Unmanned aerial vehicle task planning method and device for weather modification

Abstract

The invention discloses an unmanned aerial vehicle task planning method and device for weather modification, and the method comprises the steps: detecting the feature data of a rainfall cloud system, determining the current moving trend and the current task waypoint of the rainfall cloud system, determining an estimated target waypoint, and planning a task route from the current position to the estimated target waypoint; executing the task route, and judging whether the estimated target waypoint is updated or not; if so, executing a route planning step according to the updated estimated target waypoint; if not, arriving at the current task waypoint based on the task route; determining a sowing operation area based on the feature data; and according to the sowing operation area, planning an operation route, and based on the operation route, sowing flame strips. The problems that in the prior art, an artificial weather influencing method is low in efficiency and high in implementation cost are solved. The effective utilization rate of the flame bars can be increased, the economic cost of weather modification operation is saved, and the weather modification operation can be accurately and efficiently carried out.

Description

Technical Field

[0001] The present application relates to the technical field of artificial weather modification, and in particular to a method and device for planning unmanned aerial vehicle missions for artificial weather modification. Background Art

[0002] Artificial weather modification (abbreviated as: weather modification) is to influence the cloud physics process of the local atmosphere through artificial intervention under appropriate conditions. That is, by utilizing the microphysical instability of clouds (fog), spreading an appropriate amount of catalyst, making full use of natural laws, taking advantage of the situation, promoting the accelerated development of clouds and precipitation in a predetermined direction, and implementing activities that achieve the purpose of increasing rain (snow), preventing hail, eliminating fog, and eliminating clouds at a small cost and huge benefits, which can avoid or reduce meteorological disasters and make rational use of climate resources. At this stage, artificial weather modification operations are mainly focused on artificial rainfall and hail prevention.

[0003] At present, there are three commonly used methods of artificially influencing the weather: burning silver iodide on the ground by artificial ignition and using atmospheric updrafts for catalysis; using manned rainmaking aircraft to implement silver iodide flame burning and spreading; launching artificial rainmaking and hail suppression shells from ground launchers. The first method has the problems of low efficiency and low accuracy. Although the effect of the second method is better than the first one, it requires the pilot to fly the aircraft and manually control the rainmaking equipment to spread the operation, which requires more human resources. The third method is currently widely used in various regions across the country, but the implementation effect is limited, it cannot accurately affect the local precipitation cloud system, it cannot evaluate the catalytic operation effect in real time, and the implementation cost is high. Summary of the invention

[0004] The embodiments of the present application provide a method and device for UAV mission planning based on artificial weather modification, thereby solving the problem that the methods of artificial weather modification in the prior art are low in efficiency and high in implementation cost.

[0005] In a first aspect, an embodiment of the present application provides a method for planning a UAV mission for artificially influencing the weather, comprising: detecting characteristic data of a precipitation cloud system using a cloud radar, and determining a current moving trend and a current mission waypoint of the precipitation cloud system based on the characteristic data; determining an estimated target waypoint based on the current mission waypoint and the current moving trend, and executing a route planning step until the UAV reaches the current mission waypoint; the route planning step comprises: planning a mission route for the UAV between the current position and the estimated target waypoint; executing the mission route, detecting the characteristic data, and determining whether to update the estimated target waypoint based on the current mission waypoint and the current moving trend; if the estimated target waypoint is updated, executing the route planning step with the updated estimated target waypoint; if the estimated target waypoint is not updated, arriving at the current mission waypoint based on the mission route; determining a sowing operation area of ​​the precipitation cloud system based on the characteristic data; planning an operation route of the UAV according to the sowing operation area, and sowing flame strips based thereon.

[0006] In combination with the first aspect, in a possible implementation, the detecting characteristic data of precipitation cloud systems using cloud radar further includes: determining the type and quantity of flame strips carried by the UAV based on the characteristic data of the precipitation cloud systems.

[0007] In combination with the first aspect, in a possible implementation method, determining the current moving trend of the precipitation cloud system based on the characteristic data includes: the characteristic data includes the cloud type, cloud structure and cloud physical quantities of the precipitation cloud system; wherein the cloud physical quantities include the moving speed, moving direction and height of the precipitation cloud system; and determining the current moving trend of the precipitation cloud system based on the cloud physical quantities.

[0008] In combination with the first aspect, in a possible implementation, the determining whether to update the estimated target waypoint based on the current mission waypoint and the current moving trend includes: determining the current target waypoint based on the current mission waypoint and the current moving trend; determining whether the distance between the current target waypoint and the estimated target waypoint is greater than a preset distance; if the distance between the current target waypoint and the estimated target waypoint is greater than the preset distance, updating the current target waypoint to the estimated target waypoint; otherwise, not updating the estimated target waypoint.

[0009] In combination with the first aspect, in a possible implementation method, before planning the operating route of the UAV according to the sowing operation area, it also includes: judging whether the remaining flight time of the UAV can complete the operating route; if the remaining flight time of the UAV can complete the operating route, executing the operating route; if the remaining flight time of the UAV cannot complete the operating route, determining a local sowing area in the sowing operation area according to meteorological data, and planning the operating route of the UAV based on the local sowing area.

[0010] In combination with the first aspect, in a possible implementation method, planning the operating route of the UAV according to the sowing operation area includes: determining the operating mode of the UAV, and determining the operating segment based on the sowing operation area and the operating mode; wherein the operating mode of the UAV includes single-point sowing and multi-point sowing; planning the operating route according to the operating segment, the remaining flight time and the flight speed of the UAV, and performing real-time correction of the operating route according to the current movement trend of the precipitation cloud system.

[0011] In combination with the first aspect, in a possible implementation method, the reaching the current mission waypoint based on the mission route also includes: judging whether the operating conditions are met based on the meteorological data detected by the airborne detection system of the UAV; wherein the operating conditions include the timing of the operation and the risk of thunderstorms; if the airborne detection system determines that the operating conditions are met, starting the flame strip spreading program; if the airborne detection system determines that the operating conditions are not met, re-planning the operating route.

[0012] In combination with the first aspect, in a possible implementation method, after the flame strips are spread, the method also includes: evaluating whether the current human shadow operation is qualified through meteorological data; if the human shadow operation is qualified, the UAV returns and withdraws; if the human shadow operation is unqualified, the current moving trend of the precipitation cloud system is re-determined, and the route planning step is executed to determine the spreading operation area and the operation route to spread the flame strips.

[0013] In a second aspect, an embodiment of the present application provides a UAV mission planning device for artificially influencing the weather, comprising: a detection module, used to detect characteristic data of a precipitation cloud system using a cloud radar, and determine the current movement trend and current mission waypoint of the precipitation cloud system based on the characteristic data; an estimation module, used to determine an estimated target waypoint based on the current mission waypoint and the current movement trend, and execute a route planning step until the UAV reaches the current mission waypoint; a mission route planning module, used to plan a mission route for the UAV between the current position and the estimated target waypoint; an update judgment module, used to execute the mission route, detect the characteristic data, and judge whether to update the estimated target waypoint based on the current mission waypoint and the current movement trend; if the estimated target waypoint is updated, the route planning step is executed with the updated estimated target waypoint; if the estimated target waypoint is not updated, the current mission waypoint is reached based on the mission route; a determination module, used to determine the sowing operation area of ​​the precipitation cloud system based on the characteristic data; a planning sowing module, used to plan the operation route of the UAV according to the sowing operation area, and sow flame strips based thereon.

[0014] In a third aspect, an embodiment of the present application provides a device, comprising: a processor; a memory for storing processor-executable instructions; when the processor executes the executable instructions, it implements the method described in the first aspect or any possible implementation method of the first aspect.

[0015] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: The embodiment of the present application can ensure the effect of artificial weather modification operations by acquiring the characteristic data of the precipitation cloud system in the precipitation target area in real time and planning the rain-increasing mission of the drone based on the characteristic data; by determining the current movement trend of the precipitation cloud system, the error between the actual operation area of ​​the drone and the precipitation cloud system can be avoided; by judging the operation conditions, the utilization rate of the flame strip can be improved and the safety of the drone can be guaranteed. The problem of low efficiency and high implementation cost of the artificial weather modification methods in the prior art is effectively solved. In addition, the effective utilization rate of the flame strip can be improved, the economic cost of artificial weather modification operations can be saved, and the operation area of ​​the drone can be determined in real time, so as to accurately and efficiently perform artificial weather modification operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 A flowchart of a UAV mission planning method based on artificial weather modification provided in an embodiment of the present application; Figure 2 A schematic diagram of the structure of a UAV mission planning device for artificial weather modification provided in an embodiment of the present application; Figure 3 An example diagram of the location of a precipitation cloud system and a drone provided in an embodiment of the present application; Figure 4 An example diagram of the process of preparing, planning and executing a human shadow operation provided in an embodiment of the present application; Figure 5 This is an example diagram of the spreading operation area and mission route provided in an embodiment of the present application. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are 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.

[0019] The following describes some of the techniques involved in the embodiments of the present application to facilitate understanding, and they should be considered as merely exemplary. Therefore, it should be appreciated by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present application. Similarly, for the sake of clarity and conciseness, some descriptions of well-known functions and structures are omitted in the following description.

[0020] Precipitation clouds are in motion in the sky, and their shape, position, top layer height, and bottom layer height will change over time. Taking Yulin, Shaanxi as an example, precipitation clouds are mostly distributed at an altitude of 4,000m to 5,000m, with a height difference of more than 3,000 meters from the ground, and their horizontal movement speed is generally 10km / h to 15km / h.

[0021] It usually takes about 40 minutes for the drone to prepare for takeoff and climb to the operating altitude corresponding to the precipitation cloud system. When the drone reaches the operating altitude, it ignites the flame strips and begins to execute the operating route. It takes about 60 minutes to burn out three flame strips. Therefore, the initial detection time of the cloud radar is about 100 minutes away from the end of the entire shadow operation. During this period, the horizontal movement range of the precipitation cloud system is between 17km and 25km. It can be seen that the planning method of the shadow operation has a great impact on whether it can be accurately implemented.

[0022] This application integrates the characteristic data of precipitation clouds detected by cloud radar into the route planning process of the UAV by connecting the real-time detection data of ground cloud radar to the ground control system of the UAV. The ground control system determines whether the UAV is at risk of deviating from the operation area based on the collected detection data, so as to adjust the mission route in time, such as by translating the mission route toward the moving direction of the precipitation cloud system, increasing / decreasing the altitude of the mission route, and increasing / decreasing the flight speed of the UAV. It also controls the ignition timing of the flame strip, organically combines various detection data, and realizes online planning of the mission route to improve the effect of human shadow operation.

[0023] Figure 1 1 is a flowchart of a method for planning a UAV mission based on artificial weather modification provided by an embodiment of the present application, including steps 101 to 108. Figure 1 This is only an execution order shown in the embodiment of the present application, and does not represent the only execution order of the UAV mission planning method based on artificial weather modification. If the final result can be achieved, Figure 1 The steps shown may be performed in parallel or reversed.

[0024] Step 101: Use cloud radar to detect characteristic data of precipitation cloud system, and determine the current movement trend and current mission waypoint of precipitation cloud system according to the characteristic data. In the embodiment of the present application, after using cloud radar to detect precipitation target area, it is judged whether the conditions for human shadow operation are met according to the weather conditions and meteorological parameters of precipitation target area. If the precipitation target area meets the conditions for human shadow operation, human shadow operation is formulated. If the precipitation target area does not meet the conditions for human shadow operation, the cloud radar is used to detect again until the precipitation target area with the conditions for human shadow operation is detected.

[0025] Specifically, the weather, cloud conditions, precipitation, wind speed, humidity, etc. of the precipitation target area are obtained, and combined with recent satellite cloud images, it is determined whether the conditions for human shadow operation are met. When the conditions for human shadow operation are met, human shadow operation is formulated.

[0026] like Figure 4As shown, before executing step 101, a ground control system needs to be deployed. Specifically, the carrier of the UAV flight operation platform and the cloud radar in this application is a cabin. According to the coordinate position of the precipitation cloud system, the cabin has the advantage of rapid transportation. The cabin is towed to a site suitable for take-off and landing, which is no more than 30km away from the UAV's sowing operation area. Open the side leveling lifting mechanism of the cabin and firmly support it on the hardened ground. The flatbed truck drives away from the bottom of the cabin, and the cabin can remain in the lifted and leveled state. Connect the ground mains (220V) or start the generator to ensure that the ground control system is in normal working condition. Then, the drone is taken out of the cabin and laid flat on the ground through the guide crane on the top of the cabin, unpacked and inspected, assembled, and prepared for flight. Finally, open the electric skylight of the cabin, control the cloud radar to rise out of the cabin, start the one-button leveling device, and adjust the cloud radar to a horizontal level to improve the detection accuracy.

[0027] In this application, the shelter meets the mobility requirements and can be transferred to various sites according to the seasonal changes in the region, maximizing its application in shadow operations. In addition, the shelter can carry two composite wing drones at the same time. Through the "one station two drones" command and control system, two drones can be launched at the same time, and a single operation can cover an area of ​​200 square kilometers to 300 square kilometers.

[0028] In the embodiment of the present application, the characteristic data of the precipitation cloud system include the cloud type of the precipitation cloud system (stratus clouds, light cumulus clouds, cumulus congestus clouds, cumulonimbus clouds, undulating clouds, etc. Different types of precipitation cloud systems show different characteristics in the precipitation process), cloud structure (thickness, height, horizontal distribution and vertical structure, etc., cloud structure has an important influence on the precipitation process. For example, cumulonimbus clouds usually have a deep vertical structure and strong convective movement, which can produce strong precipitation), cloud physical quantities (moving speed, moving direction and cloud system height of the precipitation cloud system), etc. The current moving trend of the precipitation cloud system is determined based on the cloud physical quantities. The current moving trend includes the current moving direction and moving speed of the precipitation cloud system.

[0029] It should be noted that if Figure 3 As shown, in the present application, the current mission waypoint refers to a location point suitable for flame strip broadcasting determined based on the current actual position of the precipitation cloud system and taking into account the distance from the UAV.

[0030] In addition, the type and quantity of the flame strips carried by the drone are determined according to the characteristic data of the precipitation cloud system. Exemplarily, the flame strip spreading pod carried by the drone in this application carries 3 warm cloud flame strips. Among them, the flame strip spreading pod is used for spreading silver iodide or warm cloud catalyst (the catalytic principle is not repeated here). Those skilled in the art can control the spatiotemporal density of the flame strip spreading according to the needs of the human shadow operation. After diffusion, the catalyst can reach a certain catalytic depth. In addition, single-point, multi-point or combined ignition can be selected according to the characteristic data of the precipitation cloud system to achieve the best effect.

[0031] Step 102: Determine an estimated target waypoint based on the current mission waypoint and the current movement trend. In the embodiment of the present application, the estimated target waypoint is determined based on the cloud structure, cloud physical quantity and the current position of the drone.

[0032] Specifically, satellite positioning technology and measuring instruments, combined with ground cloud radar field measurements, can accurately determine the coordinates and boundaries of the precipitation cloud system. The operating height and operating area of ​​the drone's flame spreading can be determined based on the coordinates and boundaries of the precipitation cloud system.

[0033] The estimated target waypoint of the UAV is determined based on the current mission waypoint of the UAV and the current movement trend of the precipitation cloud system. Furthermore, during the flight of the UAV, the moving direction, moving speed, cloud system height and current height of the UAV are obtained in real time and fed back to the ground control system. The ground control system calculates the flight interval time for the UAV to reach the current mission waypoint based on the coordinates of the precipitation cloud system and the flight speed and current position of the UAV, and predicts the estimated target waypoint to be reached after the flight interval time based on the current position, flight speed and current movement trend of the UAV.

[0034] like Figure 3 As shown, the calculation method of the estimated target waypoint is as follows: , .

[0035] in, , , .

[0036] In the formula, Indicates the latitude and longitude coordinates of the estimated target waypoint. Indicates the latitude and longitude coordinates of the current location of the precipitation cloud system, represents pi, and Respectively represent the horizontal distance and vertical distance from the current position of the drone to the current mission waypoint (for example, the horizontal direction is due north and the vertical direction is due east), represents the equatorial radius of the Earth, Indicates the distance from the current position of the drone to the current mission waypoint. represents the cloud height of the precipitation cloud system, Indicates the current altitude of the drone. represents the moving speed of precipitation clouds, represents the vertical speed of the drone, Indicates the moving direction of precipitation clouds.

[0037] The drone in this application exemplarily uses a composite-wing drone.

[0038] Step 103: Plan a mission route for the drone between the current position and the estimated target waypoint. In the embodiment of the present application, based on the current position and the estimated target waypoint of the drone, a path planning algorithm (such as an artificial potential field algorithm, an A-star algorithm, etc.) is used to plan the mission route of the drone in consideration of the drone's performance, weather conditions, and topographic limitations.

[0039] Step 104: Execute the mission route and detect characteristic data. In the embodiment of the present application, when the UAV is executing the mission route, the cloud radar is configured to detect the characteristic data of the precipitation cloud system in real time. Those skilled in the art may also configure the cloud radar to perform periodic detection or detection at a preset position of the mission route according to actual needs.

[0040] Step 105: Determine whether to update the estimated target waypoint based on the current mission waypoint and the current moving trend. In an embodiment of the present application, the current target waypoint is determined based on the current mission waypoint and the current moving trend. Determine whether the distance between the current target waypoint and the estimated target waypoint is greater than the preset distance. If the distance between the current target waypoint and the estimated target waypoint is greater than the preset distance, the current target waypoint is updated to the estimated target waypoint. Otherwise, the estimated target waypoint is not updated. In this way, real-time deviation correction of the mission route is achieved to ensure that the drone always follows the precipitation cloud system so that it can operate within the effective range subsequently.

[0041] Specifically, the current movement trend and the current mission waypoint are obtained according to the characteristic data of the precipitation cloud system at this time, and the current target waypoint is determined in combination with the current position and flight speed of the UAV. In order to avoid frequent adjustments to the estimated target waypoint of the UAV, when the distance between the estimated target waypoint and the current target waypoint is less than the preset distance, the estimated target waypoint is not updated, and the mission route is not updated. When the distance between the estimated target waypoint and the current target waypoint is greater than the preset distance, the target waypoint is updated and the mission route is replanned, that is, steps 103 to 105 are re-executed. Otherwise, steps 106 to 108 are executed. Exemplarily, the preset distance is a straight-line distance of 500 meters or a height difference of 100 meters.

[0042] It should be noted that in the present application, the estimated target waypoint refers to a position point suitable for sowing flame strips determined in the estimated position of the precipitation cloud system after the drone reaches the precipitation cloud system based on the current moving trend of the precipitation cloud system before the drone takes off or at the previous moment. The current target waypoint is a position point suitable for sowing flame strips determined in the estimated position of the precipitation cloud system after the drone reaches the precipitation cloud system based on the current moving trend of the precipitation cloud system at the current moment. Specifically, the precipitation cloud system moves irregularly, so its current moving trend will change irregularly. The estimated target waypoint is a position point suitable for sowing flame strips determined after the drone reaches the precipitation cloud system based on the current moving trend of the previous moment. The current target waypoint is a position point suitable for sowing flame strips determined after the drone reaches the precipitation cloud system based on the current moving trend of the current moment.

[0043] Step 106: Arrive at the current mission waypoint based on the mission route. In an embodiment of the present application, the drone executes the mission route until it reaches the current mission waypoint. When the drone arrives at the current mission waypoint, it determines whether the operating conditions are met based on the meteorological data detected by the drone's airborne detection system. Among them, the operating conditions include the timing of the operation and the risk of thunderstorms. If the airborne detection system determines that the operating conditions are met, the flame strip spreading program is started. If the airborne detection system determines that the operating conditions are not met, the operating route is replanned.

[0044] Specifically, it is determined whether the operation time is available at this time according to the characteristic data of the precipitation cloud system and the meteorological data collected by the UAV, that is, the ignition time of the flame strip is determined. It is also determined whether there is a thunderstorm risk at this time to ensure the safety of the UAV. When the operation conditions are met, that is, it is suitable to ignite the flame strip and there is no thunderstorm risk, then steps 107 to 108 are executed. Otherwise, steps 101 to 106 are executed.

[0045] Specifically, in order to monitor the meteorological elements and atmospheric electric field changes of human shadow operations in complex weather conditions in real time, and to provide protection for the safety of UAV human shadow operations, each UAV will be equipped with an airborne detection system using in-situ detection to detect data on the mission route and transmit the detection data to the ground control system. Specifically, the airborne detection system equipment includes route meteorological instruments and power detectors.

[0046] The onboard detection system of the UAV can be configured to detect meteorological data in real time, periodically or at preset locations along the mission route.

[0047] Among them, the sampling rate of the route meteorological instrument is greater than 1Hz, which can realize the measurement of the original data of conventional meteorological elements such as atmospheric static temperature, air pressure, relative humidity, etc. on the mission route. Combined with the GPS information of the drone, the track meteorological information corresponding to the time / spatial position of the drone's mission route can be obtained. The ionization detector can measure the atmospheric electric field and its changes, and make short-term warnings for potential thunderstorm activities and the danger of static electric shock in local areas. In this way, the drone can change the mission route according to the thunderstorm warning to avoid danger to the drone during the mission.

[0048] In addition, technicians in this field can also set an emergency obstacle avoidance strategy for the drone, and adopt the emergency obstacle avoidance strategy when receiving a thunderstorm warning to ensure the safety of the drone.

[0049] Step 107: Determine the sowing operation area of ​​the precipitation cloud system based on the characteristic data. In an embodiment of the present application, when the UAV arrives at the current mission waypoint, the area suitable for sowing flame strips is determined as the sowing operation area according to the cloud type, thickness, cloud height, temperature, and rising air currents in the cloud of the precipitation cloud system. Specifically, the cloud type of the precipitation cloud system is first determined. Different types of precipitation cloud systems have different precipitation mechanisms and physical properties, and different sowing strategies are required. The sowing operation area is further determined based on the cloud structure. Generally, areas with thicker clouds and higher altitudes are more suitable for sowing operations. At the same time, the temperature of the precipitation cloud system is monitored to ensure that the catalyst works at a suitable temperature, and the catalyst is sown in areas with strong rising air currents, which can more effectively promote the condensation and growth of cloud droplets.

[0050] Step 108: Plan the operation route of the UAV according to the sowing operation area, and sow the flame strips based on it. In the embodiment of the present application, the operation mode of the UAV is determined, and the operation segment is determined based on the sowing operation area and the operation mode. Among them, the operation mode of the UAV includes single-point sowing and multi-point sowing. The operation route is planned according to the operation segment, the remaining flight time and flight speed of the UAV, and the operation route is corrected in real time according to the current movement trend of the precipitation cloud system.

[0051] Specifically, according to the number of flame bars carried by the drone, it is divided into single-point broadcasting and multi-point broadcasting. The different numbers of broadcasting flame bars will affect the operating path spacing when the drone plans its operating route.

[0052] like Figure 5 As shown, further, when the UAV reaches the current mission waypoint, the UAV's operating route is comprehensively planned according to the range of the sowing operation area sent by the cloud radar and the UAV's endurance. In this application, the operation route is planned using a broken line round-trip operation method, and the calculation method is as follows: , .in, In the formula, Indicates the length of the UAV's round-trip operation path. Indicates the working path spacing of the working route, Indicates the length of the working area, Indicates the width of the working area, represents the total range of the drone’s seeding route, Indicates the spreading speed of the drone, Indicates the drone's sowing time.

[0053] In one embodiment of the present application, before planning the operating route of the drone according to the sowing operation area, it can also be determined whether the remaining flight time of the drone can complete the operating route. If the remaining flight time of the drone can complete the operating route, the operating route is executed. If the remaining flight time of the drone cannot complete the operating route, a local sowing area is determined in the sowing operation area according to meteorological data, and the operating route of the drone is planned based on the local sowing area.

[0054] In addition, the meteorological data collected by the airborne detection system mounted on the drone is used to evaluate whether the current human shadow operation is qualified. If the human shadow operation is qualified, the drone returns and withdraws. If the human shadow operation is unqualified, the current movement trend of the precipitation cloud system is re-determined, and the route planning steps are performed to determine the sowing operation area and operation route to sow the flame strips. In other words, the effect of the human shadow operation is evaluated. If the human shadow operation does not achieve the expected effect, steps 101 to 108 are re-executed. Although the present application provides method operation steps as described in the embodiments or flowcharts, more or fewer operation steps may be included based on conventional or non-creative labor. The order of steps listed in this embodiment is only one way of executing the order of many steps and does not represent the only execution order. When the actual device or client product is executed, it can be executed in sequence or in parallel according to the method shown in this embodiment or the accompanying drawings (for example, in a parallel processor or multi-threaded processing environment).

[0055] like Figure 2 As shown, the embodiment of the present application also provides a UAV mission planning device 200 for artificial weather modification. The device includes: a detection module 201, an estimation module 202, a mission route planning module 203, an update judgment module 204, a determination module 205 and a planning and spreading module 206, as follows.

[0056] The detection module 201 is used to detect the characteristic data of the precipitation cloud system using the cloud radar, and determine the current movement trend and current mission waypoint of the precipitation cloud system according to the characteristic data.

[0057] The estimation module 202 is used to determine an estimated target waypoint based on the current mission waypoint and the current movement trend, and execute the route planning steps until the drone reaches the current mission waypoint.

[0058] The mission route planning module 203 is used to plan a mission route for the drone from the current position to the estimated target waypoint.

[0059] The update determination module 204 is used to execute the mission route, detect characteristic data, and determine whether to update the estimated target waypoint based on the current mission waypoint and the current movement trend.

[0060] If the estimated target waypoint is updated, the route planning step is performed with the updated estimated target waypoint.

[0061] If the estimated target waypoint is not updated, the current mission waypoint is reached based on the mission route.

[0062] The determination module 205 is used to determine the spreading operation area of ​​the precipitation cloud system based on the characteristic data.

[0063] The planning and spreading module 206 is used to plan the operation route of the UAV according to the spreading operation area and spread the flame strips based on it.

[0064] Some modules in the apparatus described in the present application can be described in the general context of computer executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, classes, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0065] The devices or modules described in the above application embodiments can be implemented by computer chips or entities, or by products with certain functions. For the convenience of description, the above devices are described in various modules according to their functions. When implementing the embodiments of the present application, the functions of each module can be implemented in the same or multiple software and / or hardware. Of course, the module that implements a certain function can also be implemented by combining multiple sub-modules or sub-units.

[0066] The methods, devices or modules described in this application can be implemented in the form of computer-readable program codes. The controller can be implemented in any appropriate manner. For example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program codes (such as software or firmware) that can be executed by the (micro)processor, logic gates, switches, application-specific integrated circuits (English: Application Specific Integrated Circuit; Abbreviation: ASIC), programmable logic controllers and embedded microcontrollers. Examples of controllers include but are not limited to the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20 and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that in addition to implementing the controller in the form of pure computer-readable program codes, the controller can be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers and embedded microcontrollers by logically programming the method steps. Therefore, this controller can be considered as a hardware component, and the devices included in it for implementing various functions can also be regarded as structures within the hardware component. Or even, the means for realizing various functions may be regarded as both a software module for realizing the method and a structure within a hardware component.

[0067] An embodiment of the present application further provides a device, comprising: a processor; a memory for storing processor executable instructions; when the processor executes the executable instructions, the method described in the embodiment of the present application is implemented.

[0068] The embodiments of the present application also provide a non-volatile computer-readable storage medium on which a computer program or instruction is stored. When the computer program or instruction is executed, the method described in the embodiments of the present application is implemented.

[0069] In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist independently, or two or more modules may be integrated into one module.

[0070] The above storage media include but are not limited to random access memory (RAM), read-only memory (ROM), cache, hard disk drive (HDD) or memory card. The memory can be used to store computer program instructions.

[0071] It can be seen from the description of the above implementation methods that those skilled in the art can clearly understand that the present application can be implemented by means of software plus necessary hardware. Based on this understanding, the technical solution of the present application can be essentially or partly reflected in the prior art in the form of a software product, or it can be reflected in the implementation process of data migration. The computer software product can be stored in a storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a mobile terminal, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present application or certain parts of the embodiments.

[0072] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. All or part of this application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld devices or portable devices, tablet devices, mobile communication terminals, multi-processor systems, microprocessor-based systems, programmable electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc.

[0073] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit the present application. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some or all of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the present application.

Claims

1. A method for planning a UAV mission for artificial weather modification, characterized in that: include: Using cloud radar to detect characteristic data of precipitation clouds, and determining the current movement trend and current mission waypoint of the precipitation clouds according to the characteristic data; Determining an estimated target waypoint based on the current mission waypoint and the current movement trend, and executing a route planning step until the drone reaches the current mission waypoint; The route planning step includes: planning a mission route for the drone from the current position to the estimated target waypoint; Execute the mission route, detect the characteristic data, and determine whether to update the estimated target waypoint based on the current mission waypoint and the current movement trend; If the estimated target waypoint is updated, executing the route planning step with the updated estimated target waypoint; If the estimated target waypoint is not updated, reaching the current mission waypoint based on the mission route; Determine a spreading operation area of ​​a precipitation cloud system based on the characteristic data; The operation route of the UAV is planned according to the sowing operation area, and the flame strips are sown based on it.

2. The method according to claim 1, characterized in that The characteristic data of the precipitation cloud system detected by cloud radar also includes: The type and quantity of the flame strips carried by the UAV are determined based on the characteristic data of the precipitation cloud system.

3. The method according to claim 1, characterized in that Determining the current movement trend of the precipitation cloud system according to the characteristic data includes: The characteristic data include cloud type, cloud structure and cloud physical quantities of the precipitation cloud system; wherein the cloud physical quantities include the moving speed, moving direction and cloud height of the precipitation cloud system; The current moving trend of the precipitation cloud system is determined according to the cloud physical quantity.

4. The method according to claim 1, characterized in that: The determining whether to update the estimated target waypoint based on the current mission waypoint and the current movement trend includes: Determine a current target waypoint based on the current mission waypoint and the current movement trend; Determine whether the distance between the current target waypoint and the estimated target waypoint is greater than a preset distance; If the distance between the current target waypoint and the estimated target waypoint is greater than a preset distance, updating the current target waypoint to the estimated target waypoint; Otherwise, the estimated target waypoint is not updated.

5. The method according to claim 1, characterized in that Before planning the operation route of the UAV according to the sowing operation area, the method further includes: Determine whether the remaining flight time of the UAV can complete the operation route; If the remaining flight time of the UAV can complete the operation route, the operation route is executed; If the remaining flight time of the UAV cannot complete the operation route, a local sowing area is determined in the sowing operation area according to meteorological data, and the operation route of the UAV is planned based on the local sowing area.

6. The method according to claim 1, characterized in that The planning of the operation route of the UAV according to the sowing operation area includes: Determine the operation mode of the drone, and determine the operation segment based on the sowing operation area and the operation mode; wherein the operation mode of the drone includes single-point sowing and multi-point sowing; The operation route is planned according to the operation flight segment, the remaining flight time and the flight speed of the UAV, and the operation route is corrected in real time according to the current movement trend of the precipitation cloud system.

7. The method according to claim 1, characterized in that The step of reaching the current mission waypoint based on the mission route further includes: Determining whether the operating conditions are met based on the meteorological data detected by the onboard detection system of the UAV; wherein the operating conditions include the timing of the operation and the risk of thunderstorms; If the airborne detection system determines that the operating conditions are met, the flame strip spreading program is started; If the airborne detection system determines that the operating conditions are not met, the operating route is replanned.

8. The method according to claim 1, characterized in that After the flame strip is spread, the method further comprises: Use meteorological data to assess whether the current shadow operation is qualified; If the human shadow operation is qualified, the drone returns and is withdrawn; If the human shadow operation is unqualified, the current moving trend of the precipitation cloud system is re-determined, and the route planning step is performed to determine the sowing operation area and the operation route to sow the flame strips.

9. A UAV mission planning device for artificial weather modification, characterized in that: include: A detection module, used to detect characteristic data of a precipitation cloud system using a cloud radar, and determine a current movement trend and a current mission waypoint of the precipitation cloud system according to the characteristic data; An estimation module, configured to determine an estimated target waypoint based on the current mission waypoint and the current movement trend, and execute a route planning step until the drone reaches the current mission waypoint; A mission route planning module is used to plan a mission route for the drone from the current position to the estimated target waypoint; An update judgment module, used to execute the mission route, detect the characteristic data, and judge whether to update the estimated target waypoint based on the current mission waypoint and the current movement trend; If the estimated target waypoint is updated, executing the route planning step with the updated estimated target waypoint; If the estimated target waypoint is not updated, reaching the current mission waypoint based on the mission route; A determination module, used to determine a spreading operation area of ​​a precipitation cloud system based on the characteristic data; The planning and spreading module is used to plan the operation route of the UAV according to the spreading operation area and spread the flame strips based on it.

10. A device for executing a method for planning a UAV mission for artificial weather modification, characterized in that: include: processor; a memory for storing processor-executable instructions; When the processor executes the executable instructions, the method according to any one of claims 1 to 8 is implemented.

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