier point outlier in non-effective path, and extracts the barrier point in aerial flight path；The barrier point outlier in the non-effective path of described rejecting, and the barrier point extracting aerial flight path includes:

Step S301, it is judged that whether the barrier point detected is the barrier point on unmanned plane forward flight direction, if it is, retain this point, carries out lower step judgement, described barrier point is otherwise considered as the barrier point outlier in non-effective path, is rejected；

Step S302, it is judged that whether the barrier point detected is the barrier point on ground or on vertical direction, overhead, if it is, retain this point, carries out lower step judgement, described barrier point is otherwise considered as the barrier point outlier in non-effective path, is rejected；

Step S303, it is judged that the geometric distance between the barrier point detected with adjacent barrier point whether more than unmanned plane spheroid appearance profile SWB from, if it is, retain this point, otherwise described barrier point is considered as the barrier point outlier in non-effective path, is rejected；

All barrier points retained, after above-mentioned three steps judge, are extracted as no one's aerial flight path obstructions point, and set up active path barrier point data base by step S304.

Method the most according to claim 1, it is characterised in that also include after step S3: carry out trajectory planning according to the barrier point in the aerial flight path extracted.