Unmanned aerial vehicle flight path control method based on cloud computing

Abstract

The invention discloses an unmanned aerial vehicle flight path control method based on cloud computing, and relates to the technical field of data analysis, and the method comprises the steps: carrying out the same-type task historical data calling of a current target location and task data through a database, and carrying out the path pre-planning of a current unmanned aerial vehicle flight task; performing real-time evaluation on the flight environment data through an unmanned aerial vehicle real-time environment monitoring system, and performing adjustment judgment on a pre-planned flight path based on the evaluation data; based on a pre-planned flight trajectory judgment result, performing associated space safety distribution point analysis on trajectory points with adjustment requirements, and constructing a corresponding safety distribution point set based on analysis data; comprehensive safety performance evaluation is carried out on each space safety distribution point in the set, and a pre-planned flight path is adjusted according to an evaluation result; and feeding back the real-time flight data of the unmanned aerial vehicle by a monitoring end, synchronously displaying a real-time track adjustment record, and feeding back a track adjustment command to the unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention relates to the field of data analysis, and in particular to a method for controlling a flight trajectory of an unmanned aerial vehicle based on cloud computing. Background Art

[0002] Cloud computing-based UAV flight trajectory control is a technology that uses remote cloud servers to process UAV flight data and provide decision support. It collects UAV flight environment data and performs cloud platform analysis and calculations, and combines advanced algorithms to plan and optimize the UAV's flight trajectory.

[0003] For the sake of flight safety, current drones strictly control the flight control system and can only perform flight missions according to pre-set trajectories or areas. However, the environment during the mission of drones is changeable, and it is difficult to fully plan safety in the pre-planned route. Therefore, the complex flight conditions during the flight of drones need to be monitored and adjusted in time. However, in the current environment, the real-time control of drones requires remote monitoring and timely control based on manual experience, and autonomous intelligent control is not possible. Summary of the invention

[0004] The purpose of the present invention is to provide a method for controlling the flight trajectory of an unmanned aerial vehicle based on cloud computing to solve the problems raised in the prior art.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A method for controlling a flight trajectory of an unmanned aerial vehicle based on cloud computing, the method comprising the following steps:

[0007] S100, retrieving historical data of tasks of the same type for the current target location and task data through the UAV task database; and pre-planning the trajectory of the current UAV flight task based on the historical data;

[0008] S200, executing a flight command on the UAV based on the pre-planned flight trajectory, and evaluating the flight environment data in real time through the UAV real-time environment monitoring system, and adjusting and judging the pre-planned flight trajectory based on the evaluation data;

[0009] S300, based on the pre-planned flight trajectory judgment result, performing an analysis of the associated spatial safety distribution points for the trajectory points that need to be adjusted, and constructing a corresponding safety distribution point set based on the analysis data; performing a comprehensive safety effectiveness evaluation on each spatial safety distribution point in the set, and adjusting the pre-planned flight trajectory according to the evaluation result;

[0010] S400, the monitoring end feeds back the real-time flight data of the UAV, simultaneously displays the real-time trajectory adjustment record and feeds back the trajectory adjustment command to the UAV.

[0011] The S100 retrieves historical data of the same type of tasks for the current target location and task data through the UAV task database; the specific steps of performing trajectory pre-planning for the current UAV flight task based on the historical data are as follows:

[0012] S101, based on the current UAV flight mission data and mission execution endpoint data, in the UAV mission database, historical UAV mission execution data is searched using mission type and target endpoint as search filter terms;

[0013] S102, according to the database search results, retrieve the search and screening data and comprehensively search the mission execution trajectory data, flight data and environmental data of each historical UAV in the data, pre-plan the flight trajectory route of the current UAV mission and preset the UAV flight parameters.

[0014] The environmental data includes meteorological data and spatial data; the UAV flight parameters are the operating parameters of the UAV; the meteorological data include wind speed data, temperature data, humidity data and air pressure data, etc.; the spatial data are the spatial obstacle data on the UAV flight trajectory; the UAV flight parameter data include flight speed data, flight direction data, flight angle data and power data, etc.

[0015] The specific steps of executing the flight command of the UAV based on the pre-planned flight trajectory and evaluating the flight environment data in real time through the UAV real-time environment monitoring system and adjusting and judging the pre-planned flight trajectory based on the evaluation data are as follows:

[0016] S201, by transmitting the pre-planned flight trajectory route and flight parameters to the drone command storage unit, the drone command storage unit is commanded and executed through wireless communication, so as to realize the remote execution of the flight mission for the drone;

[0017] S202. Based on the flight trajectory of the UAV, the UAV's onboard environmental monitoring system is used to collect the UAV's real-time environmental data, and the data is packaged through the UAV's onboard storage unit and transmitted to the monitoring end through wireless communication; the monitoring end evaluates and analyzes the UAV's real-time environmental data, and adjusts and judges the UAV's current flight trajectory based on the evaluation results.

[0018] The real-time environmental data of the drone is evaluated and analyzed, specifically by classifying and processing the environmental data collected by the drone to construct a corresponding real-time environmental data form; based on the real-time environmental data form, a comprehensive safety risk assessment is performed on the real-time environment of the drone, and risk assessment is performed on the meteorological data and spatial data of the real-time location of the drone respectively. The calculation formula is:

[0019]

[0020] Among them, Se(x,y,z) is the meteorological data risk assessment value corresponding to the real-time UAV position coordinates (x,y,z); n is the number of types of collected meteorological data; f n is the safety impact coefficient of the meteorological data of type n; E n The collected data of meteorological data of type n corresponding to number;

[0021]

[0022] Among them, Sr(x, y, z) is the spatial data risk assessment value corresponding to the real-time UAV position coordinates (x, y, z); l is the UAV environmental survey distance; h is the distance from the UAV to the obstacle if there is an obstacle on the UAV flight trajectory; d is the safety emergency distance for the UAV to avoid obstacles; γ is the obstacle risk assessment parameter; k is the UAV obstacle safety emergency parameter;

[0023] By judging whether the spatial risk assessment value Sr(x,y,z) of the current UAV location is k; if it is k, it is judged that there is a safety risk at the current UAV location, and the pre-planned trajectory of the UAV is adjusted; if it is not k, the risk assessment value of the real-time meteorological data and spatial data of the UAV location is integrated to analyze the comprehensive safety risk of the UAV's real-time environmental data. The calculation formula is:

[0024] SA(x,y,z)=w1*Se(x,y,z)+ W 2*Sr(x,y,z);

[0025] Wherein, SA(x,y,z) is the comprehensive safety risk value of the real-time environmental data corresponding to the real-time UAV position coordinates (x,y,z); w1 and w2 are the allocation weights; where since d<h≤l, the maximum critical value of d / h is 1, and the maximum critical value of Sr(x,y,z) is γ, but in fact this critical value cannot be reached; therefore, when d<h≤l, the value of Sr(x,y,z) is less than γ, and the value of k is greater than γ, so when judging the spatial risk, it is judged whether it is k, if not k, it is less than k;

[0026] By retrieving the historical database and introducing the comparative safety threshold SA(s), if SA(x, y, z) ≥ SA(s), it is judged that there is a safety risk in the current position of the drone, and the pre-planned trajectory route of the drone is adjusted; if SA(x, y, z) < SA(s), it is judged that the current position of the drone is safe, and the pre-planned trajectory route of the drone is not adjusted.

[0027] The S300 performs an analysis of the associated spatial safety distribution points on the trajectory points that need to be adjusted based on the pre-planned flight trajectory judgment result, and constructs a corresponding safety distribution point set based on the analysis data; the specific steps of performing a comprehensive safety effectiveness evaluation on each spatial safety distribution point in the set and adjusting the pre-planned flight trajectory according to the evaluation result are as follows:

[0028] S301, based on the judgment result of the pre-planned trajectory route adjustment of the drone, the trajectory points on the trajectory route with adjustment requirements are analyzed for corresponding associated spatial safety distribution points; a spherical space of the current drone position is constructed by taking the drone survey distance as the radius; the spherical space is vertically divided into two hemispherical spaces with the drone position as the point, and the hemispherical space indicated by the drone's flight direction is used as the associated space for the drone trajectory route adjustment, and the drone safety adjustment trajectory points in the space are analyzed to obtain the associated spatial safety distribution points, and a corresponding safety distribution point set is constructed;

[0029] S302. Obtain the safety distribution points of the drone trajectory adjustment associated space based on the drone safety distribution point set, conduct a comprehensive safety effectiveness evaluation on each space safety distribution point, obtain the best adjustment safety distribution point coordinates based on the evaluation results, and use them as the drone trajectory adjustment coordinates to perform pre-planned trajectory route adjustment.

[0030] The acquisition and analysis of the safety distribution points in the associated space is specifically performed by plane-dividing the associated space adjusted by the trajectory route of the drone; cutting the circular surface of the semicircular space where the drone is located vertically, and cutting the circular surface with the horizontal surface where the drone is located, to obtain the upper semicircular surface and the lower semicircular surface of the circular surface where the drone is located; taking the upper semicircular surface where the drone is located as the traversal starting point surface, traversing the associated space at all angles until the traversal operation is completed by traversing to the lower semicircular surface; labeling the traversed semicircular planes in the associated space and constructing a plane set; wherein, since the drone space cutting surface is divided into an upper semicircular surface and a lower semicircular surface, the associated space is traversed at all angles from the upper semicircle to the lower semicircular surface, and the corresponding full angle is π;

[0031] The spatial distribution points in each semicircular plane in the plane set are screened and analyzed for safety adjustment trajectory points, and the corresponding plane safety distribution point set is constructed. The calculation formula is:

[0032] P(m)={i|A(m)·[bc(m,i)]>0};

[0033] Among them, P(m) is the set of safe distribution points in the corresponding semicircular surface numbered m; A(m) is the normal vector in the corresponding semicircular surface numbered m; c(m,i) is the feature vector constructed by combining the spatial coordinates of the spatial distribution point numbered i in the corresponding semicircular surface numbered m with the comprehensive safety risk value of the corresponding spatial point; b is the feature vector constructed by combining the spatial coordinates of the real-time position of the corresponding drone with the comparative safety threshold; among them, the vectors are calculated by dot multiplication;

[0034] Coordinate the sets of safety distribution points in each semicircle and construct a comprehensive and correlated set of safety distribution points in space.

[0035] Retrieve each spatial safety distribution point in the set of associated spatial safety distribution points corresponding to the current drone and conduct a comprehensive safety effectiveness evaluation on each spatial safety distribution point. The calculation formula is:

[0036]

[0037] Wherein, Sp(u) is the safety effectiveness evaluation value of the spatial safety distribution point labeled u in the corresponding associated spatial safety distribution point set; Q[u:(x,y,z)] is the effectiveness evaluation dynamic parameter of the spatial coordinates of the spatial safety distribution point labeled u; v is the real-time flight speed vector of the UAV; θ(u) is the angle between the line segment connecting the spatial safety distribution point labeled u and the current UAV's position and the pre-planned return route of the current UAV;

[0038] Based on the safety effectiveness evaluation analysis results of each spatial safety distribution point in the associated spatial safety distribution point set, the spatial safety distribution point corresponding to the maximum evaluation value is selected as the optimal adjustment safety distribution point coordinate, and it is used as the UAV trajectory adjustment coordinate for pre-planned trajectory route adjustment.

[0039] The performance evaluation dynamic parameter is dynamically analyzed according to the location of the spatial safety distribution point, and its calculation formula is:

[0040]

[0041] Among them, α and β are constraint parameters; exp is the exponential function.

[0042] The specific steps of S400 for monitoring and feeding back the real-time flight data of the drone, synchronously displaying the real-time trajectory adjustment record and feeding back the trajectory adjustment command to the drone are as follows:

[0043] Remotely feed back the real-time flight data of the drone to the monitoring terminal for display;

[0044] The pre-trajectory adjustment analysis of the UAV is recorded and displayed, the trajectory adjustment coordinates are transmitted to the UAV, and an adjustment command is issued to adjust the flight trajectory route of the UAV.

[0045] Compared with the prior art, the present invention has the following beneficial effects:

[0046] The present invention uses cloud monitoring combined with remote communication to carry out autonomous planning, monitoring and control analysis of the UAV flight trajectory throughout the entire mission; retrieves historical data through cloud big data to determine the pre-planned trajectory route of the UAV, and conducts risk assessment by combining the real-time flight environment data of the UAV to determine the risk trajectory point; determines the control direction by screening and analyzing the spatial safety distribution points of the risk trajectory point associated space; determines the optimal adjustment position point in the current risk trajectory point associated space in combination with the safety efficiency assessment of each safety point, outputs the position coordinates and controls the UAV to adjust the flight trajectory, thereby realizing autonomous trajectory planning, monitoring and control of the entire cycle of the UAV flight mission, and greatly improving the safety and autonomy of the UAV's intelligent flight. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 The present invention is a schematic diagram of the steps of a method for controlling the flight trajectory of an unmanned aerial vehicle based on cloud computing. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] Example: Figure 1 As shown, the present invention provides a technical solution:

[0050] A method for controlling a flight trajectory of an unmanned aerial vehicle based on cloud computing, the method comprising the following steps:

[0051] S100, retrieving historical data of tasks of the same type for the current target location and task data through the UAV task database; and pre-planning the trajectory of the current UAV flight task based on the historical data;

[0052] S200, executing a flight command on the UAV based on the pre-planned flight trajectory, and evaluating the flight environment data in real time through the UAV real-time environment monitoring system, and adjusting and judging the pre-planned flight trajectory based on the evaluation data;

[0053] S300, based on the pre-planned flight trajectory judgment result, performing an analysis of the associated spatial safety distribution points for the trajectory points that need to be adjusted, and constructing a corresponding safety distribution point set based on the analysis data; performing a comprehensive safety effectiveness evaluation on each spatial safety distribution point in the set, and adjusting the pre-planned flight trajectory according to the evaluation result;

[0054] S400, the monitoring end feeds back the real-time flight data of the UAV, simultaneously displays the real-time trajectory adjustment record and feeds back the trajectory adjustment command to the UAV.

[0055] The S100 retrieves historical data of the same type of tasks for the current target location and task data through the UAV task database; the specific steps of performing trajectory pre-planning for the current UAV flight task based on the historical data are as follows:

[0056] S101, based on the current UAV flight mission data and mission execution endpoint data, in the UAV mission database, historical UAV mission execution data is searched using mission type and target endpoint as search filter terms;

[0057] S102, according to the database search results, retrieve the search and screening data and comprehensively search the mission execution trajectory data, flight data and environmental data of each historical UAV in the data, pre-plan the flight trajectory route of the current UAV mission and preset the UAV flight parameters.

[0058] The environmental data includes meteorological data and spatial data; the UAV flight parameters are the operating parameters of the UAV.

[0059] The specific steps of executing the flight command of the UAV based on the pre-planned flight trajectory and evaluating the flight environment data in real time through the UAV real-time environment monitoring system and adjusting and judging the pre-planned flight trajectory based on the evaluation data are as follows:

[0060] S201, by transmitting the pre-planned flight trajectory route and flight parameters to the drone command storage unit, the drone command storage unit is commanded and executed through wireless communication, so as to realize the remote execution of the flight mission for the drone;

[0061] S202. Based on the flight trajectory of the UAV, the UAV's onboard environmental monitoring system is used to collect the UAV's real-time environmental data, and the data is packaged through the UAV's onboard storage unit and transmitted to the monitoring end through wireless communication; the monitoring end evaluates and analyzes the UAV's real-time environmental data, and adjusts and judges the UAV's current flight trajectory based on the evaluation results.

[0062] The real-time environmental data of the drone is evaluated and analyzed, specifically by classifying and processing the environmental data collected by the drone to construct a corresponding real-time environmental data form; based on the real-time environmental data form, a comprehensive safety risk assessment is performed on the real-time environment of the drone, and risk assessment is performed on the meteorological data and spatial data of the real-time location of the drone respectively. The calculation formula is:

[0063]

[0064] Among them, Se(x,y,z) is the meteorological data risk assessment value corresponding to the real-time UAV position coordinates (x,y,z); n is the number of types of collected meteorological data; f n is the safety impact coefficient of the meteorological data of type n; E n The collected data of meteorological data of type n corresponding to number;

[0065]

[0066] Among them, Sr(x, y, z) is the spatial data risk assessment value corresponding to the real-time UAV position coordinates (x, y, z); l is the UAV environmental survey distance; h is the distance from the UAV to the obstacle if there is an obstacle on the UAV flight trajectory; d is the safety emergency distance for the UAV to avoid obstacles; γ is the obstacle risk assessment parameter; k is the UAV obstacle safety emergency parameter;

[0067] By judging whether the spatial risk assessment value Sr(x,y,z) of the current UAV location is k; if it is k, it is judged that there is a safety risk at the current UAV location, and the pre-planned trajectory of the UAV is adjusted; if it is not k, the risk assessment value of the real-time meteorological data and spatial data of the UAV location is integrated to analyze the comprehensive safety risk of the UAV's real-time environmental data. The calculation formula is:

[0068] SA(x,y,z)=w1*Se(x,y,z)+w2*Sr(x,y,z);

[0069] Where SA(x, y, z) is the comprehensive safety risk value of the real-time environmental data corresponding to the real-time UAV position coordinates (x, y, z); w1 and w2 are the allocation weights;

[0070] By retrieving the historical database and introducing the comparative safety threshold SA(s), if SA(x, y, z) ≥ SA(s), it is judged that there is a safety risk in the current position of the drone, and the pre-planned trajectory route of the drone is adjusted; if SA(x, y, z) < SA(s), it is judged that the current position of the drone is safe, and the pre-planned trajectory route of the drone is not adjusted.

[0071] The S300 performs an analysis of the associated spatial safety distribution points on the trajectory points that need to be adjusted based on the pre-planned flight trajectory judgment result, and constructs a corresponding safety distribution point set based on the analysis data; the specific steps of performing a comprehensive safety effectiveness evaluation on each spatial safety distribution point in the set and adjusting the pre-planned flight trajectory according to the evaluation result are as follows:

[0072] S301, based on the judgment result of the pre-planned trajectory route adjustment of the drone, the trajectory points on the trajectory route with adjustment requirements are analyzed for corresponding associated spatial safety distribution points; a spherical space of the current drone position is constructed by taking the drone survey distance as the radius; the spherical space is vertically divided into two hemispherical spaces with the drone position as the point, and the hemispherical space indicated by the drone's flight direction is used as the associated space for the drone trajectory route adjustment, and the drone safety adjustment trajectory points in the space are analyzed to obtain the associated spatial safety distribution points, and a corresponding safety distribution point set is constructed;

[0073] S302. Obtain the safety distribution points of the drone trajectory adjustment associated space based on the drone safety distribution point set, conduct a comprehensive safety effectiveness evaluation on each space safety distribution point, obtain the best adjustment safety distribution point coordinates based on the evaluation results, and use them as the drone trajectory adjustment coordinates to perform pre-planned trajectory route adjustment.

[0074] The acquisition and analysis of the safety distribution points in the associated space is specifically performed by plane-dividing the associated space adjusted by the trajectory route of the drone; cutting the circular surface of the semicircular space where the drone is located vertically, and cutting the circular surface with the horizontal plane where the drone is located, to obtain the cut upper semicircular surface and lower semicircular surface of the circular surface where the drone is located; taking the upper semicircular surface where the drone is located as the traversal starting point surface, traversing the associated space at all angles until the traversal operation is completed by traversing to the lower semicircular surface; labeling the traversed semicircular planes in the associated space and constructing a plane set;

[0075] The spatial distribution points in each semicircular plane in the plane set are screened and analyzed for safety adjustment trajectory points, and the corresponding plane safety distribution point set is constructed. The calculation formula is:

[0076] P(m)={i|A(m)·[bc(m,i)]>0};

[0077] Among them, P(m) is the set of safe distribution points in the corresponding semicircular surface numbered m; A(m) is the normal vector in the corresponding semicircular surface numbered m; c(m,i) is the feature vector constructed by combining the spatial coordinates of the spatial distribution point numbered i in the corresponding semicircular surface numbered m with the comprehensive safety risk value of the corresponding spatial point; b is the feature vector constructed by combining the spatial coordinates of the real-time position of the drone with the comparative safety threshold;

[0078] Coordinate the sets of safety distribution points in each semicircle and construct a comprehensive and correlated set of safety distribution points in space.

[0079] Retrieve each spatial safety distribution point in the set of associated spatial safety distribution points corresponding to the current drone and conduct a comprehensive safety effectiveness evaluation on each spatial safety distribution point. The calculation formula is:

[0080]

[0081] Wherein, Sp(u) is the safety effectiveness evaluation value of the spatial safety distribution point labeled u in the corresponding associated spatial safety distribution point set; Q[u:(x,y,z)] is the effectiveness evaluation dynamic parameter of the spatial coordinates of the spatial safety distribution point labeled u; v is the real-time flight speed vector of the UAV; θ(u) is the angle between the line segment connecting the spatial safety distribution point labeled u and the current UAV's position and the pre-planned return route of the current UAV;

[0082] Based on the safety effectiveness evaluation analysis results of each spatial safety distribution point in the associated spatial safety distribution point set, the spatial safety distribution point corresponding to the maximum evaluation value is selected as the optimal adjustment safety distribution point coordinate, and it is used as the UAV trajectory adjustment coordinate for pre-planned trajectory route adjustment.

[0083] The performance evaluation dynamic parameter is dynamically analyzed according to the location of the spatial safety distribution point, and its calculation formula is:

[0084]

[0085] Among them, α and β are constraint parameters; exp is the exponential function.

[0086] The specific steps of S400 for monitoring and feeding back the real-time flight data of the drone, synchronously displaying the real-time trajectory adjustment record and feeding back the trajectory adjustment command to the drone are as follows;

[0087] Remotely feed back the real-time flight data of the drone to the monitoring terminal for display;

[0088] The pre-trajectory adjustment analysis of the UAV is recorded and displayed, the trajectory adjustment coordinates are transmitted to the UAV, and an adjustment command is issued to adjust the flight trajectory of the UAV;

[0089] In the example:

[0090] At present, a certain drone monitoring platform needs to plan the flight mission of the drone, and it adopts the drone flight trajectory control method based on cloud computing of the present invention; then according to the current drone flight mission data and the mission execution endpoint data, the historical drone mission execution data is retrieved in the drone mission database with the mission type and the target endpoint as the search filter words; according to the database search result, the search filter data is retrieved and the mission execution trajectory data, flight data and environmental data of each historical drone in the search data are comprehensively retrieved, and the current drone mission execution flight trajectory route is pre-planned and the drone flight parameters are preset; wherein the environmental data includes meteorological data and space data; the drone flight parameters are the operating parameters of the drone

[0091] By transmitting the pre-planned flight trajectory and flight parameters to the drone command storage unit, the drone command storage unit is controlled and executed through wireless communication, so as to realize the remote execution of the drone flight mission; based on the drone flight trajectory, the drone airborne environment monitoring system is used to collect the real-time environmental data of the drone, and the data is packaged through the drone airborne storage unit and transmitted to the monitoring end through wireless communication; the monitoring end evaluates and analyzes the real-time environmental data of the drone, and adjusts and judges the current flight trajectory of the drone according to the evaluation results;

[0092] The real-time environmental data of the drone is evaluated and analyzed. Specifically, the environmental data collected by the drone is classified and processed to construct a corresponding real-time environmental data form. Based on the real-time environmental data form, a comprehensive safety risk assessment is conducted on the real-time environment of the drone, and risk assessment is conducted on the meteorological data and spatial data of the real-time location of the drone. The calculation formula is:

[0093]

[0094] By judging whether the spatial risk assessment value Sr(x,y,z) of the current UAV location is k; if it is k, it is judged that there is a safety risk at the current UAV location, and the pre-planned trajectory of the UAV is adjusted; if it is not k, the risk assessment value of the real-time meteorological data and spatial data of the UAV location is integrated to analyze the comprehensive safety risk of the UAV's real-time environmental data. The calculation formula is:

[0095] SA(x,y,z)=w1*Se(x,y,z)+w2*Sr(x,y,z);

[0096] By retrieving the historical database and introducing the comparison safety threshold SA(s), if SA(x,y,z)≥SA(s), it is judged that there is a safety risk in the current position of the drone, and the pre-planned trajectory route of the drone is adjusted; if SA(x,y,z)<SA(s), it is judged that the current position of the drone is safe, and the pre-planned trajectory route of the drone is not adjusted;

[0097] Based on the judgment result of the pre-planned trajectory route adjustment of the drone, the trajectory points on the trajectory route with adjustment needs are analyzed for corresponding associated spatial safety distribution points; the spherical space of the current drone position is constructed by taking the drone survey distance as the radius; the spherical space is vertically divided into two hemispherical spaces with the drone position as the point, and the hemispherical space indicated by the drone's flight direction is used as the associated space for the drone trajectory route adjustment. The drone safety adjustment trajectory points in the space are analyzed to obtain the associated spatial safety distribution points, and the corresponding safety distribution point set is constructed;

[0098] According to the set of drone safety distribution points, the safety distribution points of the drone trajectory adjustment associated space are obtained, and a comprehensive safety effectiveness evaluation is performed on each space safety distribution point. Based on the evaluation results, the coordinates of the best adjusted safety distribution points are obtained, and the coordinates are used as the drone trajectory adjustment coordinates for pre-planned trajectory route adjustment;

[0099] The acquisition and analysis of the safety distribution points in the associated space are specifically as follows: the associated space adjusted by the trajectory of the drone is divided into planes; the upper and lower semicircular surfaces of the circular surface at the location of the drone are obtained by cutting the vertical circular surface of the semicircular space where the drone is located and cutting the circular surface with the horizontal surface where the drone is located; the upper semicircular surface at the location of the drone is used as the traversal starting point surface, and the associated space is traversed at all angles until the traversal operation is completed after the lower semicircular surface is traversed; the traversed semicircular planes in the associated space are numbered and a plane set is constructed;

[0100] The spatial distribution points in each semicircular plane in the plane set are screened and analyzed for safety adjustment trajectory points, and the corresponding plane safety distribution point set is constructed. The calculation formula is:

[0101] P(m)={i|A(m)·[bc(m,i)]>0};

[0102] Coordinate the safe distribution point sets in each semicircle and construct a comprehensive and associated spatial safe distribution point set;

[0103] Retrieve each spatial safety distribution point in the set of associated spatial safety distribution points corresponding to the current drone and conduct a comprehensive safety effectiveness evaluation on each spatial safety distribution point. The calculation formula is:

[0104]

[0105] Based on the safety effectiveness evaluation analysis results of each spatial safety distribution point in the associated spatial safety distribution point set, the spatial safety distribution point corresponding to the maximum evaluation value is selected as the optimal adjustment safety distribution point coordinate, and it is used as the UAV trajectory adjustment coordinate to adjust the pre-planned trajectory route;

[0106] The dynamic parameters of performance evaluation are dynamically analyzed according to the location of the spatial safety distribution points, and the calculation formula is:

[0107]

[0108] The real-time flight data of the UAV is remotely fed back to the monitoring end for display; the pre-trajectory adjustment analysis of the UAV is recorded and displayed, the trajectory adjustment coordinates are transmitted to the UAV, and adjustment commands are issued to adjust the flight trajectory of the UAV.

[0109] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A method for controlling the flight trajectory of an unmanned aerial vehicle based on cloud computing, characterized in that: The method comprises the following steps: S100, retrieving historical data of tasks of the same type for the current target location and task data through the UAV task database; and pre-planning the trajectory of the current UAV flight task based on the historical data; S200, executing a flight command on the UAV based on the pre-planned flight trajectory, and evaluating the flight environment data in real time through the UAV real-time environment monitoring system, and adjusting and judging the pre-planned flight trajectory based on the evaluation data; S300, based on the pre-planned flight trajectory judgment result, performing an analysis of the associated spatial safety distribution points for the trajectory points that need to be adjusted, and constructing a corresponding safety distribution point set based on the analysis data; performing a comprehensive safety effectiveness evaluation on each spatial safety distribution point in the set, and adjusting the pre-planned flight trajectory according to the evaluation result; S400, the monitoring end feeds back the real-time flight data of the UAV, simultaneously displays the real-time trajectory adjustment record and feeds back the trajectory adjustment command to the UAV.

2. The method for controlling the flight trajectory of an unmanned aerial vehicle based on cloud computing according to claim 1, characterized in that: The S100 retrieves historical data of the same type of tasks for the current target location and task data through the UAV task database; the specific steps of performing trajectory pre-planning for the current UAV flight task based on the historical data are as follows: S101, based on the current UAV flight mission data and mission execution endpoint data, in the UAV mission database, historical UAV mission execution data is searched using mission type and target endpoint as search filter terms; S102, according to the database search results, retrieve the search and screening data and comprehensively search the mission execution trajectory data, flight data and environmental data of each historical UAV in the data, pre-plan the flight trajectory route of the current UAV mission and preset the UAV flight parameters.

3. The method for controlling the flight trajectory of an unmanned aerial vehicle based on cloud computing according to claim 2, characterized in that: The environmental data includes meteorological data and spatial data; the UAV flight parameters are the operating parameters of the UAV.

4. The method for controlling the flight trajectory of an unmanned aerial vehicle based on cloud computing according to claim 3 is characterized in that: The specific steps of executing the flight command of the UAV based on the pre-planned flight trajectory and evaluating the flight environment data in real time through the UAV real-time environment monitoring system and adjusting and judging the pre-planned flight trajectory based on the evaluation data are as follows: S201, by transmitting the pre-planned flight trajectory route and flight parameters to the drone command storage unit, the drone command storage unit is commanded and executed through wireless communication, so as to realize the remote execution of the flight mission for the drone; S202. Based on the flight trajectory of the UAV, the UAV's onboard environmental monitoring system is used to collect the UAV's real-time environmental data, and the data is packaged through the UAV's onboard storage unit and transmitted to the monitoring end through wireless communication; the monitoring end evaluates and analyzes the UAV's real-time environmental data, and adjusts and judges the UAV's current flight trajectory based on the evaluation results.

5. The method for controlling the flight trajectory of an unmanned aerial vehicle based on cloud computing according to claim 4, characterized in that: The real-time environmental data of the drone is evaluated and analyzed, specifically by classifying and processing the environmental data collected by the drone to construct a corresponding real-time environmental data form; Based on the real-time environmental data form, a comprehensive safety risk assessment is conducted on the real-time environment of the drone. The risk assessment is conducted on the meteorological data and spatial data of the real-time location of the drone. The calculation formula is: Among them, Se(x,y,z) is the meteorological data risk assessment value corresponding to the real-time UAV position coordinates (x,y,z); n is the number of types of collected meteorological data; f n is the safety impact coefficient of the meteorological data of type n; E n The collected data of meteorological data of type n corresponding to number; Among them, Sr(x, y, z) is the spatial data risk assessment value corresponding to the real-time UAV position coordinates (x, y, z); 1 is the UAV environmental survey distance; h is the distance from the obstacle to the UAV if there is an obstacle on the UAV flight trajectory; d is the safety emergency distance for the UAV to avoid obstacles; γ is the obstacle risk assessment parameter; k is the UAV obstacle safety emergency parameter; By judging whether the spatial risk assessment value Sr(x, y, z) of the current UAV position is k; if it is k, it is judged that there is a safety risk at the current UAV position, and the pre-planned trajectory route of the UAV is adjusted; if it is not k, the real-time meteorological data and the risk assessment value of the spatial data at the UAV position are integrated to analyze the comprehensive safety risk of the real-time environmental data of the UAV. The calculation formula is SA(x, y, z) = w1 + Se(x, y, z) + w2 + Sr(x, y, z); Among them, SA(x, y, z) is the comprehensive safety risk value of the real-time environmental data corresponding to the real-time UAV position coordinates (x, y, z); w1 and w2 are the assigned weights; By retrieving the historical database and introducing the comparison safety threshold SA(s), if SA(x, y, z) ≥ SA(s), it is judged that there is a safety risk at the current UAV position, and the pre-planned trajectory route of the UAV is adjusted; if SA(x, y, z) < SA(s), it is judged that the current UAV position is safe and the pre-planned trajectory route of the UAV is not adjusted.

6. The method for controlling the flight trajectory of an unmanned aerial vehicle based on cloud computing according to claim 5, characterized in that: Based on the pre-planned flight trajectory judgment result, the S300 performs an analysis of the associated spatial safety distribution points for the trajectory points with adjustment requirements, and constructs a corresponding safety distribution point set based on the analysis data; the specific steps for adjusting the pre-planned flight trajectory according to the comprehensive safety efficiency evaluation of each spatial safety distribution point in the set are as follows: S301. Based on the UAV pre-planned trajectory route adjustment judgment result, perform an analysis of the corresponding associated spatial safety distribution points for the trajectory points on the trajectory route with adjustment requirements; by constructing a spherical space with the UAV survey distance as the radius at the current UAV position; taking the UAV position as a point, the spherical space is vertically divided into two hemispherical spaces, and the hemispherical space pointed by the UAV flight direction is used as the associated space for the UAV trajectory route adjustment, analyze the UAV safety adjustment trajectory points in the space, obtain the associated spatial safety distribution points, and construct a corresponding safety distribution point set; S302. Obtain the safety distribution points of the UAV trajectory adjustment associated space according to the UAV safety distribution point set, perform a comprehensive safety efficiency evaluation on each spatial safety distribution point, obtain the coordinates of the best adjustment safety distribution point based on the evaluation result, and use it as the UAV trajectory adjustment coordinate to adjust the pre-planned trajectory route.

7. The method for controlling the flight trajectory of an unmanned aerial vehicle based on cloud computing according to claim 6, characterized in that: The acquisition and analysis of the safety distribution points in the associated space is specifically performed by plane-dividing the associated space adjusted by the trajectory route of the drone; cutting the circular surface of the semicircular space where the drone is located vertically, and cutting the circular surface with the horizontal plane where the drone is located, to obtain the cut upper semicircular surface and lower semicircular surface of the circular surface where the drone is located; taking the upper semicircular surface where the drone is located as the traversal starting point surface, traversing the associated space at all angles until the traversal operation is completed by traversing to the lower semicircular surface; labeling the traversed semicircular planes in the associated space and constructing a plane set; The spatial distribution points in each semicircular plane in the plane set are screened and analyzed for safety adjustment trajectory points, and the corresponding plane safety distribution point set is constructed. The calculation formula is: P(m)={i|A(m)·[bc(m,i)]>0}; Among them, P(m) is the set of safe distribution points in the semicircular surface corresponding to number m; A(m) is the normal vector in the semicircular surface corresponding to number m; c(m, i) is the feature vector constructed by combining the spatial coordinates of the spatial distribution point numbered i in the semicircular surface corresponding to number m with the comprehensive safety risk value of the corresponding spatial point; b is the feature vector constructed by combining the spatial coordinates of the real-time position of the drone with the comparative safety threshold; Coordinate the sets of safety distribution points in each semicircle and construct a comprehensive and correlated set of safety distribution points in space.

8. The method for controlling the flight trajectory of an unmanned aerial vehicle based on cloud computing according to claim 7, characterized in that: Retrieve each spatial safety distribution point in the set of associated spatial safety distribution points corresponding to the current drone and conduct a comprehensive safety effectiveness evaluation on each spatial safety distribution point. The calculation formula is: Wherein, Sp(u) is the safety effectiveness evaluation value of the spatial safety distribution point labeled u in the corresponding associated spatial safety distribution point set; Q[u:(x,y,z)] is the effectiveness evaluation dynamic parameter of the spatial coordinates of the spatial safety distribution point labeled u; v is the real-time flight speed vector of the UAV; θ(u) is the angle between the line segment connecting the spatial safety distribution point labeled u and the current UAV's position and the pre-planned return route of the current UAV; Based on the safety effectiveness evaluation analysis results of each spatial safety distribution point in the associated spatial safety distribution point set, the spatial safety distribution point corresponding to the maximum evaluation value is selected as the optimal adjustment safety distribution point coordinate, and it is used as the UAV trajectory adjustment coordinate for pre-planned trajectory route adjustment.

9. The method for controlling the flight trajectory of an unmanned aerial vehicle based on cloud computing according to claim 8, characterized in that: The performance evaluation dynamic parameter is dynamically analyzed according to the location of the spatial safety distribution point, and its calculation formula is: Among them, α and β are constraint parameters; exp is the exponential function.

10. The method for controlling the flight trajectory of an unmanned aerial vehicle based on cloud computing according to claim 9, characterized in that: The specific steps of S400 for monitoring and feeding back the real-time flight data of the drone, synchronously displaying the real-time trajectory adjustment record and feeding back the trajectory adjustment command to the drone are as follows: Remotely feed back the real-time flight data of the drone to the monitoring terminal for display; The pre-trajectory adjustment analysis of the UAV is recorded and displayed, the trajectory adjustment coordinates are transmitted to the UAV, and an adjustment command is issued to adjust the flight trajectory route of the UAV.

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