Method and device for determining route information, storage medium and aircraft

Abstract

The embodiment of the invention discloses a method and device for determining route information, a storage medium and an aircraft, and relates to the technical field of aircraft route planning, and the method comprises the steps: obtaining a plurality of planned routes; determining turning time consumption of the aircraft at any waypoint according to the waypoint positions of any waypoint, the previous waypoint and the next waypoint for any waypoint between the starting point and the ending point in any planned route; determining action time consumption of the aircraft at any waypoint according to the navigation action; determining the corresponding leg time consumption according to the leg distance from any waypoint to the next waypoint; and according to all turning time consumption, action time consumption and leg time consumption in any planned route, determining route time consumption corresponding to any planned route so as to plan a preset navigation task. According to the scheme, more comprehensive and accurate route information estimation can be provided, meanwhile, the flight path can be better planned, the actual flight dynamics can be better considered, and route tasks can be executed more smoothly and efficiently.

Description

Technical Field

[0001] This application relates to the technical field of flight path planning for aircraft, and specifically to a method, device, storage medium, and aircraft for determining flight path information. Background Art

[0002] In the construction of today's intelligent mines, the unmanned aerial vehicle (UAV) inspection technology has become a key tool for improving mine supervision efficiency and ensuring operation safety. By setting a fine flight path, the UAV can efficiently collect various data of the mine, including ore distribution, operation progress, and environmental conditions, which is crucial for optimizing resource allocation and immediately detecting potential safety hazards. Estimating flight path information, such as flight path length, required time, and expected number of photos, is extremely important for users. It can help plan inspection tasks, reasonably allocate human resources, ensure the comprehensiveness and accuracy of data, and thus make more effective decisions.

[0003] However, there are still some deficiencies in the existing technology, which may affect the efficiency of the inspection task and the accuracy of the results. Summary of the Invention

[0004] The purpose of the embodiments of this application is to provide a method, device, storage medium, and aircraft for determining flight path information to solve the technical problem in the existing technology that the navigation task cannot be reasonably planned.

[0005] To achieve the above purpose, the first aspect of this application provides a method for determining flight path information, and the method includes:

[0006] Obtain multiple planned flight paths corresponding to a preset navigation task, each planned flight path includes basic flight path data of each waypoint, and the basic flight path data includes waypoint position, flight action, and the flight segment distance between any two adjacent waypoints;

[0007] For any waypoint between the starting point and the ending point in any one of the multiple planned flight paths, determine the turning time of the aircraft at the any waypoint according to the waypoint position of the any waypoint, the waypoint position of the previous waypoint of the any waypoint, and the waypoint position of the next waypoint of the any waypoint;

[0008] Determine the action time of the aircraft at the any waypoint according to the flight action of the aircraft at the any waypoint;

[0009] Determine the flight segment time of the aircraft flying from the any waypoint to the next waypoint according to the flight segment distance between the any waypoint and the next waypoint;

[0010] Determine the flight path time corresponding to any one of the planned flight paths according to the turning time, action time, and flight segment time at all waypoints in any one of the planned flight paths;

[0011] Plan a preset navigation task according to the flight time corresponding to all planned routes.

[0012] In an embodiment of the present application, the basic route data further includes the first angular velocity of the aircraft when turning. Determining the turning time of the aircraft at any waypoint according to the waypoint position of any waypoint, the waypoint position of the previous waypoint of any waypoint, and the waypoint position of the next waypoint of any waypoint includes: determining the first azimuth angle of the aircraft reaching any waypoint according to the waypoint position of the previous waypoint of any waypoint and the waypoint position of any waypoint; determining the second azimuth angle of the aircraft reaching the next waypoint according to the waypoint position of any waypoint and the waypoint position of the next waypoint of any waypoint; determining the turning time of the aircraft at any waypoint according to the first azimuth angle, the second azimuth angle, and the first angular velocity.

[0013] In an embodiment of the present application, the navigation actions include hovering actions, yaw actions, and pitch angle turning actions. The basic route data further includes the second angular velocity and the angle offset of the aircraft performing a yaw action or a pitch angle turning action at any waypoint, and the hovering time of the aircraft performing a hovering action at any waypoint. Determining the action time of the aircraft at any waypoint according to the navigation action of the aircraft at any waypoint includes: when the navigation action at any waypoint is a hovering action, determining the hovering time as the action time of the aircraft at any waypoint; when the navigation action at any waypoint is a yaw action or a pitch angle turning action, determining the action time of the aircraft at any waypoint according to the second angular velocity and the angle offset.

[0014] In an embodiment of the present application, the basic route data further includes the maximum speed of the aircraft flying from any waypoint to the next waypoint. Determining the flight segment time of the aircraft flying from any waypoint to the next waypoint according to the flight segment distance between any waypoint and the next waypoint includes: when the maximum speed of the aircraft flying from any waypoint to the next waypoint is greater than or equal to the preset speed threshold, determining the first acceleration distance, the constant speed distance, and the deceleration distance of the aircraft flying from any waypoint to the next waypoint according to the maximum speed; determining the flight segment time of the aircraft flying from any waypoint to the next waypoint according to the first acceleration distance, the constant speed distance, and the deceleration distance; when the maximum speed of the aircraft flying from any waypoint to the next waypoint is less than the preset speed threshold, determining the second acceleration distance of the aircraft flying from any waypoint to the next waypoint according to the maximum speed; determining the flight segment time of the aircraft flying from any waypoint to the next waypoint according to the second acceleration distance.

[0015] In an embodiment of the present application, the basic route data further includes the take-off point altitude, the safe take-off altitude, the first navigation point altitude, the global return altitude, and the last navigation point altitude of the aircraft on any planned route. The method further includes: determining a first navigation distance of the aircraft flying from the take-off point to the first navigation point according to the take-off point altitude, the safe take-off altitude, and the first navigation point altitude; determining a second navigation distance of the aircraft flying from the last navigation point to the take-off point according to the global return altitude and the last navigation point altitude; determining the round-trip distance of any planned route according to the first navigation distance and the second navigation distance; determining the round-trip time of any planned route according to the round-trip distance; and planning a preset navigation task according to the route time and the round-trip time corresponding to all planned routes.

[0016] In an embodiment of the present application, determining a first navigation distance of the aircraft flying from the take-off point to the first navigation point according to the take-off point altitude, the safe take-off altitude, and the first navigation point altitude includes: determining a third navigation distance of the aircraft flying horizontally from the take-off point to the first navigation point, and a first vertical distance between the take-off point altitude and the first navigation point altitude; and determining the first navigation distance according to the first vertical distance and the third navigation distance.

[0017] In an embodiment of the present application, determining a second navigation distance of the aircraft flying from the last navigation point to the take-off point according to the global return altitude and the last navigation point altitude includes: determining a second vertical distance between the global return altitude and the last navigation point altitude, a fourth navigation distance of the aircraft flying from the last navigation point to the take-off point, and a third vertical distance between the last navigation point altitude and the take-off point altitude; and determining the second navigation distance of the aircraft flying from the last navigation point to the take-off point according to the second vertical distance, the third vertical distance, and the fourth navigation distance.

[0018] A second aspect of the present application provides a device for determining route information, including:

[0019] A memory configured to store instructions;

[0020] A processor configured to call the instructions from the memory and, when executing the instructions, be able to implement the method for determining route information according to the above.

[0021] A third aspect of the present application provides an unmanned aircraft including the device for determining route information according to the above.

[0022] A fourth aspect of the present application provides a machine-readable storage medium having instructions stored thereon for causing a machine to execute the method for determining route information according to the above.

[0023] Through the above technical solutions, more comprehensive and accurate route information estimation can be provided, while better planning the flight trajectory and considering the actual flight dynamics, enabling the route task to be executed more smoothly and efficiently.

[0024] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation part. Description of the Drawings

[0025] The drawings are used to provide a further understanding of the embodiments of the present application, and constitute a part of the specification. Together with the following specific implementation, they are used to explain the embodiments of the present application, but do not constitute a limitation to the embodiments of the present application. In the drawings:

[0026] Figure 1 Schematically shows a flowchart of a method for determining route information according to an embodiment of the present application;

[0027] Figure 2 Schematically shows a flowchart of determining the time consumed for a route according to an embodiment of the present application;

[0028] Figure 3 Schematically shows a flowchart of determining the time consumed for a flight segment according to an embodiment of the present application;

[0029] Figure 4 Schematically shows a flowchart of determining the round-trip time consumed according to an embodiment of the present application;

[0030] Figure 5 Schematically shows a flowchart of route information parsing, estimation, and storage according to an embodiment of the present application;

[0031] Figure 6 Schematically shows a flowchart of estimating the total number of photos according to an embodiment of the present application;

[0032] Figure 7 Schematically shows a flowchart of estimating the total number of videos according to an embodiment of the present application;

[0033] Figure 8 Schematically shows a block diagram of a device for determining route information according to an embodiment of the present application;

[0034] Figure 9 Schematically shows a structural diagram of a computer device according to an embodiment of the present application. Specific Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. It should be understood that the specific implementation manners described herein are only used to illustrate and explain the embodiments of this application, and are not used to limit the embodiments of this application. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0036] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of this application, then such directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If this specific posture changes, then the directional indications will also change accordingly.

[0037] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of this application, then such descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0038] There are some drawbacks in the existing UAV inspection technology. First, the existing estimated information is not comprehensive enough, often only including the length and time consumption of a one-way trip, which limits the depth and meticulousness of task planning. Second, the existing technology simplifies the flight trajectory between waypoints too much. It often roughly regards the flight route as a straight line without considering the curved trajectory in actual flight or obstacles that may need to be avoided. This may lead to deviations between the actual flight path and the preset flight route, and a reasonable plan for the navigation task cannot be made. The technical solutions provided by the embodiments of this application aim to solve these problems.

[0039] Figure 1 A flowchart of a method for determining route information according to an embodiment of this application is schematically shown. As Figure 1 shown, the embodiments of this application provide a method for determining route information, and the method may include the following steps.

[0040] S102. Obtain multiple planned routes corresponding to a preset navigation task. Each planned route includes the basic route data of each waypoint. The basic route data includes the waypoint position, flight action, and the segment distance between any two adjacent waypoints;

[0041] S104. For any waypoint between the starting point and the ending point in any one of multiple planned routes, determine the turning time of the aircraft at the any waypoint according to the waypoint position of the any waypoint, the waypoint position of the previous waypoint of the any waypoint, and the waypoint position of the next waypoint of the any waypoint.

[0042] S108. Determine the action time of the aircraft at the any waypoint according to the flight action of the aircraft at the any waypoint.

[0043] S110. Determine the flight segment time of the aircraft from the any waypoint to the next waypoint according to the flight segment distance between the any waypoint and the next waypoint;

[0044] S112. Determine the route time corresponding to any one of the planned routes according to the turning time, action time, and flight segment time at all waypoints in any one of the planned routes;

[0045] S114. Plan a preset navigation task according to the route times corresponding to all the planned routes.

[0046] It can be understood that the preset navigation task can refer to the navigation task of the aircraft preset by technicians. For example, in the construction of intelligent mines, aircraft inspection technology has become a key tool for improving mine supervision efficiency and ensuring operation safety. The preset navigation task can be to set a fine flight path, enabling the aircraft to efficiently collect various data of the mine specified in the preset navigation task, including ore distribution, operation progress, and environmental conditions, which is crucial for optimizing resource allocation and immediately detecting potential safety hazards. The user can input the key information of the preset flight path task, and then the client automatically generates multiple planned flight paths corresponding to the preset navigation task. A planned flight path refers to the estimated flight path for executing the preset flight path task. It can be understood that the key information between multiple planned flight paths is the same. For example, the user can set the takeoff point location, safe takeoff altitude, takeoff speed, waypoint location, waypoint speed, waypoint action, return mode, lost connection mode, etc. on the client, and submit the settings to the server through the submit button, and the server creates the corresponding planned flight path. Among them, each planned flight path can have a corresponding flight path file, and the basic flight path data of each waypoint in the planned flight path can be stored in the flight path file. The basic flight path data includes the waypoint location, flight action, and the flight segment distance between any two adjacent waypoints. The waypoint location refers to the spatial location of the waypoint. The flight action refers to the action of the aircraft, such as hovering action, yaw action, pitch action, etc. For any waypoint between the starting point and the ending point of any one of the multiple planned flight paths, the change amount of the direction angle of the aircraft at any waypoint can be determined according to the waypoint location of any waypoint, the waypoint location of the previous waypoint of any waypoint, and the waypoint location of the next waypoint of any waypoint, so as to determine the turning time of the aircraft at any waypoint. And, the action time of the aircraft executing the flight action at any waypoint can be determined according to the flight action of the aircraft at any waypoint. According to the flight segment distance between any waypoint and the next waypoint, the flight segment time of the aircraft flying from any waypoint to the next waypoint can be determined. Then, according to the turning time, action time, and flight segment time at all waypoints in any one of the planned flight paths, the flight path time corresponding to any one of the planned flight paths can be determined, so that the task completion time for each planned flight path to complete the preset flight path task can be accurately estimated. According to the flight path time corresponding to all planned flight paths, the preset navigation task can be planned according to the time cost of the flight path, so as to provide a more comprehensive and accurate flight path information estimate. At the same time, better plan the flight trajectory and consider the actual flight dynamics, so that when the aircraft performs a flight path task such as mine inspection, it can be executed more smoothly and efficiently.

[0047] In an embodiment of the present application, the basic route data further includes a first angular velocity of the aircraft during a turn. Determining the turning time of the aircraft at any waypoint according to the waypoint position of any waypoint, the waypoint position of the previous waypoint of any waypoint, and the waypoint position of the next waypoint of any waypoint includes: determining a first azimuth angle of the aircraft reaching any waypoint according to the waypoint position of the previous waypoint of any waypoint and the waypoint position of any waypoint; determining a second azimuth angle of the aircraft reaching the next waypoint according to the waypoint position of any waypoint and the waypoint position of the next waypoint of any waypoint; and determining the turning time of the aircraft at any waypoint according to the first azimuth angle, the second azimuth angle, and the first angular velocity.

[0048] Reference Figure 2 , determining a first azimuth angle θ1 of the aircraft reaching any waypoint according to the waypoint position of the previous waypoint of any waypoint and the waypoint position of any waypoint, and determining a second azimuth angle θ2 of the aircraft reaching the next waypoint according to the waypoint position of any waypoint and the waypoint position of the next waypoint of any waypoint. Then, the difference between the first azimuth angle and the second azimuth angle is the azimuth change amount Δθ = θ2 - θ1 of the any waypoint. Then, the turning time of the aircraft at any waypoint can be determined according to the azimuth change amount and the first angular velocity. The first angular velocity is the angular velocity automatically generated for generating the planned route, or can also be set by a technician according to the model of the aircraft.

[0049] In an embodiment of the present application, the flight actions include a hovering action, a yaw action, and a pitch angle turning action. The basic route data further includes a second angular velocity and an angle offset amount of the aircraft during a yaw action or a pitch angle turning action at any waypoint, and a hovering time of the aircraft when performing a hovering action at any waypoint. Determining the action time of the aircraft at any waypoint according to the flight action of the aircraft at any waypoint includes: when the flight action at any waypoint is a hovering action, determining the hovering time as the action time of the aircraft at any waypoint; when the flight action at any waypoint is a yaw action or a pitch angle turning action, determining the action time of the aircraft at any waypoint according to the second angular velocity and the angle offset amount.

[0050] Reference Figure 2, the trajectory during actual flight may need to avoid obstacles, which may result in deviations in the flight path. Therefore, the aircraft has hovering actions, yaw actions, and pitch angle rotation actions to avoid obstacles. Then, the hovering time, the second angular velocity for performing yaw actions or pitch angle rotation actions, and the angle offset can be obtained from the basic route data. Among them, the hovering time can be from the user's settings. Then, when the flight action at any waypoint is a hovering action, the hovering time is determined as the action time of the aircraft at any waypoint. When the flight action at any waypoint is a yaw action or a pitch angle rotation action, the ratio of the second angular velocity to the angle offset is determined as the action time of the aircraft at any waypoint. If the route operation is not any one of the hovering action, yaw action, and pitch angle rotation action, the action time can be determined according to the empirical time of different other flight actions.

[0051] In an embodiment of the present application, the basic route data further includes the maximum speed of the aircraft flying from any waypoint to the next waypoint. Determining the flight segment time of the aircraft flying from any waypoint to the next waypoint according to the flight segment distance between any waypoint and the next waypoint includes: when the maximum speed of the aircraft flying from any waypoint to the next waypoint is greater than or equal to the preset speed threshold, determining the first acceleration distance, constant speed distance, and deceleration distance of the aircraft flying from any waypoint to the next waypoint according to the maximum speed; determining the flight segment time of the aircraft flying from any waypoint to the next waypoint according to the first acceleration distance, constant speed distance, and deceleration distance; when the maximum speed of the aircraft flying from any waypoint to the next waypoint is less than the preset speed threshold, determining the second acceleration distance of the aircraft flying from any waypoint to the next waypoint according to the maximum speed; determining the flight segment time of the aircraft flying from any waypoint to the next waypoint according to the second acceleration distance.

[0052] Reference Figure 2, considerations of flight dynamics usually ignore the process of first accelerating, then maintaining a constant speed, and finally decelerating during the flight from waypoint to waypoint, and simply regard the whole process as a uniform motion. This simplification may affect the accurate estimation of the task completion time. In the embodiments of the present application, when the maximum speed of the aircraft flying from any waypoint to the next waypoint is greater than or equal to the preset speed threshold, it can be considered that there is a process of acceleration, constant speed, and deceleration in the flight segment from any waypoint to the next waypoint. The preset speed threshold refers to the maximum speed at which the aircraft can fly. Then, the first acceleration distance, constant speed distance, and deceleration distance of the aircraft flying from any waypoint to the next waypoint can be determined according to the maximum speed, and then the flight time of the flight segment of the aircraft flying from any waypoint to the next waypoint can be determined according to the first acceleration distance, constant speed distance, and deceleration distance. When the maximum speed of the aircraft flying from any waypoint to the next waypoint is less than the preset speed threshold, it can be considered that the whole process of the flight segment from any waypoint to the next waypoint is accelerating. Then, the second acceleration distance of the aircraft flying from any waypoint to the next waypoint is determined according to the maximum speed, and the flight time of the flight segment of the aircraft flying from any waypoint to the next waypoint is determined according to the second acceleration distance.

[0053] Reference Figure 3 , in one embodiment, the preset speed threshold v of the set aircraft can be obtained from the basic route data, and the required time t for the speed to reach the preset speed threshold from 0 is calculated based on the set acceleration a of the aircraft. Then the distance that the aircraft can fly in time t is Further, the flight segment distance s between two adjacent waypoints is obtained from the basic route data. If s > 2d, the maximum speed of the aircraft can reach the preset speed threshold v. Then, in this flight segment, the aircraft experiences a process of acceleration, constant speed, and deceleration, and the flight time of this flight segment is t ′ = 2×v÷a + (s - 2d)÷v. If s ≤ 2d, the maximum speed of the aircraft cannot reach the preset speed threshold v. Then, in this flight segment, the aircraft only experiences an acceleration process, and the flight time of this flight segment is

[0054] In an embodiment of the present application, the basic route data further includes the take-off point height, safe take-off height, first navigation point height, global return height, and last navigation point height of the aircraft on any planned route. The method further includes: determining a first navigation distance of the aircraft from the take-off point to the first navigation point according to the take-off point height, safe take-off height, and first navigation point height; determining a second navigation distance of the aircraft from the last navigation point to the take-off point according to the global return height and last navigation point height; determining a round-trip distance of any planned route according to the first navigation distance and the second navigation distance; determining a round-trip time of any planned route according to the round-trip distance; and planning a preset navigation task according to the route time and round-trip time corresponding to all planned routes.

[0055] In an embodiment of the present application, determining a first navigation distance of the aircraft from the take-off point to the first navigation point according to the take-off point height, safe take-off height, and first navigation point height includes: determining a third navigation distance of the aircraft flying horizontally from the take-off point to the first navigation point, and a first vertical distance between the take-off point height and the first navigation point height; and determining the first navigation distance according to the first vertical distance and the third navigation distance.

[0056] In an embodiment of the present application, determining a second navigation distance of the aircraft from the last navigation point to the take-off point according to the global return height and last navigation point height includes: determining a second vertical distance between the global return height and the last navigation point height, a fourth navigation distance of the aircraft from the last navigation point to the take-off point, and a third vertical distance between the last navigation point height and the take-off point height; and determining the second navigation distance of the aircraft from the last navigation point to the take-off point according to the second vertical distance, the third vertical distance, and the fourth navigation distance.

[0057] Reference Figure 4, obtain information such as the takeoff point altitude, safe takeoff altitude, first flight point altitude, last flight point altitude, global transition speed, etc. If the takeoff point altitude + safe takeoff altitude > the first flight point altitude, the aircraft will fly horizontally to directly above the first flight point and then descend vertically to the first flight point. At this time, the distance from the takeoff point to the first flight point is the safe takeoff altitude + horizontal flight distance + descent altitude. If the takeoff point altitude + safe takeoff altitude ≤ the first flight point altitude, the aircraft will ascend to the same altitude as the first flight point and then fly horizontally to the first flight point. At this time, the distance from the takeoff point to the first flight point is the safe takeoff altitude + ascent altitude + horizontal flight distance. If the global return altitude > the last flight point altitude, the distance from the last flight point to the takeoff point at this time is the descent to the last flight point altitude + horizontal flight distance + descent to the takeoff point altitude. If the global return altitude ≤ the last flight point altitude, the distance from the last flight point to the takeoff point at this time is the ascent to the last flight point altitude + horizontal flight distance + descent to the takeoff point altitude. Add the distance from the takeoff point to the first flight point and the distance from the last flight point to the takeoff point to obtain the round-trip distance. Divide the round-trip distance by the global transition speed to obtain the round-trip time. Then, based on the route times corresponding to all planned routes and the round-trip time, the preset navigation task can be planned.

[0058] Reference Figure 5, in the embodiments of the present application, the basic route data of the planned route is stored in the corresponding route file. Specifically, the user creates a planned route through the website of the intelligent mine project. The route file is stored in MinIO and the cloud COS object storage service. The route file stream is obtained through the object storage key, parsed and encapsulated into a designed Kml class object to facilitate the access of information such as global settings, local waypoint settings, and waypoint action settings in the route at any time. The route information estimation is calculated using data such as global route settings, local waypoint settings, and waypoint action settings in the Kml class object to estimate reference information such as the task distance, task duration, route distance, route duration, round-trip distance, round-trip duration, number of photos, and number of videos of the route. The route information storage saves the estimated information to the MySQL database for permanent storage to avoid re-parsing and estimating the route file when querying the route information. The route file is a kmz compressed package. After decompression, a wpmz root directory is obtained, which contains three contents: the template.kml file, the waylines.wpml file, and the res folder. The template.kml file is the "template file", and the predefined template provides a convenient means for users to edit and plan the route. KMZ (Keyhole Markup Language Zipped) is a file format used in Google Earth and Google Maps. It is a compressed format based on XML for storing geospatial information and related multimedia data such as graphics, text, audio, and video. KMZ files can contain information such as 3D models, terrain data, markers, pictures, and multimedia, enabling users to view geographical information and various landscapes on the earth in a more intuitive way. The waylines.wpml file is the "execution file", and the execution file defines clear flight and payload action instructions for the aircraft. The res folder stores resource files, including auxiliary resources required for the route, such as reference target photos prepared in advance before starting precise re-shooting. Most of the content in the template.kml file and the waylines.wpml file is similar, with only a few unique parts. Therefore, a Kml class object is constructed to save the data parsed from both of them. The root element in the kml file is the kml element, which only contains the Document element, representing the entire file. The Document element contains the missionConfig and Folder elements. The missionConfig element contains elements such as the mode of flying to the first waypoint, actions after completing the task, actions after losing contact, safe takeoff altitude, reference takeoff point, takeoff point ground clearance, global transition speed, and global return altitude. These elements mainly determine the global settings and takeoff point settings. The Folder element contains elements such as coordinate system parameters, global yaw angle mode parameters, payload parameters, gimbal pitch angle mode, and waypoint information.The waypoint information elements mainly include waypoint coordinates, waypoint altitude, waypoint speed, local yaw angle mode, local pan-tilt angle mode, action group information and other elements. Under the action group element, there are mainly action trigger mode, action group start waypoint, action group end waypoint, action information and other elements, and the action information element represents the specific action, which includes action type, yaw angle, pitch angle, hover time, zoom focal length and other elements. In the estimation process of the route information, some basic information of the aircraft is needed, such as the angular velocity ω of the aircraft turning and the acceleration a of the aircraft accelerating in a straight line. These basic information are obtained by technicians and testers through a large number of on-site experiments. After removing the extreme experimental data, the average value of the experimental results is taken as the empirical data and stored in the Nacos configuration center. During the operation of the server, the empirical data can be retrieved from Nacos at any time for subsequent calculations.

[0059] Further, create corresponding fields in the route table of the MySQL database. When adding or editing a route, store information such as the calculated route distance, route time consumption, round-trip distance, round-trip time consumption, task distance, task time consumption, number of photos, number of videos, etc. into the fields. When querying route information, there is no need to parse the route file, and only the values of the corresponding fields need to be read from the database. Specifically, refer to Figure 6 and Figure 7 , traverse all the waypoints in the Kml class object, traverse all the actions of each waypoint, and judge the type of the action according to the action attributes. If it is a single-shot action or a directional photo-taking action, the number of photos +1, and if it is other actions, it is ignored to determine the total number of photos. If it is a start video recording action, the number of videos +1, and if it is not a start video recording action, it is ignored to determine the total number of videos.

[0060] Through the above technical solutions, the estimation of more information such as round-trip length, round-trip time consumption, and number of videos is considered. The flight trajectory between waypoints is considered, and the time consumption at the turning points is considered. The acceleration, uniform speed, and deceleration processes of the flight between waypoints are considered. In this way, a reasonable plan for the navigation task can be realized, and the efficiency and accuracy of executing the route task can be improved. Using the database to store the calculated information can avoid multiple estimation calculations and improve the query efficiency. Better planning of the flight trajectory and consideration of the actual flight dynamics ensure that the aircraft inspection task can be executed more smoothly and efficiently.

[0061] Figure 1 It is a schematic flow chart of a method for determining route information in an embodiment. It should be understood that although Figure 1The steps in the flowchart are shown in sequence according to the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise clearly stated in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1 at least a part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed alternately or in turns with at least a part of other steps or sub-steps or stages of other steps.

[0062] Figure 8 Schematically shows a structural block diagram of a device for determining route information according to an embodiment of the present application. As Figure 8 shown, an embodiment of the present application provides a device for determining route information, which may include:

[0063] A memory configured to store instructions;

[0064] A processor configured to call instructions from the memory and capable of implementing the above method for determining route information when executing the instructions.

[0065] Specifically, in an embodiment of the present application, the processor may be configured to:

[0066] Obtain multiple planned routes corresponding to a preset navigation task. Each planned route includes basic route data for each waypoint, and the basic route data includes waypoint position, flight action, and the segment distance between any two adjacent waypoints;

[0067] For any waypoint between the starting point and the ending point in any one of the multiple planned routes, determine the turning time of the aircraft at the any waypoint according to the waypoint position of the any waypoint, the waypoint position of the previous waypoint of the any waypoint, and the waypoint position of the next waypoint of the any waypoint;

[0068] Determine the action time of the aircraft at the any waypoint according to the flight action of the aircraft at the any waypoint;

[0069] Determine the segment time of the aircraft flying from the any waypoint to the next waypoint according to the segment distance between the any waypoint and the next waypoint;

[0070] Determine the route time corresponding to any one of the planned routes according to the turning time, action time, and segment time at all waypoints in any one of the planned routes;

[0071] Plan the preset navigation task according to the route times corresponding to all the planned routes.

[0072] In an embodiment of the present application, the processor may further be configured to:

[0073] The basic route data further includes a first angular velocity of the aircraft during a turn. Determining the turning time of the aircraft at any waypoint based on the waypoint position of any waypoint, the waypoint position of the previous waypoint of any waypoint, and the waypoint position of the next waypoint of any waypoint includes: determining a first azimuth angle of the aircraft reaching any waypoint based on the waypoint position of the previous waypoint of any waypoint and the waypoint position of any waypoint; determining a second azimuth angle of the aircraft reaching the next waypoint based on the waypoint position of any waypoint and the waypoint position of the next waypoint of any waypoint; and determining the turning time of the aircraft at any waypoint based on the first azimuth angle, the second azimuth angle, and the first angular velocity.

[0074] In an embodiment of the present application, the processor may further be configured to:

[0075] The flight actions include a hovering action, a yaw action, and a pitch angle turning action. The basic route data further includes a second angular velocity and an angle offset of the aircraft during a yaw action or a pitch angle turning action at any waypoint, and a hovering time of the aircraft when performing a hovering action at any waypoint. Determining the action time of the aircraft at any waypoint based on the flight action of the aircraft at any waypoint includes: when the flight action at any waypoint is a hovering action, determining the hovering time as the action time of the aircraft at any waypoint; when the flight action at any waypoint is a yaw action or a pitch angle turning action, determining the action time of the aircraft at any waypoint based on the second angular velocity and the angle offset.

[0076] In an embodiment of the present application, the processor may further be configured to:

[0077] The basic route data further includes a maximum speed of the aircraft flying from any waypoint to the next waypoint. Determining the segment time of the aircraft flying from any waypoint to the next waypoint based on the segment distance between any waypoint and the next waypoint includes: when the maximum speed of the aircraft flying from any waypoint to the next waypoint is greater than or equal to a preset speed threshold, determining a first acceleration distance, a constant speed distance, and a deceleration distance of the aircraft flying from any waypoint to the next waypoint based on the maximum speed; determining the segment time of the aircraft flying from any waypoint to the next waypoint based on the first acceleration distance, the constant speed distance, and the deceleration distance; when the maximum speed of the aircraft flying from any waypoint to the next waypoint is less than the preset speed threshold, determining a second acceleration distance of the aircraft flying from any waypoint to the next waypoint based on the maximum speed; and determining the segment time of the aircraft flying from any waypoint to the next waypoint based on the second acceleration distance.

[0078] In an embodiment of the present application, the processor may further be configured to:

[0079] The basic route data further includes the take-off point height, the safe take-off height, the first navigation point height, the global return height, and the last navigation point height of the aircraft on any planned route. The method further includes: determining a first navigation distance of the aircraft flying from the take-off point to the first navigation point according to the take-off point height, the safe take-off height, and the first navigation point height; determining a second navigation distance of the aircraft flying from the last navigation point to the take-off point according to the global return height and the last navigation point height; determining a round-trip distance of any planned route according to the first navigation distance and the second navigation distance; determining a round-trip time of any planned route according to the round-trip distance; and planning a preset navigation task according to the route time and the round-trip time corresponding to all planned routes.

[0080] In an embodiment of the present application, the processor may further be configured to:

[0081] Determining a first navigation distance of the aircraft flying from the take-off point to the first navigation point according to the take-off point height, the safe take-off height, and the first navigation point height includes: determining a third navigation distance of the aircraft flying horizontally from the take-off point to the first navigation point, and a first vertical distance between the take-off point height and the first navigation point height; and determining the first navigation distance according to the first vertical distance and the third navigation distance.

[0082] In an embodiment of the present application, the processor may further be configured to:

[0083] Determining a second navigation distance of the aircraft flying from the last navigation point to the take-off point according to the global return height and the last navigation point height includes: determining a second vertical distance between the global return height and the last navigation point height, a fourth navigation distance of the aircraft flying from the last navigation point to the take-off point, and a third vertical distance between the last navigation point height and the take-off point height; and determining the second navigation distance of the aircraft flying from the last navigation point to the take-off point according to the second vertical distance, the third vertical distance, and the fourth navigation distance.

[0084] An embodiment of the present application further provides an aircraftless device, including the device for determining route information according to the above.

[0085] An embodiment of the present application further provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to cause a machine to execute the above method for determining route information.

[0086] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as Figure 9As shown in the figure. The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure), and a database (not shown in the figure) connected through a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown in the figure). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The database of the computer device is used to store data for determining route information. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program B02 is executed by the processor A01, it implements a method for determining route information.

[0087] Those skilled in the art can understand that Figure 9 the structure shown in the figure is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0088] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) containing computer-usable program code.

[0089] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0090] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufacture including an instruction device that implements the functions specified in one process Figure 1 or more processes and / or blocks Figure 1 or more blocks specified in the block.

[0091] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one process Figure 1 or more processes and / or blocks Figure 1 or more blocks specified in the block.

[0092] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0093] The memory may include non-permanent memory in the computer-readable medium, in the form of random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

[0094] Computer-readable media include permanent and non-permanent, removable and non-removable media that can implement information storage by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tapes, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information accessible by a computing device. As defined herein, computer-readable media do not include transitory computer-readable media, such as modulated data signals and carrier waves.

[0095] It should also be noted that the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, commodity or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, commodity or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, commodity or device comprising the element.

[0096] The above are only embodiments of the present application and are not used to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A method for determining route information, characterized in that: The method comprises: Acquire multiple planned routes corresponding to preset navigation tasks, each planned route includes basic route data of each waypoint, and the basic route data includes the waypoint location, navigation action, and the distance between any two adjacent waypoints; For any waypoint between a starting point and an end point in any one of the plurality of planned routes, determining a turning time of the aircraft at the arbitrary waypoint according to a waypoint position of the arbitrary waypoint, a waypoint position of a previous waypoint of the arbitrary waypoint, and a waypoint position of a next waypoint of the arbitrary waypoint; Determining the action time of the aircraft at any waypoint according to the navigation action of the aircraft at the any waypoint; Determine the flight time taken by the aircraft to fly from the arbitrary waypoint to the next waypoint according to the flight distance between the arbitrary waypoint and the next waypoint; Determine the route time corresponding to any one of the planned routes according to the turning time, the action time and the flight segment time at all waypoints in the any one of the planned routes; The preset navigation task is planned according to the route consumption corresponding to all planned routes.

2. The method for determining route information according to claim 1, characterized in that: The basic route data also includes a first angular velocity of the aircraft when turning, and determining the turning time of the aircraft at the arbitrary waypoint according to the waypoint position of the arbitrary waypoint, the waypoint position of the previous waypoint of the arbitrary waypoint, and the waypoint position of the next waypoint of the arbitrary waypoint includes: Determine a first azimuth angle at which the aircraft arrives at the arbitrary waypoint according to a waypoint position of a previous waypoint of the arbitrary waypoint and the waypoint position of the arbitrary waypoint; Determine a second azimuth angle at which the aircraft arrives at the next waypoint according to the waypoint position of the arbitrary waypoint and the waypoint position of the next waypoint of the arbitrary waypoint; The turning time of the aircraft at the arbitrary waypoint is determined according to the first azimuth angle, the second azimuth angle and the first angular velocity.

3. The method for determining route information according to claim 1, characterized in that: The navigation action includes a hovering action, a yaw action, and a pitch angle turning action, the basic route data also includes a second angular velocity and an angle offset of the aircraft performing the yaw action or the pitch angle turning action at the arbitrary waypoint, and a hovering time consumed by the aircraft when performing the hovering action at the arbitrary waypoint, and determining the action time consumed by the aircraft at the arbitrary waypoint according to the navigation action of the aircraft at the arbitrary waypoint includes: In the case where the navigation action at the arbitrary waypoint is the hovering action, the hovering time is determined as the action time of the aircraft at the arbitrary waypoint; In a case where the navigation action at the arbitrary waypoint is the yaw action or the pitch angle action, the action time of the aircraft at the arbitrary waypoint is determined according to the second angular velocity and the angle offset.

4. The method for determining route information according to claim 1, characterized in that: The basic route data also includes the maximum speed of the aircraft flying from the arbitrary waypoint to the next waypoint, and the determining of the segment duration of the aircraft flying from the arbitrary waypoint to the next waypoint according to the segment distance between the arbitrary waypoint and the next waypoint includes: When the maximum speed of the aircraft flying from the arbitrary waypoint to the next waypoint is greater than or equal to a preset speed threshold, determining a first acceleration distance, a uniform speed distance, and a deceleration distance of the aircraft flying from the arbitrary waypoint to the next waypoint according to the maximum speed; Determine the flight time taken by the aircraft to fly from the arbitrary waypoint to the next waypoint according to the first acceleration distance, the uniform speed distance and the deceleration distance; When the maximum speed of the aircraft flying from the arbitrary waypoint to the next waypoint is less than a preset speed threshold, determining a second acceleration distance for the aircraft to fly from the arbitrary waypoint to the next waypoint according to the maximum speed; The flight duration of the aircraft from the arbitrary waypoint to the next waypoint is determined according to the second acceleration distance.

5. The method for determining route information according to claim 1, characterized in that: The basic route data also includes the take-off point altitude, safe take-off altitude, first waypoint altitude, global return altitude and last waypoint altitude of the aircraft in any of the planned routes, and the method further includes: Determine a first flight distance of the aircraft from the take-off point to the first navigation point according to the take-off point altitude, the safe take-off altitude and the first navigation point altitude; Determine a second flight distance for the aircraft from the tail waypoint to the take-off point according to the global return altitude and the tail waypoint altitude; Determine a round trip distance of any one of the planned routes according to the first sailing distance and the second sailing distance; Determine the round-trip time of any one of the planned routes according to the round-trip distance; The preset navigation task is planned according to the route duration and round-trip duration corresponding to all planned routes.

6. The method for determining route information according to claim 5, characterized in that: The determining, according to the take-off point altitude, the safe take-off altitude, and the first navigation point altitude, of a first navigation distance of the aircraft from the take-off point to the first navigation point comprises: Determine a third flight distance of the aircraft from the take-off point to the first navigation point, and a first vertical distance of the aircraft from the take-off point altitude to the first navigation point altitude; The first sailing distance is determined according to the first vertical distance and the third sailing distance.

7. The method for determining route information according to claim 5, characterized in that: The determining, according to the global return altitude and the tail waypoint altitude, a second navigation distance of the aircraft from the tail waypoint to the take-off point comprises: Determine a second vertical distance between the global return altitude and the tail waypoint altitude, a fourth flight distance of the aircraft from the tail waypoint to the take-off point, and a third vertical distance between the tail waypoint altitude and the take-off point altitude; A second flight distance of the aircraft from the tail waypoint to the take-off point is determined according to the second vertical distance, the third vertical distance and the fourth flight distance.

8. A device for determining route information, characterized in that: include: a memory configured to store instructions; A processor is configured to call the instructions from the memory and implement the method for determining route information according to any one of claims 1 to 7 when executing the instructions.

9. An aircraft, characterized in that: Comprising the apparatus for determining route information according to claim 8.

10. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions for causing a machine to execute the method for determining route information according to any one of claims 1 to 7.

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