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CN112764423A - Method and system for constructing flight path of multi-rotor unmanned aerial vehicle - Google Patents

Method and system for constructing flight path of multi-rotor unmanned aerial vehicle Download PDF

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Publication number
CN112764423A
CN112764423A CN201911070358.0A CN201911070358A CN112764423A CN 112764423 A CN112764423 A CN 112764423A CN 201911070358 A CN201911070358 A CN 201911070358A CN 112764423 A CN112764423 A CN 112764423A
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flight
unmanned aerial
aerial vehicle
information
detectors
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尤山泉
龚超
齐照山
林东峰
陈泓宇
雷洪
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Shanghai Weibiao Auto Parts Manufacturing Co Ltd
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Shanghai Weibiao Auto Parts Manufacturing Co Ltd
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Priority to CN201911070358.0A priority Critical patent/CN112764423A/en
Priority to PCT/CN2019/119802 priority patent/WO2021088133A1/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/80—Anti-collision systems

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  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
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  • Remote Sensing (AREA)
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Abstract

本发明公开了一种多旋翼无人机飞行轨迹的构建方法及系统，获取无人机在飞行过程中的当前姿态信息；根据所述当前姿态信息在预设范围内获取目标信息；对获取的所述目标信息进行标记，并进一步根据所述当前姿态信息以及所述目标信息获取飞行参数信息；所述飞行参数信息包括飞行高度、行的方位、以及飞行的速度；根据所述目标信息、所述待飞行参数信息在所述设定范围内建立所述无人机的飞行轨迹坐标图；控制所述无人机根据所述飞行轨迹坐标图完整飞行作业。依无人机飞行场景特性，在无人机上布置探测器，实时的将无人机飞行场景中地形特点及地形趋势，转换为实时三维地形图，实现无人机根据实时地形变化进行自行调整飞行高度安全飞行。

Figure 201911070358

The invention discloses a method and system for constructing a flight trajectory of a multi-rotor unmanned aerial vehicle, which acquires current attitude information of the unmanned aerial vehicle during flight; acquires target information within a preset range according to the current attitude information; The target information is marked, and the flight parameter information is further obtained according to the current attitude information and the target information; the flight parameter information includes the flight altitude, the direction of the line, and the flight speed; The to-be-flying parameter information establishes a flight trajectory coordinate diagram of the UAV within the set range; the UAV is controlled to complete the flight operation according to the flight trajectory coordinate diagram. According to the characteristics of the UAV flight scene, the detector is arranged on the UAV, and the terrain characteristics and terrain trends in the UAV flight scene are converted into a real-time 3D terrain map in real time, so that the UAV can adjust the flight according to the real-time terrain changes. Fly with high safety.

Figure 201911070358

Description

Method and system for constructing flight path of multi-rotor unmanned aerial vehicle
Technical Field
The invention relates to the technical field of drilling instruments, in particular to a method and a system for constructing flight tracks of a multi-rotor unmanned aerial vehicle.
Background
When the unmanned aerial vehicle works, a flight operation area and a flight route need to be planned, and then the unmanned aerial vehicle flies and works in the flight operation area according to the flight route. The method realizes the inevitable trend that the fixed-height flight, the identification of surrounding environment obstacles and the real-time obstacle avoidance become the intelligent development of the plant protection unmanned aerial vehicle. Because the meteorological condition is uncontrollable, the difficulty of operation under severe weather such as high-temperature and high-drought sand and dust is greatly improved, and higher requirements are put forward on the intellectualization of the unmanned aerial vehicle.
At present, how to realize unmanned aerial vehicles to intelligently avoid surrounding obstacles according to preset heights in the operation environment with residential buildings, greening construction, power grid facilities and communication facilities and irregular moving obstacles is a big problem in the operation process of the existing unmanned aerial vehicles;
based on the above, the present application provides a technical solution to solve the above technical problems.
Disclosure of Invention
The invention aims to provide a method and a system for constructing flight tracks of a multi-rotor unmanned aerial vehicle. .
The technical scheme provided by the invention is as follows:
a method for constructing flight paths of multi-rotor unmanned aerial vehicles comprises the following steps:
acquiring current attitude information of the unmanned aerial vehicle in the flight process; acquiring target information within a preset range according to the current attitude information; marking the obtained target information, and further obtaining flight parameter information according to the current attitude information and the target information; the flight parameter information comprises flight height, flight direction and flight speed; establishing a flight track coordinate graph of the unmanned aerial vehicle in the set range according to the target information and the parameter information to be flown; and controlling the unmanned aerial vehicle to perform complete flight operation according to the flight track coordinate graph.
Further preferred, comprising:
the current attitude information and the target information are obtained based on that a plurality of detectors are arranged on the unmanned aerial vehicle, frequency signals are transmitted and received through the detectors, and the current attitude information is further obtained according to the frequency signals; the installation positions of the plurality of detectors form 360 degrees relative to the set position of the unmanned aerial vehicle.
Further preferably, the acquiring the flying height comprises:
acquiring echo time difference between a transmitting signal and a receiving signal of each detector in a preset transmitting working frequency; and acquiring the flying height of the unmanned aerial vehicle relative to the ground and between the target information according to the echo time difference and the current light speed.
Further preferably, the acquiring the flying speed comprises:
acquiring echo frequency difference between a transmitting signal and a receiving signal of each detector in the preset transmitting working frequency; and further acquiring the flying speed of the unmanned aerial vehicle, which is reached by the current flying height, according to the echo frequency difference, the current light speed and the preset transmitting working frequency.
Further preferably, the acquiring the flight orientation includes:
acquiring wavelength parameters corresponding to the preset emission working frequency of each detector and the installation distance between antennas installed on each detector; acquiring corresponding phase difference according to the mounting distance between the antennas; further acquiring the relative angle detected by each detector at the current flying height of the unmanned aerial vehicle according to the wavelength parameter, the installation distance and the phase difference and a trigonometric function relationship; and calculating the flight orientation of the unmanned aerial vehicle according to the relative angle detected by each detector.
Further preferred, comprising:
when the target information is judged to be the obstacle information, marking the obstacle in a set flight range; when the unmanned aerial vehicle flies to the preset range around the obstacle, adjusting the flight parameters of the unmanned aerial vehicle; and when the target information is judged to be the non-obstacle information, the unmanned aerial vehicle flies normally along a set flight track.
Further preferably, adjusting the flight parameters of the drone includes:
adjusting the flying height of the unmanned aerial vehicle; adjusting a flight orientation of the drone; adjusting the flying speed of the unmanned aerial vehicle; when the obstacle is a dynamic obstacle, the unmanned aerial vehicle is further adjusted to be in a hovering state, or the current flight track is changed, so that the obstacle is avoided.
A system for constructing flight tracks of multi-rotor unmanned aerial vehicles can execute the method for constructing flight tracks of multi-rotor unmanned aerial vehicles, and comprises the following steps: the unmanned aerial vehicle comprises a controller, a plurality of detectors, an unmanned aerial vehicle body and wings; the detectors are mounted on the unmanned aerial vehicle body and the wings and are in communication connection with the controller; the installation angles of the plurality of detectors form 360 degrees relative to the flight direction of the unmanned aerial vehicle; an antenna for transmitting and receiving signals is arranged on each detector;
the detector is used for acquiring current attitude information of the unmanned aerial vehicle in the flight process;
the controller includes: the data processing module is used for carrying out data operation processing on the acquired current attitude information of the unmanned aerial vehicle in the flight process; the information marking module is used for acquiring target information within a preset range according to the processed current attitude information and marking the acquired target information, and the flight parameter acquisition module is used for acquiring flight parameter information according to the current attitude information and the target information; the flight parameter information comprises flight height, flight direction and flight speed; the coordinate graph building module is used for building a flight track coordinate graph of the unmanned aerial vehicle in a set range according to the target information and the parameter information to be flown; and the unmanned aerial vehicle is in complete flight operation of the flight track coordinate graph.
Further preferably, the flight parameter acquiring module includes:
the flying height calculating unit is used for acquiring echo time difference between a transmitting signal and a receiving signal of each detector in a preset transmitting working frequency; and acquiring the flying height of the unmanned aerial vehicle relative to the ground and between the target information according to the echo time difference and the current light speed.
Further preferably, the flight parameter acquiring module includes:
the flight speed calculation unit is used for acquiring an echo frequency difference between a transmitting signal and a receiving signal of each detector in the preset transmitting working frequency; and further acquiring the flying speed of the unmanned aerial vehicle, which is reached by the current flying height, according to the echo frequency difference, the current light speed and the preset transmitting working frequency.
Further preferably, the flight parameter acquiring module includes:
the flight direction calculation unit is used for acquiring wavelength parameters corresponding to the preset emission working frequency of each detector and the installation distance between the antennas installed on each detector; acquiring corresponding phase difference according to the mounting distance between the antennas; further acquiring the relative angle detected by each detector at the current flying height of the unmanned aerial vehicle according to the wavelength parameter, the installation distance and the phase difference and a trigonometric function relationship; and calculating the flight orientation of the unmanned aerial vehicle according to the relative angle detected by each detector.
The invention provides a method and a system for constructing flight paths of a multi-rotor unmanned aerial vehicle, which at least have the following beneficial effects:
according to the invention, according to the flight scene characteristics of the unmanned aerial vehicle, the plurality of detectors are arranged on the body of the unmanned aerial vehicle, so that the terrain characteristics and the terrain trend in the flight scene of the unmanned aerial vehicle are marked in real time and converted into real-time flight tracks, namely three-dimensional terrain maps, and the unmanned aerial vehicle can adapt to different flight scenes to a greater extent.
According to the invention, the flight parameters of the built real-time terrain trend are controlled by the control system, the flight path can keep equal-altitude flight in a horizontal scene, and when the terrain changes, the unmanned aerial vehicle can still automatically adjust the flight height to safely fly according to the real-time terrain changes, so that the requirement on unmanned aerial vehicle control in a complex special operation scene is ensured.
Drawings
The above features, technical features, advantages and implementations of a method and system for constructing a flight trajectory for a multi-rotor drone will be further described in a clearly understandable manner with reference to the accompanying drawings.
Fig. 1 is a structural diagram of one embodiment of a method for constructing a flight trajectory of a multi-rotor unmanned aerial vehicle according to the present invention;
FIG. 2 is a schematic view of one embodiment of a multi-rotor drone detector installation of the present invention;
FIG. 3 is a schematic view of one embodiment of a multi-rotor drone detector installation of the present invention;
fig. 4 is a block diagram of one embodiment of the system for constructing the flight trajectory of a multi-rotor drone according to the present invention.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product.
Referring to fig. 1, the present invention provides an embodiment of a method for constructing flight paths of a multi-rotor unmanned aerial vehicle, including
Step S100, acquiring current attitude information of the unmanned aerial vehicle in the flight process;
step S200, acquiring target information in a preset range according to the current attitude information;
step S300, marking the acquired target information, and further acquiring flight parameter information according to the current attitude information and the target information; flight parameter information includes flight altitude, flight orientation, and flight speed;
step S400, establishing a flight path coordinate graph of the unmanned aerial vehicle in a set range according to the target information and the parameter information to be flown;
and S500, controlling the unmanned aerial vehicle to perform complete flight operation according to the flight trajectory coordinate graph.
Further preferred, comprising:
specifically, the current attitude information and the target information are obtained based on the fact that a plurality of detectors are arranged on the unmanned aerial vehicle, frequency signals are transmitted and received through the detectors, and the current attitude information is further obtained according to the frequency signals; the mounting positions of the plurality of detectors constitute 360 ° with respect to the set position of the drone. The installation of a plurality of detectors can acquire the live information in the range of flight in an embodiment, the detector can comprise a radar detector, and is shown in reference to fig. 2-3, the radar detector is installed at different set positions of the unmanned aerial vehicle, the detection angle is 120 degrees in the embodiment, the detection angle comprises 1-front ground imitation radar detection angle 120 degrees, 2-rear ground imitation radar detection angle 120 degrees, 3-fixed height ground imitation radar detection angle 120 degrees, so that 1 and 2 left and right unmanned aerial vehicle bottom radars 76-81 GHz millimeter wave radars can radiate at an angle of 180 degrees, and a bottom terrain model of the unmanned aerial vehicle can be built by no dead angle detection. The installation position and the installation number of the specific radar detectors are adaptively adjusted according to the use requirements, and the unmanned aerial vehicle can detect without dead angles in the flying process; in the embodiment, a signal with a certain frequency is generated by a detector, and a return signal is received, so that the real-time attitude information of the unmanned aerial vehicle in the flight process can be calculated, a set range is detected according to the real-time attitude information, whether the target information is an obstacle or a target position to enter is judged according to the received echo frequency difference, if the target information is the obstacle, a constructed flight track (3D map) is marked, so that the flight plan is not influenced in the flight process, the corresponding information detected in the flight process is classified and marked, and the flight track is established in real time, so that the target is marked according to the flight scene characteristics of the unmanned aerial vehicle, all-directional dead-angle-free detection information in the flight process is realized, and the terrain characteristics and the terrain trend in the flight scene of the unmanned aerial vehicle are converted into a real-time three-dimensional terrain map, provide accurate flight basis for unmanned aerial vehicle's operation.
Further preferably, the step S300 of acquiring the flying height specifically includes:
acquiring echo time difference between a transmitting signal and a receiving signal of each detector in a preset transmitting working frequency; and acquiring the flying height of the unmanned aerial vehicle relative to the ground and the target information according to the echo time difference and the current light speed.
The calculation of the specific flying height is completed by the following formula: r ═ 12C Δ T- - (1)
R-the flying height of the unmanned aerial vehicle; c, the light speed of the unmanned aerial vehicle in the flight process, delta T, echo time difference; the flying height of the current unmanned aerial vehicle is calculated according to the specific implementation of the formula (1), so that the flying height of the current unmanned aerial vehicle can be adjusted under different operation scenes.
Further preferably, the step S300 of acquiring the flight speed specifically includes:
acquiring echo frequency differences between transmitting signals and receiving signals of each detector within a preset transmitting working frequency; and further acquiring the flying speed of the unmanned aerial vehicle, which is reached by the current flying height, according to the echo frequency difference, the current light speed and the preset transmitting working frequency.
The specific calculation of the flight speed is completed by the following formula:
Figure BDA0002260759660000071
f--f+- -transmitting and receiving loopsFrequency difference of wave, fo-a preset launch operating frequency, C-the speed of light of the drone during flight, calculated by formula (2) to the real-time speed of flight of the drone during flight, adjusted in real time when reaching the operating area, or an obstacle, is detected.
Further preferably, the step S300 of acquiring the flight orientation specifically includes:
acquiring wavelength parameters corresponding to preset emission working frequencies of the detectors and installation distances between antennas installed on the detectors; acquiring corresponding phase difference according to the installation distance between the antennas; further acquiring the relative angle detected by each detector on the current flying height of the unmanned aerial vehicle according to the wavelength parameter, the installation distance and the phase difference and the trigonometric function relationship; and calculating the flight direction of the unmanned aerial vehicle according to the relative angle detected by each detector.
The calculation of the specific flight orientation is completed by the following formula:
Figure BDA0002260759660000072
lambda- -preset transmission operating frequency foCorresponding wavelength parameters, delta phi, and the installation distance between the antennas obtain corresponding phase differences; l-the mounting distance between the antennas mounted on each detector; referring to fig. 4, 4 receiving antennas are designed, when the target object returns from the antenna 5, the distance to each antenna is different, the distance between the antennas is designed according to the use requirement, Δ Φ is further calculated according to the installation distance, and the angle of the target object can be calculated according to the relationship in (3). And calculating the real-time flight orientation of the unmanned aerial vehicle in the flight process through a formula (3), and adjusting the flight orientation in real time when the unmanned aerial vehicle arrives at an operation area or an obstacle is detected. If use in the agricultural through unmanned aerial vehicle, carry out the medicine and spray, adjust timely position in the operation process, can be more accurate spray its pesticide on crops.
Further preferably, step S200 specifically includes:
when the target information is judged to be the obstacle information, marking the obstacle in the set flight range; when the unmanned aerial vehicle flies to the preset range around the obstacle, adjusting the flight parameters of the unmanned aerial vehicle; and when the target information is judged to be the non-obstacle information, the unmanned aerial vehicle flies normally along the set flight track.
Further preferably, adjusting the flight parameters of the drone includes:
adjusting the flying height of the unmanned aerial vehicle; adjusting the flight direction of the unmanned aerial vehicle; adjusting the flight speed of the unmanned aerial vehicle; when the obstacle is a dynamic obstacle, the unmanned aerial vehicle is further adjusted to be in a hovering state, or the current flight track is changed, so that the obstacle is avoided.
According to the technical scheme provided by the invention, the radar detectors with different angles are arranged, so that the unmanned aerial vehicle can carry out all-around test in a complex landform state, dead angles are avoided, and a flight map is obtained after the tested data is operated and integrated.
As shown with reference to FIG. 4; the invention provides an embodiment of a system for constructing flight paths of a multi-rotor unmanned aerial vehicle, which can execute the method for constructing the flight paths of the multi-rotor unmanned aerial vehicle, wherein the unmanned aerial vehicle 100 comprises: a controller 120, a plurality of detectors 110, a drone body, and wings; the detector 100 is installed on the unmanned aerial vehicle body and the wings and is in communication connection with the controller 120; the installation angles of the detectors form 360 degrees relative to the flight direction of the unmanned aerial vehicle; each detector is provided with an antenna for receiving and transmitting signals;
the detector 110 is used for acquiring current attitude information of the unmanned aerial vehicle in the flight process;
the controller 120 includes: the data processing module 121 is used for performing data operation processing on the acquired current attitude information of the unmanned aerial vehicle in the flight process; the information marking module 122 is used for acquiring target information within a preset range according to the processed current attitude information and marking the acquired target information, and the flight parameter acquiring module 123 is used for acquiring flight parameter information according to the current attitude information and the target information; flight parameter information includes flight altitude, flight orientation, and flight speed; the coordinate graph building module 124 is used for building a flight track coordinate graph of the unmanned aerial vehicle in a set range according to the target information and the parameter information to be flown; and the flight control module 125 is used for completely flying the unmanned aerial vehicle in the flight trajectory coordinate graph.
Specifically, the current attitude information and the target information are obtained based on the fact that a plurality of detectors are arranged on the unmanned aerial vehicle, frequency signals are transmitted and received through the detectors, and the current attitude information is further obtained according to the frequency signals; the mounting positions of the plurality of detectors constitute 360 ° with respect to the set position of the drone. The installation of a plurality of detectors can acquire the live information in the range of flight in an embodiment, the detector can comprise a radar detector, and is shown in reference to fig. 2-3, the radar detector is installed at different set positions of the unmanned aerial vehicle, the detection angle is 120 degrees in the embodiment, the detection angle comprises 1-front ground imitation radar detection angle 120 degrees, 2-rear ground imitation radar detection angle 120 degrees, 3-fixed height ground imitation radar detection angle 120 degrees, so that 1 and 2 left and right unmanned aerial vehicle bottom radars 76-81 GHz millimeter wave radars can radiate at an angle of 180 degrees, and a bottom terrain model of the unmanned aerial vehicle can be built by no dead angle detection. The installation position and the installation number of the specific radar detectors are adaptively adjusted according to the use requirements, and the unmanned aerial vehicle can detect without dead angles in the flying process; in the embodiment, a signal with a certain frequency is generated by a detector, and a return signal is received, so that the real-time attitude information of the unmanned aerial vehicle in the flight process can be calculated, a set range is detected according to the real-time attitude information, whether the target information is an obstacle or a target position to enter is judged according to the received echo frequency difference, if the target information is the obstacle, a constructed flight track (3D map) is marked, so that the flight plan is not influenced in the flight process, the corresponding information detected in the flight process is classified and marked, and the flight track is established in real time, so that the target is marked according to the flight scene characteristics of the unmanned aerial vehicle, all-directional dead-angle-free detection information in the flight process is realized, and the terrain characteristics and the terrain trend in the flight scene of the unmanned aerial vehicle are converted into a real-time three-dimensional terrain map, provide accurate flight basis for unmanned aerial vehicle's operation.
Further preferably, the flight parameter acquiring module includes:
the flying height calculating unit is used for acquiring echo time difference between a transmitting signal and a receiving signal of each detector in a preset transmitting working frequency; and acquiring the flying height of the unmanned aerial vehicle relative to the ground and the target information according to the echo time difference and the current light speed.
Further preferably, the flight parameter acquiring module includes:
the flight speed calculation unit is used for acquiring echo frequency difference between a transmitting signal and a receiving signal of each detector within a preset transmitting working frequency; and further acquiring the flying speed of the unmanned aerial vehicle, which is reached by the current flying height, according to the echo frequency difference, the current light speed and the preset transmitting working frequency.
Further preferably, the flight parameter acquiring module includes:
the flight direction calculation unit is used for acquiring wavelength parameters corresponding to preset emission working frequencies of the detectors and installation distances among antennas installed on the detectors; acquiring corresponding phase difference according to the installation distance between the antennas; further acquiring the relative angle detected by each detector on the current flying height of the unmanned aerial vehicle according to the wavelength parameter, the installation distance and the phase difference and the trigonometric function relationship; and calculating the flight direction of the unmanned aerial vehicle according to the relative angle detected by each detector.
The specific acquisition of the flight parameters has already been explained in the above embodiments, and is not further described again.
It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that it is obvious to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and these modifications and improvements should also be considered as the protection scope of the present invention.

Claims (11)

1.一种多旋翼无人机飞行轨迹的构建方法，其特征在于，1. a construction method of multi-rotor unmanned aerial vehicle flight path, is characterized in that, 获取无人机在飞行过程中的当前姿态信息；Obtain the current attitude information of the UAV during flight; 根据所述当前姿态信息在预设范围内获取目标信息；Obtain target information within a preset range according to the current attitude information; 对获取的所述目标信息进行标记，并进一步根据所述当前姿态信息以及所述目标信息获取飞行参数信息；所述飞行参数信息包括飞行高度、飞行的方位、以及飞行的速度；Mark the obtained target information, and further obtain flight parameter information according to the current attitude information and the target information; the flight parameter information includes flight altitude, flight orientation, and flight speed; 根据所述目标信息、所述待飞行参数信息在所述设定范围内建立所述无人机的飞行轨迹坐标图；According to the target information and the to-be-flyed parameter information, a coordinate diagram of the flight trajectory of the UAV is established within the set range; 控制所述无人机根据所述飞行轨迹坐标图完整飞行作业。Control the UAV to complete the flight operation according to the flight trajectory coordinate map. 2.如权利要求1所述的多旋翼无人机飞行轨迹的构建方法，其特征在于，包括：所述当前姿态信息，以及所述目标信息的获取是基于在所述无人机上设置有多个探测器，并通过所述探测器收发频率信号，进一步根据所述收发频率信号获取所述当前姿态信息；多个所述探测器的安装位置相对于所述无人机的设定位置构成360°。2. The method for constructing the flight trajectory of a multi-rotor unmanned aerial vehicle as claimed in claim 1, wherein the method comprises: the current attitude information and the acquisition of the target information are based on the multi-rotor unmanned aerial vehicle. a plurality of detectors, and send and receive frequency signals through the detectors, and further obtain the current attitude information according to the received and received frequency signals; the installation positions of the plurality of detectors relative to the set positions of the drones constitute 360 °. 3.如权利要求2所述的多旋翼无人机飞行轨迹的构建方法，其特征在于，获取所述飞行高度包括：3. the construction method of multi-rotor unmanned aerial vehicle flight trajectory as claimed in claim 2, is characterized in that, obtaining described flying height comprises: 获取各所述探测器在预设发射工作频率内的发射信号与接收信号之间的回波时间差；acquiring the echo time difference between the transmitted signal and the received signal of each of the detectors within the preset transmission working frequency; 根据所述回波时间差以及当前光速，获取所述无人机相对于地面以及所述目标信息之间的所述飞行高度。According to the echo time difference and the current speed of light, the flying height of the drone relative to the ground and the target information is obtained. 4.如权利要求3所述的多旋翼无人机飞行轨迹的构建方法，其特征在于，获取所述飞行速度包括：4. the construction method of multi-rotor unmanned aerial vehicle flight trajectory as claimed in claim 3, is characterized in that, obtaining described flight speed comprises: 获取各所述探测器在所述预设发射工作频率内的发射信号与接收信号之间的回波频率差；acquiring the echo frequency difference between the transmitted signal and the received signal of each of the detectors within the preset transmission working frequency; 进一步根据所述回波频率差、所述当前光速及所述预设发射工作频率获取所述无人机当前飞行高度达到的所述飞行速度。The flight speed reached by the current flight altitude of the drone is further obtained according to the echo frequency difference, the current speed of light, and the preset transmission operating frequency. 5.如权利要求4所述的多旋翼无人机飞行轨迹的构建方法，其特征在于，获取所述飞行方位包括：5. the construction method of the multi-rotor unmanned aerial vehicle flight trajectory as claimed in claim 4, is characterized in that, obtaining described flight azimuth comprises: 获取各所述探测器的所述预设发射工作频率对应的波长参数、以及各所述探测器上安装的天线之间的安装距离；Acquiring wavelength parameters corresponding to the preset emission operating frequencies of each of the detectors, and an installation distance between the antennas installed on each of the detectors; 根据各天线之间的所述安装距离获取对应的相位差；Obtain the corresponding phase difference according to the installation distance between the antennas; 进一步根据所述波长参数、所述安装距离及所述相位差根据三角函数关系获取所述无人机当前飞行高度上各所述探测器探测的相对角度；Further according to the wavelength parameter, the installation distance and the phase difference, the relative angle detected by each of the detectors on the current flight height of the UAV is obtained according to the trigonometric function; 根据各所述探测器探测的相对角度计算所述无人机的所述飞行方位。The flying azimuth of the UAV is calculated according to the relative angles detected by the detectors. 6.如权利要求1-5任一所述的多旋翼无人机飞行轨迹的构建方法，其特征在于，包括：判断所述目标信息为障碍物信息时，在设定的飞行范围内对所述障碍物进行标记；6. The method for constructing the flight trajectory of a multi-rotor unmanned aerial vehicle according to any one of claims 1 to 5, characterized in that, comprising: when judging that the target information is obstacle information, performing a task on all objects within a set flight range. mark the obstacles mentioned above; 当所述无人机飞行至所述障碍物周围的预设范围内，调整所述无人机的飞行参数；When the UAV flies to a preset range around the obstacle, adjust the flight parameters of the UAV; 判断所述目标信息为非所述障碍物信息时，所述无人机沿设定飞行轨迹正常飞行。When it is determined that the target information is not the obstacle information, the drone flies normally along the set flight trajectory. 7.如权利要求6所述的多旋翼无人机飞行轨迹的构建方法，其特征在于，调整所述无人机的飞行参数包括：7. the construction method of multi-rotor unmanned aerial vehicle flight trajectory as claimed in claim 6 is characterized in that, adjusting the flight parameter of described unmanned aerial vehicle comprises: 调整所述无人机的飞行高度；adjusting the flying height of the drone; 调整所述无人机的飞行方案；adjusting the flight plan of the UAV; 调整所述无人机的飞行速度；adjusting the flight speed of the drone; 当所述障碍物为动态障碍物时，还进一步调整无人机为悬停状态，或改变当前的飞行轨迹，进行避障。When the obstacle is a dynamic obstacle, the UAV is further adjusted to be in a hovering state, or the current flight trajectory is changed to avoid obstacles. 8.一种多旋翼无人机飞行轨迹的构建系统，可执行权利要求1-7任一所述的多旋翼无人机飞行轨迹的构建方法，其特征在于，包括：控制器、多个探测器、无人机本体以及机翼；所述探测器安装于无人机本体以及机翼上，且与所述控制器通信连接；多个探测器的安装角度相对于所述无人机的飞行方位构成360°；在每个所述探测器上安装信号收发的天线；8. the construction system of a kind of multi-rotor unmanned aerial vehicle flight track, can perform the construction method of the described multi-rotor unmanned aerial vehicle flight track of any one of claim 1-7, it is characterized in that, comprise: controller, a plurality of detection The detector, the drone body and the wing; the detector is installed on the drone body and the wing, and is connected to the controller in communication; the installation angles of the plurality of detectors are relative to the flight of the drone The azimuth constitutes 360°; an antenna for signal transmission and reception is installed on each of the detectors; 所述探测器用于获取无人机在飞行过程中的当前姿态信息；The detector is used to obtain the current attitude information of the drone during flight; 所述控制器包括：The controller includes: 数据处理模块，将获取的无人机在飞行过程中的当前姿态信息进行数据运算处理；The data processing module performs data operation and processing on the acquired current attitude information of the UAV during flight; 信息标记模块，并根据处理后所述当前姿态信息在预设范围内获取目标信息，对获取的所述目标信息进行标记，an information marking module, and obtains target information within a preset range according to the current attitude information after processing, and marks the obtained target information, 飞行参数获取模块，根据所述当前姿态信息以及所述目标信息获取飞行参数信息；所述飞行参数信息包括飞行高度、飞行的方位、以及飞行的速度；a flight parameter acquisition module, which acquires flight parameter information according to the current attitude information and the target information; the flight parameter information includes flight altitude, flight orientation, and flight speed; 坐标图构建模块，根据所述目标信息、所述待飞行参数信息在设定范围内建立所述无人机的飞行轨迹坐标图；a coordinate graph construction module, which establishes a coordinate graph of the flight trajectory of the UAV within a set range according to the target information and the to-be-flyed parameter information; 飞行控制模块，所述无人机在所述飞行轨迹坐标图完整飞行作业。The flight control module, the UAV completes the flight operation on the flight trajectory coordinate map. 9.如权利要求8所述的多旋翼无人机飞行轨迹的构建系统，其特征在于，飞行参数获取模块包括：9. the construction system of multi-rotor unmanned aerial vehicle flight trajectory as claimed in claim 8, is characterized in that, flight parameter acquisition module comprises: 飞行高度计算单元，获取各所述探测器在预设发射工作频率内的发射信号与接收信号之间的回波时间差；根据所述回波时间差以及当前光速，获取所述无人机相对于地面以及所述目标信息之间的所述飞行高度。The flight height calculation unit obtains the echo time difference between the transmitted signal and the received signal of each of the detectors within the preset transmission operating frequency; according to the echo time difference and the current speed of light, obtains the relative distance of the drone to the ground and the flying height between the target information. 10.如权利要求9所述的多旋翼无人机飞行轨迹的构建方法，其特征在于，所述飞行参数获取模块包括：10. The construction method of multi-rotor unmanned aerial vehicle flight trajectory as claimed in claim 9, is characterized in that, described flight parameter acquisition module comprises: 飞行速度计算单元，获取各所述探测器在所述预设发射工作频率内的发射信号与接收信号之间的回波频率差；进一步根据所述回波频率差、所述当前光速及所述预设发射工作频率获取所述无人机当前飞行高度达到的所述飞行速度。A flight speed calculation unit to obtain the echo frequency difference between the transmitted signal and the received signal of each of the detectors within the preset transmit operating frequency; further according to the echo frequency difference, the current speed of light and the The preset launch operating frequency obtains the flight speed reached by the current flight altitude of the drone. 11.如权利要求10所述的多旋翼无人机飞行轨迹的构建系统，其特征在于，所述飞行参数获取模块包括：11. The construction system of the multi-rotor unmanned aerial vehicle flight trajectory as claimed in claim 10, wherein the flight parameter acquisition module comprises: 飞行方位计算单元，获取各所述探测器的所述预设发射工作频率对应的波长参数、以及各所述探测器上安装的天线之间的安装距离；根据各天线之间的所述安装距离获取对应的相位差；进一步根据所述波长参数、所述安装距离及所述相位差根据三角函数关系获取所述无人机当前飞行高度上各所述探测器探测的相对角度；根据各所述探测器探测的相对角度计算所述无人机的所述飞行方位。The flight azimuth calculation unit obtains the wavelength parameter corresponding to the preset emission working frequency of each of the detectors and the installation distance between the antennas installed on each of the detectors; according to the installation distance between the antennas Obtain the corresponding phase difference; further according to the wavelength parameter, the installation distance and the phase difference according to the trigonometric function relationship to obtain the relative angle detected by the detectors at the current flight height of the drone; The relative angle detected by the detector calculates the flight orientation of the drone.
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