本发明公开一种基于BIM数据进行室内定位导航的无人机及控制方法,其中,所述无人机包括:飞行通道构建单元根据多个基于BIM数据在建筑物室内天花板和侧墙壁上设置以标识其空间位置信息的视觉信标和数据处理单元获取的BIM数据构建无人机飞行通道;定位单元根据视觉信标、BIM数据及无人机传感数据确定无人机的空间位置信息;当无人机在飞行过程中检测到飞行通道中存在障碍物时,飞行路径规划单元根据无人机的空间位置信息,判断当前飞行通道是否可以继续飞行,如否则重新规划飞行路径后使飞行控制单元驱动无人机按照新规划的飞行路径进行飞行。通过本发明,能够在室内复杂的结构与障碍物情况下,对无人机进行准确的室内定位与导航。

    The invention discloses an unmanned aerial vehicle for indoor positioning and navigation based on BIM data and a control method. According to the unmanned aerial vehicle, a flight channel construction unit constructs an unmanned aerial vehicle flight channel according to a plurality of visual beacons which are arranged on indoor ceilings and side walls of a building based on BIM data to identify spatial position information of the building and the BIM data acquired by a data processing unit; the positioning unit determines the spatial position information of the unmanned aerial vehicle according to the visual beacon, the BIM data and the unmanned aerial vehicle sensing data; when the unmanned aerial vehicle detects that an obstacle exists in the flight channel in the flight process, the flight path planning unit judges whether the current flight channel can continue to fly or not according to the spatial position information of the unmanned aerial vehicle, and if not, the flight path is planned again, and then the flight control unit drives the unmanned aerial vehicle to fly according to the newly planned flight path. According to the invention, accurate indoor positioning and navigation can be carried out on the unmanned aerial vehicle under the condition of complex indoor structures and obstacles.


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    Titel :

    基于BIM数据进行室内定位导航的无人机及控制方法


    Erscheinungsdatum :

    2024-02-20


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B64U / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS