Radar detection angle control method, ground-simulating flight control method and related devices

Abstract

The present application provides a radar detection angle control method, a terrain-simulating flight control method, and related devices, relating to the field of unmanned aerial vehicle technology. The method comprises: obtaining preset angle description information for an operating route, wherein the preset angle description information is used to indicate the target detection angle that the radar needs to follow at each position on the operating route, and the target detection angle that needs to be followed at each position is determined based on the terrain conditions corresponding to the operating route and / or the preset target-to-ground distance; when executing the operating route, controlling the radar detection angle based on the preset angle description information. In this way, the radar detection angle can be controlled based on the terrain conditions corresponding to the operating route and / or the preset target-to-ground distance, thereby reducing unnecessary obstacle avoidance behavior.

Description

Technical Field

[0001] The present application relates to the field of UAV technology, and more specifically, to a radar detection angle control method, a terrain-simulating flight control method, and related devices. Background Art

[0002] Currently, drones are typically equipped with radars to detect obstacles and avoid them. However, in mountainous terrain, the radar may mistake small hills ahead for obstacles, making obstacle avoidance impossible. Summary of the Invention

[0003] The embodiments of the present application provide a radar detection angle control method, a terrain-simulating flight control method, and related devices, which can at least control the radar detection angle according to the terrain undulations corresponding to the operating route and / or the preset target-to-ground distance to reduce unnecessary obstacle avoidance behavior.

[0004] The embodiments of the present application can be implemented as follows:

[0005] In a first aspect, an embodiment of the present application provides a radar detection angle control method, the method comprising:

[0006] Obtaining preset angle description information of the operating route, wherein the preset angle description information is used to indicate a target detection angle that the radar needs to follow at each position of the operating route, wherein the target detection angle that needs to be followed at each position is determined based on the terrain corresponding to the operating route and / or a preset target-to-ground distance;

[0007] When executing the operating route, the detection angle of the radar is controlled according to the preset angle description information.

[0008] In a second aspect, an embodiment of the present application provides a terrain-simulating flight control method, the method comprising:

[0009] During the anti-terrain flight based on the operating route, the radar detection angle is controlled by the radar detection angle control method according to the aforementioned embodiment.

[0010] In a third aspect, an embodiment of the present application provides a radar detection angle control device, the device comprising:

[0011] an information acquisition module, configured to obtain preset angle description information of an operation route, wherein the preset angle description information is used to indicate a target detection angle that the radar needs to follow at each position of the operation route, wherein the target detection angle that needs to be followed at each position is determined based on the terrain corresponding to the operation route and / or a preset target-to-ground distance;

[0012] A control module is used to control the detection angle of the radar according to the preset angle description information when executing the operating route.

[0013] In a fourth aspect, an embodiment of the present application provides a terrain-simulating flight control device, the device comprising:

[0014] The flight control module is used to control the radar detection angle through the radar detection angle control device described in the above embodiment during the process of performing terrain simulation flight based on the operating route.

[0015] In a fifth aspect, an embodiment of the present application provides an electronic device, comprising a processor and a memory, wherein the memory stores machine-executable instructions that can be executed by the processor, and the processor can execute the machine-executable instructions to implement the method described in any one of the aforementioned embodiments.

[0016] In a fourth aspect, an embodiment of the present application provides a readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method described in any one of the aforementioned embodiments is implemented.

[0017] The radar detection angle control method, terrain-simulating flight control method, and related apparatus provided in embodiments of the present application obtain preset angle description information indicating the target detection angle that the radar needs to follow at each position along an operating route. When executing the operating route, the radar detection angle is controlled based on the preset angle description information. The target detection angle that needs to be followed at each position is determined based on the terrain undulations corresponding to the operating route and / or the preset target-to-ground distance. In this way, the radar detection angle is controlled based on the terrain undulations corresponding to the operating route and / or the target-to-ground distance, thereby reducing the possibility that the radar mistakenly identifies a slope as an obstacle, thereby reducing unnecessary obstacle avoidance behavior. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 Schematic diagram of the radar structure;

[0020] Figure 2 This is a schematic diagram of the radar installation;

[0021] Figure 3 Schematic diagram of radar waves;

[0022] Figure 4Schematic diagram of the lack of vertical resolution of radar waves;

[0023] Figure 5 This is a diagram of a radar mistaking a raised ground surface for an obstacle;

[0024] Figure 6 Schematic diagram of radar detection in terraced fields and mountainous areas;

[0025] Figure 7 A schematic diagram of an electronic device provided in an embodiment of the present application;

[0026] Figure 8 This is a flow chart of a radar detection angle control method according to an embodiment of the present application;

[0027] Figure 9 The second flowchart of the radar detection angle control method provided in the embodiment of the present application;

[0028] Figure 10 A schematic diagram of the terrain conditions corresponding to the operation route provided in the application embodiment;

[0029] Figure 11 for Figure 9 A schematic flow chart of a sub-step included in step S120;

[0030] Figure 12 for Figure 9 A schematic flow chart of another sub-step included in step S120;

[0031] Figure 13 The third flowchart of the radar detection angle control method provided in the embodiment of the present application;

[0032] Figure 14 for Figure 13 Schematic diagram of the flow of sub-steps included in step S210;

[0033] Figure 15 for Figure 13 Schematic diagram of the flow of sub-steps included in step S230;

[0034] Figure 16 Flowchart 4 of the radar detection angle control method provided in an embodiment of the present application;

[0035] Figure 17 for Figure 16 Schematic diagram of the flow of sub-steps included in step S330;

[0036] Figure 18 for Figure 17 A schematic flow chart of the sub-steps included in sub-step S331;

[0037] Figure 19 A schematic diagram of the radar detection angle control effect provided in an embodiment of the present application;

[0038] Figure 20 This is a block diagram of a radar detection angle control device according to an embodiment of the present application;

[0039] Figure 21 The second block diagram of the radar detection angle control device provided in an embodiment of the present application;

[0040] Figure 22 A block diagram of a terrain-simulating flight control device provided in an embodiment of the present application.

[0041] Icon: 10-radar; 11-motor; 12-axis; 13-radar board; 100-electronic equipment; 110-memory; 120-processor; 130-communication unit; 200-radar detection angle control device; 201-information calculation module; 210-information acquisition module; 220-control module; 300-terrain-imitation flight control device; 310-flight control module. DETAILED DESCRIPTION

[0042] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0043] Please refer to Figure 1 , Figure 1 Schematic diagram of the structure of radar 10. Figure 1 As shown in a in FIG, the side view of the radar 10 is as shown in FIG. Figure 1 As shown in b in FIG. 1 . The radar 10 may be a swing radar, which may include a motor 11, a shaft 12, and a radar board 13. One end of the shaft 12 is connected to the motor 11, and the other end is connected to the radar board 13, so that the radar board 13 can be driven to reciprocate around the shaft 12. Optionally, the range of the reciprocating motion may be ±60°, but is not limited thereto. For millimeter-wave radars, the radar detection angle is the angle between the ray perpendicular to the radar board surface and the horizontal line (i.e. Figure 1 The detection angle can be adjusted by the above-mentioned motor 11.

[0044] Alternatively, in another embodiment, Figure 1The radar 10 shown is equipped with a pan-tilt system, which can be used to drive the entire radar 10 to rotate or swing, thereby adjusting the radar's detection angle or increasing the adjustment range of the radar's detection angle. Alternatively, the pan-tilt system can be omitted. Figure 1 The motor 11 in the radar 10 shown directly uses the pan-tilt platform to drive the entire radar 10 to rotate or swing, thereby adjusting the detection angle of the radar.

[0045] Please refer to Figure 2 , Figure 2 Schematic diagram of the installation of the radar 10. In this embodiment, the radar 10 can be installed on a drone to detect whether there are obstacles in the direction of the drone and the location of the obstacles so that the drone can avoid the obstacles.

[0046] Please refer to Figure 3 , Figure 3 Figure 1 is a schematic diagram of radar waves. The radar waves emitted by a radar are composed of a main lobe in the middle and side lobes on both sides. Both the main lobe and the side lobes can detect objects.

[0047] Please refer to Figure 4 , Figure 4 This is a diagram showing the lack of vertical resolution of radar waves. When radar lacks vertical resolution, it will consider all detected objects to be in the horizontal direction. Figure 4 As shown in the figure, the actual position of the object is where the light-colored small circle is, but the radar regards them as objects in the horizontal direction and thinks that the object is where the dark-colored small circle is.

[0048] When the radar lacks vertical resolution, it will mistake a small hill in front of it as an obstacle if it is in a scene with large terrain undulations, such as a mountainous scene. Figure 5 As shown in the image above, the radar detects the actual position of the ground as the light-colored circle, but the radar interprets it as horizontal, marked with a darker circle. This indicates that the radar identifies the raised ground as an obstacle. Therefore, to ensure flight safety, the aircraft initiates obstacle avoidance, which results in unnecessary obstacle avoidance. Furthermore, due to the mountainous terrain, obstacle avoidance may not be possible.

[0049] Moreover, due to the improper setting of the radar detection angle, the radar cannot detect obstacles in the forward direction from a safe distance in scenes with large undulating terrain (such as terraced fields and mountains). Figure 6 As shown, the radar cannot detect the tree protruding from the hillside from a safe distance.

[0050] To address the above situation, embodiments of the present application provide a radar detection angle control method, a terrain-simulating flight control method, and related devices. When executing an operational route, the radar detection angle is controlled based on the terrain undulations corresponding to the operational route and / or the target's distance to the ground, thereby reducing unnecessary obstacle avoidance and facilitating the detection of obstacles in the forward direction. The distance to the ground can be understood as the flight altitude of the drone when executing the operational route.

[0051] Please refer to Figure 7 , Figure 7 This is a schematic diagram of an electronic device 100 provided in an embodiment of the present application. The radar detection angle and terrain-simulating flight control methods and apparatus provided in an embodiment of the present application can be applied to the electronic device 100. In some embodiments, the electronic device 100 can be a drone. In some embodiments, the electronic device 100 can also be a device that communicates with the drone and is used to control the drone, such as a remote control, smartphone, or personal computer (PC).

[0052] The electronic device 100 includes a memory 110, a processor 120, and a communication unit 130. The memory 110, processor 120, and communication unit 130 are electrically connected to each other directly or indirectly to enable data transmission or exchange. For example, these components can be electrically connected to each other via one or more communication buses or signal lines.

[0053] The memory 110 is used to store programs or data and can be, but is not limited to, a solid state drive (SSD), a hard disk drive (HDD), a read-only memory (ROM), or the like.

[0054] The processor 120 is used to read / write data or programs stored in the memory 110 and execute corresponding functions. The processor 120 can process information and / or data related to the radar detection angle control method and the terrain-simulating flight control method provided in the embodiments of the present application to execute one or more functions described in the present application. For example, the processor 120 can obtain preset angle description information of the operating route and control the radar detection angle according to the preset angle description information during the execution of the operating route to reduce unnecessary obstacle avoidance.

[0055] The communication unit 130 is used to establish a communication connection between the electronic device 100 and other communication terminals through a network, and to send and receive data through the network.

[0056] It should be understood that Figure 7The structure shown is only a schematic diagram of the structure of the electronic device 100. The electronic device 100 may also include Figure 7 More or fewer components than shown, or with Figure 7 Different configurations shown. Figure 7 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0057] Please refer to Figure 8 , Figure 8 This is a flow chart of a radar detection angle control method provided in an embodiment of the present application. The method can be applied to a drone or a control device for controlling a drone. The specific flow of the radar detection angle control method is described in detail below. In this embodiment, the method may include steps S130 and S140.

[0058] Step S130: obtaining preset angle description information of the operation route.

[0059] In this embodiment, the operating route can be an unfinished route, which can be determined based on actual needs. The drone or control device can pre-generate the preset angle description information for the operating route before executing the operating route. Alternatively, the drone or control device can obtain the preset angle description information for the operating route from another device before executing the operating route. This eliminates the need for real-time calculations during drone flight.

[0060] The drone, control device, or other device may also generate the preset angle description information of the operation route when executing the operation route. That is, the preset angle description information may be obtained by performing real-time calculations during flight.

[0061] Among them, the preset angle description information is used to indicate the target detection angle that the radar needs to follow at each position of the operating route. The target detection angle that each position needs to follow is determined according to the terrain undulation corresponding to the operating route and / or the preset target ground distance. Optionally, the target detection angle corresponding to any position on the operating route is determined by the terrain undulation of the arbitrary position and the positions within a certain range from the position on the operating route. The specific value of the certain range can be determined in combination with actual needs. The target ground distance is a pre-planned flight altitude used when executing the operating route. The flight altitude is the ground distance of the drone.

[0062] Step S140: When executing the operation route, controlling the detection angle of the radar according to the preset angle description information.

[0063] In this embodiment, when the UAV executes the operating route, the target detection angle that the radar needs to follow can be determined based on the real-time position of the UAV during flight and the preset angle description information, and the motor and / or gimbal can be controlled to make the radar follow the target detection angle.

[0064] In this way, when executing an operating route, the radar detection angle is controlled according to the terrain conditions corresponding to the operating route and / or the target's distance to the ground, so as to reduce unnecessary obstacle avoidance behavior and facilitate the detection of obstacles in the direction of travel.

[0065] Optionally, in one embodiment, the target detection angle that each position on the operation route needs to follow is determined according to the terrain undulations corresponding to the operation route. Figure 9 , Figure 9 This is a second flow chart of the radar detection angle control method provided in an embodiment of the present application. In this embodiment, before step S130, the method may further include steps S110 and S120.

[0066] Step S110: obtaining a terrain elevation map of the target flight area corresponding to the operation route.

[0067] In this embodiment, the target flight area can be determined based on the operating route. The target flight area may include the area corresponding to the operating route when projected onto the ground. When generating the preset angle description information, a terrain elevation map of the target flight area may be obtained. The terrain elevation map may include the altitude of each ground location within the target flight area. For example, the terrain elevation map may utilize a two-dimensional grid data structure, with each grid recording the altitude of the ground in that area.

[0068] Alternatively, a terrain elevation map of the target flight area can be obtained from other pre-generated terrain elevation maps within the target flight area. This allows for rapid acquisition of a terrain elevation map of the target flight area. Alternatively, surveying and mapping data for the target flight area can be obtained, and the terrain elevation map can be constructed based on the surveying and mapping data.

[0069] Step S120 , calculating the terrain change gradient corresponding to the operation route based on the terrain elevation map and the operation route, so as to obtain and save the preset angle description information.

[0070] When the terrain elevation map is obtained, the terrain conditions corresponding to the operation route can be obtained in combination with the operation route, and then the preset angle description information can be obtained based on the terrain change gradient corresponding to the terrain conditions. Subsequently, when executing the operation route, the radar detection angle can be adjusted based on the terrain change gradient.

[0071] like Figure 10 As shown in the figure, for a certain section of the drone's route from left to right, the ground altitude of the area where the route passes can be found from the terrain elevation map, and then the gradient direction of the altitude can be calculated to obtain the target detection angle corresponding to each position of the route. Figure 10 The thin lines in the figure represent the terrain conditions of the area through which the route passes, and the thick lines represent the gradient direction of the altitude of the area through which the route passes.

[0072] Alternatively, as a possible implementation, Figure 11 The preset angle description information is obtained in the manner shown, and the preset angle description information may include the target detection angle corresponding to each position. In this way, the target detection angle can be directly obtained when performing angle following.

[0073] Please refer to Figure 11 , Figure 11 for Figure 9 Schematic diagram of a flow chart of a sub-step included in step S120. In this embodiment, step S120 may include sub-steps S121 to S123.

[0074] Sub-step S121 , obtaining the ground height of each position of the operation route according to the terrain elevation map and the operation route.

[0075] Sub-step S122, calculating the gradient direction of the height of each position according to the ground height of each position.

[0076] Sub-step S123 , calculating the angle of the gradient direction of each position according to the gradient direction of the height of each position, and saving the angle of the gradient direction of each position as the target detection angle corresponding to each position.

[0077] In this embodiment, the ground height (ie, ground altitude) of each position on the operation route can be obtained from the terrain elevation map, and then the gradient direction of the height of each position can be calculated based on the ground height of each position.

[0078] Optionally, the gradient direction of each sub-route of the operating route can be calculated through fitting, thereby obtaining the gradient direction of the altitude at each location. The gradient direction at each location on any sub-route is the same, that is, the angle of the gradient direction at each location on any sub-route is the same. This ensures that the target detection angle used for a route remains consistent, avoiding frequent adjustments to the radar's detection angle.

[0079] like Figure 10As shown, according to the terrain elevation map and the operation route, the terrain conditions of the operation route can be obtained. Figure 10 As shown by the thin curve in . The ground height corresponding to each position on the operation route can be sampled and then fitted into a broken line segment. Figure 10 As shown, the operation route is divided into N sub-routes, and the gradient direction angles of each position on each sub-route are the same. Figure 10 Each thick broken line in the figure represents the gradient direction of the ground height of a sub-route.

[0080] When the gradient direction of the height of each position is calculated, the angle of the gradient direction of each position can be calculated based on the gradient direction, and the angle of the gradient direction of each position can be saved as the target detection angle corresponding to each position, thereby obtaining the preset angle description information.

[0081] For example, Figure 10 As shown, each thick line segment represents a gradient direction. The first thick line segment from left to right represents the gradient direction G1. Here, G1 = ΔH1 / ΔL1, where ΔH1 represents the vertical distance of the first thick line segment (i.e., vertical distance), and ΔL1 represents the horizontal distance of the first thick line segment (i.e., horizontal distance). The angle of the gradient direction G1 is: a1 = arctan(G1).

[0082] Alternatively, as another possible implementation, Figure 12 The preset angle description information is obtained in the manner shown, and the preset angle description information may include the gradient direction of the height corresponding to each position. In this way, the preset angle description information can be obtained quickly.

[0083] Please refer to Figure 12 , Figure 12 for Figure 9 1 is a flow chart of another sub-step included in step S120. In this embodiment, step S120 may include sub-step S125 and sub-step S126.

[0084] Sub-step S125 , obtaining the ground height of each position of the operation route according to the terrain elevation map and the operation route.

[0085] Sub-step S126, calculating the gradient direction of the height of each position according to the ground height of each position, and saving it as the preset angle description information.

[0086] In this embodiment, the ground height (i.e., the ground elevation) of each location on the operating route can be obtained from the terrain elevation map, and then the gradient direction of the altitude at each location can be calculated based on the ground height at each location. Optionally, the gradient direction of each sub-route of the operating route can be obtained by fitting, thereby obtaining the gradient direction of the altitude at each location.

[0087] When the altitude gradient direction of each location is obtained, each location and the altitude gradient direction at that location can be stored as the preset angle description information. The angle of the altitude gradient direction at each location is the target detection angle corresponding to that location. During flight, based on the altitude gradient direction at a certain location, the altitude gradient direction angle at that location can be calculated to serve as the target detection angle that the radar needs to follow at that location.

[0088] Optionally, in another embodiment, the target detection angle that each position on the operating route needs to follow is determined according to the preset target-to-ground distance corresponding to the operating route. The preset target-to-ground distance corresponding to the operating route includes the target-to-ground distance corresponding to each position on the operating route. Figure 13 , Figure 13 This is a third flow chart of the radar detection angle control method provided in an embodiment of the present application. In this embodiment, before step S130, the method may further include steps 210 to 230.

[0089] Step 210: Obtain target angles corresponding to different ground distance intervals.

[0090] In this embodiment, multiple different ground distance intervals can be pre-set, and target angles corresponding to each ground distance interval can be set. Optionally, within any two ground distance intervals, the target angle corresponding to the higher ground distance interval can be smaller than the target angle corresponding to the lower ground distance interval. This facilitates radar focus on obstacles in the forward direction and reduces the possibility of misidentifying the ground as an obstacle.

[0091] Alternatively, as a possible implementation, Figure 14 The method shown above can be used to obtain the target angle corresponding to different ground distance intervals. Figure 14 , Figure 14 for Figure 13 Schematic diagram of the flow of sub-steps included in step S210. In this embodiment, step S210 may include sub-steps S211 and S212.

[0092] Sub-step S211: obtaining a first angle corresponding to a first preset distance to the ground and a second angle corresponding to a second preset distance to the ground.

[0093] In this embodiment, a first preset distance to the ground and a second preset distance to the ground may be set first, and a first angle corresponding to the first preset distance to the ground and a second angle corresponding to the second preset distance to the ground may be set.

[0094] The first preset ground distance corresponds to a first angle, and the second preset ground distance corresponds to a second angle, indicating that when the drone's target ground distance is the first preset ground distance or the second preset ground distance, the detection angle of the drone's radar is expected to be the angle corresponding to the drone's target ground distance. For example, the first preset ground distance corresponds to a first angle, indicating that when the drone's target ground distance is the first preset ground distance, the radar's detection angle is expected to be the first angle.

[0095] Optionally, the first angle corresponding to the first preset distance to the ground and the second angle corresponding to the second preset distance to the ground can be manually set by the staff based on experience, or can be automatically generated by the electronic device 100 based on corresponding rules, which can be determined in combination with actual needs.

[0096] The first preset ground distance is less than the second preset ground distance, and the first angle is greater than the second angle. Thus, when the drone's ground distance is low, the radar's detection angle can be raised so that the radar's detection range does not include the ground. When the drone's ground distance increases, the radar's detection angle can be adjusted back to its original angle, allowing the radar to detect obstacles at a greater distance.

[0097] Optionally, a first angle corresponding to the first preset ground distance and a second angle corresponding to the second preset ground distance may be set based on the standard vertical detection range of the radar to reduce the occurrence of situations such as misidentification of obstacles or failure to detect obstacles outside the safe distance due to inappropriate setting of the radar detection angle. The standard vertical detection range is used to represent the vertical detection range of the radar when the radar's detection angle is parallel to the horizontal line, that is, the radar detection angle is 0°. Optionally, the standard vertical detection range can be: Ltanα, where L represents the maximum detection range of the radar main lobe and α represents the vertical detection angle, which is the maximum angle between the radar's detection range in the vertical direction and the horizontal plane.

[0098] If the radar detection angle is 0°, when the drone's distance to the ground is less than the standard vertical detection angle, the radar's detection range includes the ground, meaning the radar will detect the ground. If the first preset distance to the ground is less than the standard vertical detection distance, and the second preset distance to the ground is greater than or equal to the standard vertical detection distance, the radar will not detect the ground when the drone is at the first preset distance and the radar's detection angle is the first angle. That is, when the drone's distance to the ground is large, the radar's upward tilt angle is small, focusing on obstacles ahead; when the drone's distance to the ground is small, the radar's upward tilt angle is large.

[0099] In some embodiments, an angle can be directly calculated based on the first preset ground distance and the standard vertical detection distance of the radar. When the radar's detection angle is this angle and the drone's ground distance is the first preset ground distance, the radar's detection range does not include the ground, that is, the radar will not detect the ground. After calculating this angle, this angle can be used as the first angle corresponding to the first preset ground distance. Since the second preset ground distance is not less than the standard vertical detection, the radar generally will not detect the ground. Therefore, the second angle corresponding to the second preset ground distance can be arbitrarily set. In this way, the first angle and the second angle can be set according to the standard vertical detection distance and the ground distance.

[0100] Sub-step S212: dividing the preset distance interval into a plurality of ground distance intervals, and setting a target angle corresponding to each ground distance interval according to the first angle and the second angle.

[0101] The preset distance interval is determined based on the first preset ground distance and the second preset ground distance. The preset distance interval includes the first preset ground distance and the second preset ground distance. Optionally, the first preset ground distance may be a maximum value of the preset distance interval, and the second preset ground distance may be a minimum value of the preset distance interval.

[0102] Once the preset distance interval is determined, the preset distance interval can be divided into multiple ground distance intervals. The specific number of the multiple ground distance intervals can be determined based on actual conditions, for example, 10 ground distance intervals. Target angles corresponding to each of the multiple ground distance intervals can also be set based on the first angle and the second angle.

[0103] Optionally, as a possible implementation method, the preset distance interval can be evenly divided, and the target angle corresponding to each ground distance interval can be set at the same interval. In this way, it is convenient to gradually adjust the detection angle of the radar as the ground distance gradually increases.

[0104] The following is an example to illustrate the process of interval division and setting the target angle.

[0105] Assume that the first angle is b° and the second angle is 0°. Assuming that the first preset ground distance H1 is small, the radar detection angle is raised by b° and adjusted to b° (i.e., the first angle) so that the radar's detection range does not include the ground. The specific value of b° can be calculated based on the radar's first preset ground distance H2 and the standard vertical detection distance. When the ground distance gradually increases to the second preset ground distance H2, the radar's detection angle can be gradually adjusted back to 0° (i.e., the second angle) to align with the aircraft's forward direction, allowing the radar to detect obstacles at a greater distance.

[0106] Based on the first preset ground distance H1 and the second preset ground distance H2, a preset distance interval [H1, H2] is determined. The preset distance interval [H1, H2] can be evenly divided into n ground distance intervals: {[H1, H1+1*Δh), [H1+1*Δh, A+2*Δh), …, [H1+(n-1)*Δh, H2]}. The radar detection angle is within the angle range [0, b] and is adjusted with a resolution R, thus: {0, 0+R, 0+2*R, 0+3*R, …, 0+(n-1)*R, 0+b}. Thus, [H1, H1+1*Δh) corresponds to (0+b), [H1+1*Δh, H1+2*Δh) corresponds to 0+(n-1)*R, …, [H1+(n-1)*Δh, H2] corresponds to 0.

[0107] Step 220: Select multiple locations to be analyzed from the operation route.

[0108] In this embodiment, all locations on the operating route can be selected as locations to be analyzed, some locations on the operating route can be randomly selected as locations to be analyzed, or locations to be analyzed can be selected from the locations included in the operating route at a certain sampling interval. It will be understood that the above is merely an example, and other methods can also be used to select locations to be analyzed.

[0109] Step 230 : For each position to be analyzed, based on the target-to-ground distance of the position to be analyzed and the target angles corresponding to the different ground distance intervals, the target angle corresponding to one of the ground distance intervals is used as the target detection angle of the position to be analyzed.

[0110] When a position to be analyzed is selected, the target detection angle for each position to be analyzed can be determined by combining each position to be analyzed, the target-to-ground distance of each position to be analyzed, and the target angles corresponding to the different ground distance intervals. The target detection angle for each position to be analyzed is the target angle corresponding to one of the different ground distance intervals.

[0111] Optionally, the preset angle description information may include target detection angles corresponding to multiple locations to be analyzed. The target detection angles of the remaining locations on the operating route, excluding the location to be analyzed, may be determined based on the target detection angles of the locations to be analyzed that are adjacent to the remaining locations. For example, in an operating route, a movement may be made from location to be analyzed D1 to location to be analyzed D2, where D1 and D2 are two adjacent locations to be analyzed on the operating route. The target detection angles of the locations between location to be analyzed D1 and location to be analyzed D2 may be set to the target detection angle of location to be analyzed D1.

[0112] Optionally, for each position to be analyzed, the ground distance interval within which the target-to-ground distance of the position to be analyzed falls can be determined based on the target-to-ground distance of the position to be analyzed and pre-set different ground distance intervals. The target angle corresponding to the ground distance interval within which the target-to-ground distance of the position to be analyzed falls can then be used as the target detection angle for the position to be analyzed. In this way, the target detection angle for each position to be analyzed can be obtained.

[0113] Optionally, you can also pass Figure 15 The target detection angle of each position to be analyzed is obtained in the manner shown, so as to further avoid disturbance to the radar detection angle. Figure 15 , Figure 15 for Figure 13 Schematic diagram of the flow of sub-steps included in step S230. In this embodiment, step S230 may include sub-steps S231 to S234.

[0114] Sub-step S231 , obtaining a first target-to-ground distance of the analysis position and a second target-to-ground distance of the previous position to be analyzed.

[0115] A first target-to-ground distance for the position to be analyzed and a second target-to-ground distance for the previous position to be analyzed can be obtained from the preset target-to-ground distances corresponding to the operating route. The first target-to-ground distance is the target-to-ground distance for the position to be analyzed, and the second target-to-ground distance is the target-to-ground distance for the previous position to be analyzed, determined based on the heading of the operating route.

[0116] For example, if positions D1, D2, and D3 are to be analyzed, sorted from the starting point to the end point of the operation route, then when analyzing the target detection angle of position D2, the target-to-ground distance of position D2 can be used as the first target-to-ground distance of the position to be analyzed, and the previous position D1 of position D2 can be used as the previous position to be analyzed, and the target-to-ground distance of position D1 can be used as the second target-to-ground distance of the previous position to be analyzed. Similarly, when analyzing the target detection angle of position D3, the target-to-ground distance of position D3 can be used as the first target-to-ground distance of the position to be analyzed, and the target-to-ground distance of position D2 can be used as the second target-to-ground distance of the previous position to be analyzed.

[0117] Sub-step S232: calculating a distance difference based on the first target-to-ground distance and the second target-to-ground distance.

[0118] After obtaining the first target-to-ground distance and the second target-to-ground distance, the two target-to-ground distances may be subtracted to obtain the distance difference. A determination may be made as to whether the distance difference is greater than a preset distance difference. Furthermore, based on the different ground distance intervals, a determination may be made as to whether the first target-to-ground distance and the second target-to-ground distance are within different ground distance intervals.

[0119] The preset distance difference is greater than 0, and its specific value can be set based on actual needs. For example, when different ground distance intervals are obtained by evenly dividing the distances, the preset distance difference can be set to the size Δh of the ground distance interval. In other words, the preset distance difference is the difference between the maximum and minimum values of the ground distance interval. Of course, it will be understood that the above is merely an example, and other methods can also be used to set the specific value of the preset distance difference.

[0120] In sub-step S233, when the distance difference is greater than the preset distance difference and the first target-to-ground distance and the second target-to-ground distance are in different ground distance intervals, the target angle corresponding to the ground distance interval in which the first target-to-ground distance is located is used as the target detection angle of the position to be analyzed.

[0121] In sub-step S234, when the distance difference is not greater than the preset distance difference and / or the first target-to-ground distance and the second target-to-ground distance are in the same ground distance interval, the target detection angle of the previous position to be analyzed is used as the target detection angle of the position to be analyzed.

[0122] If the distance difference is greater than a preset distance difference and the first target-to-ground distance and the second target-to-ground distance are in different ground distance intervals, it can be determined that the position to be analyzed does not use the target detection angle of the previous position to be analyzed as its own target detection angle. In this case, the ground distance interval in which the first target-to-ground distance falls can be determined based on the first target-to-ground distance and the different ground distance intervals, and the target angle corresponding to the ground distance interval in which the first target-to-ground distance falls can be used as the target detection angle for the position to be analyzed.

[0123] Otherwise, that is, if the distance difference is not greater than the preset distance difference and / or the first target-to-ground distance and the second target-to-ground distance are in the same ground distance interval, the target detection angle of the previous position to be analyzed can be used as the target detection angle of the position to be analyzed.

[0124] In this way, even if the ground distance jumps at the boundary of the ground distance interval, the radar detection angle will not be disturbed.

[0125] For example, if the target-to-ground distances between two adjacent locations to be analyzed fluctuate due to certain factors, adjusting the radar detection angle directly based on the target-to-ground distances will disrupt the radar detection angle. However, with the above-described configuration of this embodiment, a target detection angle different from the target detection angle of the previous location to be analyzed will be set for the current location to be analyzed only when the distance difference between the first target-to-ground distance h1 and the second target-to-ground distance h2 is greater than a preset distance difference Δh, and the first target-to-ground distance h1 and the second target-to-ground distances h1 and h2 belong to different ground distance intervals. Otherwise, the target detection angle is directly set to the previous location to be analyzed. This prevents fluctuations in the target-to-ground distance from causing disturbances in the radar detection angle.

[0126] Optionally, in another embodiment, the target detection angle that each position on the operating route needs to follow is determined according to the terrain undulation corresponding to the operating route and the preset target-to-ground distance. The preset target-to-ground distance corresponding to the operating route includes the target-to-ground distance corresponding to each position on the operating route. Figure 16 , Figure 16 This is a fourth flow chart of the radar detection angle control method provided in an embodiment of the present application. In this embodiment, before step S130, the method may further include steps S310 to S340.

[0127] Step S310: Obtain a terrain elevation map of the target flight area corresponding to the operation route.

[0128] The terrain elevation map includes the altitude of each ground position within the target flight area.

[0129] Step S320 , calculating the terrain change gradient corresponding to the operation route based on the terrain elevation map and the operation route.

[0130] The terrain gradient corresponding to the operating route includes gradient direction information corresponding to each position on the operating route. This gradient direction information indicates the gradient direction or the angle of the gradient direction, and can be either the gradient direction or the angle of the gradient direction. The specific information can be set based on actual needs. For detailed instructions on obtaining the terrain gradient of the operating route, please refer to the above description of steps S110 and S120 and will not be repeated here.

[0131] Step S330 : obtaining target angles corresponding to different gradient direction information and different ground distance intervals.

[0132] The different gradient direction information includes gradient direction information corresponding to each position on the operating route. For example, the operating route includes a total of four positions, and the corresponding gradient direction information is, in order: gradient direction information 1 (corresponding to 10°), gradient direction information 2 (15°), gradient direction information 3 (corresponding to 20°), and gradient direction information 3 (corresponding to 20°). Gradient direction information 1, gradient direction information 2, and gradient direction information 3 respectively represent different gradient directions. The different gradient direction information may include gradient direction information 1, gradient direction information 2, and gradient direction information 3.

[0133] The target angles corresponding to different gradient direction information and different ground distance intervals indicate that a combination of one gradient direction information and one ground distance interval corresponds to one target angle. For example, based on the above example regarding gradient direction information, assuming there are two ground distance intervals, the target angles corresponding to different gradient direction information and different ground distance intervals can be expressed as follows: gradient direction information 1 and one ground distance interval correspond to one target angle, gradient direction information 1 and another ground distance interval correspond to one target angle, gradient direction information 2 and one ground distance interval correspond to one target angle, gradient direction information 3 and another ground distance interval correspond to one target angle, and so on.

[0134] Optionally, for each gradient direction information item in the different gradient direction information, a target angle corresponding to each ground distance interval in that gradient direction information may be set; or for each ground distance interval in the different ground distance intervals, a target angle corresponding to each ground distance interval in that ground distance interval may be set. The specific setting method may be determined based on actual needs.

[0135] Alternatively, as a possible implementation, Figure 17The method shown above can be used to obtain different gradient direction information and target angles corresponding to different ground distance intervals. Figure 17 , Figure 17 for Figure 16 Schematic diagram of the flow of sub-steps included in step S330. In this embodiment, step S330 may include sub-steps S331 and S332.

[0136] Sub-step S331 : for each gradient direction information in the different gradient direction information, obtain a third angle corresponding to the first preset distance to the ground and a fourth angle corresponding to the second preset distance to the ground under the gradient direction information.

[0137] A first preset ground distance and a second preset ground distance may be set, and the following processing may be performed for each gradient direction information in the different gradient direction information: for each gradient direction information, a third angle corresponding to the first preset ground distance and a fourth angle corresponding to the second preset ground distance are obtained under the gradient direction information.

[0138] Here, under this gradient direction information, the first preset ground distance corresponds to the third angle, and the second preset ground distance corresponds to the fourth angle, indicating that when the gradient direction information at the drone's location is this gradient direction information and the target ground distance is the first preset ground distance or the second preset ground distance, the detection angle of the drone's radar is expected to be the angle corresponding to the drone's target ground distance and gradient direction information. For example, under this gradient direction information, the first preset ground distance corresponds to the third angle, indicating that when the gradient direction information at the drone's location is this gradient direction information and the target ground distance is the first preset ground distance, the radar detection angle is expected to be the third angle.

[0139] Optionally, under the gradient direction information, the third angle corresponding to the first preset distance to the ground and the fourth angle corresponding to the second preset distance to the ground can be manually set by the staff based on experience, or can be automatically generated by the electronic device 100 based on corresponding rules, which can be determined in combination with actual needs.

[0140] The first preset ground distance is smaller than the second preset ground distance, and the third angle is larger than the fourth angle. Thus, when the drone's ground distance is low, the radar's detection angle can be raised so that the radar's detection range does not include the ground. When the drone's ground distance increases, the radar's detection angle can be adjusted back to its original angle, allowing the radar to detect obstacles at a greater distance.

[0141] Optionally, based on this gradient direction information and in combination with the radar's standard vertical detection range, a third angle corresponding to the first preset ground distance and a fourth angle corresponding to the second preset ground distance can be set. For an explanation of the standard vertical detection range, please refer to the above description and will not be repeated here.

[0142] Please refer to Figure 18 , Figure 18 for Figure 17 Flowchart of sub-steps included in sub-step S331. In this embodiment, sub-step S331 may include sub-steps S3311 to S3312.

[0143] Sub-step S3311, calculating the third angle according to the gradient direction information, the first preset ground distance and the standard vertical detection range of the radar.

[0144] Wherein, the first preset ground distance is less than the standard vertical detection distance, and the second preset ground distance is greater than or equal to the standard vertical detection distance. When the gradient direction information corresponding to the drone's location is the currently targeted gradient direction information, the target ground distance corresponding to that location is the first preset ground distance, and the radar's detection angle is the third angle, the radar fails to detect the ground. That is, when the drone's ground distance is large, the radar's upward tilt angle is small, focusing on the obstacle ahead; when the drone's ground distance is small, the radar's upward tilt angle is large.

[0145] In some embodiments, an angle can be calculated directly based on the first preset ground distance and the standard vertical detection distance of the radar. When the radar's detection angle is this angle and the drone's ground distance is the first preset ground distance, the radar's detection range does not include the ground, that is, the radar will not detect the ground. This angle can be used as the third initial angle. Then, the third initial angle and the angle of the gradient direction represented by the gradient direction information can be summed, and the result of the calculation can be used as the third angle. That is, the third angle is the sum of the third initial angle and the angle of the gradient direction represented by the currently targeted gradient direction information.

[0146] Sub-step S3312: calculating the fourth angle according to the gradient direction information, the second preset ground distance and the standard vertical detection distance.

[0147] Similarly, the fourth initial angle can be directly calculated based on the second preset ground distance and the standard vertical detection distance of the radar, and then the fourth initial angle and the angle of the gradient direction represented by the currently targeted gradient direction information are summed to obtain the fourth angle. That is, the fourth angle is the sum of the fourth initial angle and the angle of the gradient direction represented by the currently targeted gradient direction information. Among them, since the second preset ground distance is not less than the standard vertical detection distance, the detection will generally not detect the ground, so the fourth initial angle can be set to 0, and the angle of the gradient direction represented by the currently targeted gradient direction information can be used as the fourth angle. In this way, under the currently targeted gradient direction information, when the target ground distance of the drone is the second preset ground distance, it can be as follows Figure 13 As shown, the detection angle of the radar is controlled to follow the angle of the gradient direction of the terrain (that is, the radar detection angle is close to the angle of the gradient direction).

[0148] Sub-step S332: dividing the preset distance interval into a plurality of ground distance intervals, and setting a target angle corresponding to each ground distance interval according to the third angle and the fourth angle.

[0149] The preset distance interval is determined based on the first preset ground distance and the second preset ground distance. The preset distance interval includes the first preset ground distance and the second preset ground distance. Optionally, the first preset ground distance may be a maximum value of the preset distance interval, and the second preset ground distance may be a minimum value of the preset distance interval.

[0150] When the preset distance interval is determined, the preset distance interval can be divided into multiple ground distance intervals. The specific number of the multiple ground distance intervals can be determined based on actual conditions, for example, it can be divided into 10 ground distance intervals. The target angles corresponding to each of the multiple ground distance intervals can also be set according to the third angle and the fourth angle under the currently targeted gradient direction information. In this way, the target angles corresponding to different ground distance intervals under the current gradient direction information can be obtained. By analogy, the target angles corresponding to different gradient direction information and different ground distance intervals can be obtained, that is, the target angles corresponding to each ground distance interval under different gradient direction information can be obtained.

[0151] Optionally, as a possible implementation method, the preset distance interval can be evenly divided, and the target angle corresponding to each ground distance interval can be set at the same interval. In this way, it is convenient to gradually adjust the detection angle of the radar when the flight altitude gradually increases under the same gradient direction information.

[0152] The following is an example to illustrate the process of interval division and setting the target angle.

[0153] Assumptions Figure 10 The gradient direction represented by the first broken line in is G1, and the angle of the gradient direction G1 is: a1=arctan(G1).

[0154] For the sub-route corresponding to the first broken line, the gradient direction G1 has an angle of a1°. Assuming the first preset ground distance H1 is small, the radar detection angle can be raised by b°, adjusting to (a1 + b)°, so that the radar's detection range does not include the ground. The specific value of b° can be calculated based on the radar's first preset ground distance H1 and the standard vertical detection range. As the ground distance gradually increases to the second preset ground distance H2, the radar's detection angle can be gradually adjusted back to a1°, aligning it with the aircraft's heading, enabling the radar to detect obstacles at greater distances.

[0155] Based on the first preset ground distance H1 and the second preset ground distance H2, a preset distance interval [H1, H2] is determined. The preset distance interval [H1, H2] can be evenly divided into n ground distance intervals: {[H1, H1+1*Δh), [H1+1*Δh, A+2*Δh), …, [H1+(n-1)*Δh, H2]}. The radar detection angle is within the angle range [a1, a1+b] and is adjusted with a resolution R, thus: {a1, a1+R, a1+2*R, a1+3*R, …, a1+(n-1)*R, a1+b}. In this way, under the gradient direction G1 of the first sub-route, [H1, H1+1*Δh) corresponds to (a1+b), [H1+1*Δh, H1+2*Δh) corresponds to a1+(n-1)*R, ..., [H1+(n-1)*Δh, H2] corresponds to a1.

[0156] Step S340 , obtaining the preset angle description information according to the target angles corresponding to the different gradient direction information and different ground distance intervals, and the target ground distance and gradient direction information corresponding to each position in the operation route.

[0157] When target angles corresponding to different gradient direction information and different ground distance intervals are obtained, for each position in the operating route, the target angle corresponding to a certain gradient direction information and a certain ground distance interval can be used as the target detection angle for that position based on the target ground distance and gradient direction information corresponding to that position.

[0158] Optionally, the gradient direction information is the target-to-ground distance corresponding to the position, and the ground distance interval is the ground distance interval within which the target-to-ground distance of the position falls. In this way, by comparing and searching, the target detection angles at each position on the operating route can be obtained, thereby obtaining the preset angle description information.

[0159] Alternatively, as described above, the target detection angle at the current position may be determined by combining whether the distance difference between the target-to-ground distances at adjacent positions is greater than a preset distance difference. In this embodiment, multiple positions to be analyzed may be selected from the operating route, and the following process may be performed for each position to be analyzed.

[0160] Obtain a first target-to-ground distance for the position to be analyzed and a second target-to-ground distance for the previous position to be analyzed. The first target-to-ground distance is the target-to-ground distance for the position to be analyzed, and the second target-to-ground distance is the target-to-ground distance for the previous position to be analyzed, determined based on the heading of the operating route. Calculate a distance difference based on the first target-to-ground distance and the second target-to-ground distance.

[0161] When the distance difference is greater than the preset distance difference and the first target-to-ground distance and the second target-to-ground distance are in different ground distance intervals, the target angle corresponding to the ground distance interval in which the first target-to-ground distance is located is used as the target detection angle of the position to be analyzed.

[0162] When the distance difference is not greater than the preset distance difference and / or the first target-to-ground distance and the second target-to-ground distance are in the same ground distance interval, the target detection angle of the previous position to be analyzed is used as the target detection angle of the position to be analyzed.

[0163] The preset angle description information includes the target detection angles corresponding to each of the multiple locations to be analyzed. The target detection angles for the remaining locations on the operating route, excluding the location to be analyzed, can be determined based on the target detection angles of the locations to be analyzed that are adjacent to the remaining locations. The principles of this method are the same as those of steps S220 and S230 above. For detailed descriptions, please refer to the above description and will not be repeated here.

[0164] Upon obtaining the preset angle description information for the operating route, when the drone executes the operating route, the target detection angle corresponding to the current position of the drone can be determined based on the preset angle description information, and the radar detection angle can be adjusted in real time to complete tracking of the target detection angle. Optionally, the difference between the adjusted detection angle and the target detection angle corresponding to the current position is less than a preset value. The preset value can be set based on actual needs. In this way, the radar detection angle can be adjusted based on the target detection angle within a certain error range, facilitating adjustment operations while ensuring the adjustment effect.

[0165] Optionally, at a certain position, the detection angle of the radar after adjustment may be the same as the target detection angle. Figure 19 As shown, the slanted solid line near the slope represents the altitude gradient corresponding to a particular route segment. When determining target detection angles based on the terrain's undulations, the radar's adjusted detection angle during this route segment can be adjusted to reflect the altitude gradient. After this adjustment, the radar's main lobe can detect trees protruding from the slope in the direction of travel, from a sufficient safe distance.

[0166] Optionally, at a certain position, the detection angle of the radar after adjustment may be greater than or less than the target detection angle corresponding to the position, and the specific setting may be based on actual needs.

[0167] The present application also provides a method for controlling terrain-simulating flight. During terrain-simulating flight based on an operational route, the radar detection angle can be controlled using the aforementioned radar detection angle control method. Terrain-simulating flight refers to the drone maintaining a fixed distance from the ground and following the terrain's undulations. In scenes with significant terrain undulations (e.g., terraced fields and mountain orchards), drones typically employ terrain-simulating flight to ensure flight safety.

[0168] In this embodiment, during terrain-simulating flight, the radar detection angle is adjusted according to the terrain undulations corresponding to the operating route and the corresponding target-ground distance. This allows the radar to detect obstacles in the direction of the drone's advance at a sufficient safety distance in scenes with large terrain undulations (for example, terraced fields and mountainous areas). At the same time, the radar can avoid misidentifying raised ground ahead as an obstacle, thereby ensuring the normal and efficient operation of the drone.

[0169] In order to execute the corresponding steps in the above embodiments and various possible methods, a radar detection angle control device 200 is provided below. Figure 20 , Figure 20 This is a block diagram of a radar detection angle control device 200 provided in an embodiment of the present application. It should be noted that the basic principles and technical effects of the radar detection angle control device 200 provided in this embodiment are the same as those of the above-mentioned embodiments. For the sake of brevity, any details not mentioned in this embodiment are referred to the corresponding contents of the above-mentioned embodiments. The radar detection angle control device 200 may include: an information acquisition module 210 and a control module 220.

[0170] The information acquisition module 210 is configured to obtain preset angle description information for the operating route. The preset angle description information indicates the target detection angle that the radar needs to follow at each location on the operating route. The target detection angle at each location is determined based on the terrain corresponding to the operating route and / or a preset target-to-ground distance.

[0171] The control module 220 is configured to control the detection angle of the radar according to the preset angle description information when executing the operation route.

[0172] Please refer to Figure 21 , Figure 21 This is a second block diagram of the radar detection angle control device 200 provided in an embodiment of the present application. In this embodiment, the radar detection angle control device 200 may further include an information calculation module 201. The information calculation module 201 is configured to calculate and obtain the preset angle description information.

[0173] Please refer to Figure 22 , Figure 22 This is a block diagram of a terrain-simulating flight control device 300 provided in an embodiment of the present application. It should be noted that the radar detection angle control device 200 provided in this embodiment can be described in detail in the corresponding embodiments above. The terrain-simulating flight control device 300 may include a flight control module 310. The flight control module 310 is configured to control the radar detection angle via the radar detection angle control device 200 during terrain-simulating flight based on an operational route.

[0174] Optionally, the above modules can be stored in a memory in the form of software or firmware or fixed in the operating system (OS) of the electronic device provided in the embodiment of the present application, and can be executed by the processor 120 in the electronic device. At the same time, the data, program code, etc. required to execute the above modules can be stored in the memory.

[0175] An embodiment of the present application also provides a readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the radar detection angle control method or the terrain-simulating flight control method is implemented.

[0176] In summary, the embodiments of the present application provide a radar detection angle control method, a terrain-simulating flight control method, and related devices. These methods obtain preset angle description information indicating the target detection angle that the radar needs to follow at each position along an operating route. When executing the operating route, the radar detection angle is controlled based on this preset angle description information. The target detection angle that each position needs to follow is determined based on the terrain conditions corresponding to the operating route and / or the preset target-to-ground distance. In this way, by controlling the radar detection angle based on the terrain conditions corresponding to the operating route and / or the target-to-ground distance, the radar can be prevented from mistakenly identifying slopes as obstacles, thereby reducing unnecessary obstacle avoidance behaviors.

[0177] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A radar detection angle control method, characterized in that: The method comprises: Obtaining preset angle description information for an operating route, wherein the preset angle description information is used to indicate a target detection angle that the radar needs to follow at each position of the operating route, the target detection angle that each position needs to follow being determined based on the terrain undulation corresponding to the operating route and / or a preset target-to-ground distance; the target detection angle that each position needs to follow is an angle in a gradient direction of the altitude of each position, or a target angle determined from target angles corresponding to different ground distance intervals based on the target-to-ground distance corresponding to the operating route, or a target angle determined from target angles corresponding to different ground distance intervals under an angle in a gradient direction of the target-to-ground distance corresponding to the operating route, wherein the larger the distance corresponding to each ground distance interval, the smaller the corresponding target angle; When executing the operating route, the detection angle of the radar is controlled according to the preset angle description information.

2. The method according to claim 1, characterized in that The target detection angle that each position needs to follow is determined according to the terrain undulation corresponding to the operation route. Before obtaining the preset angle description information of the operation route, the method further includes: Obtaining a terrain elevation map of a target flight area corresponding to the operation route, wherein the terrain elevation map includes the altitude of each ground position; According to the terrain elevation map and the operation route, the terrain change gradient corresponding to the operation route is calculated to obtain and save the preset angle description information.

3. The method according to claim 2, characterized in that The preset angle description information includes the target detection angle corresponding to each position. The terrain change gradient corresponding to the operation route is calculated based on the terrain elevation map and the operation route to obtain and save the preset angle description information, including: Obtaining the ground height of each position of the operation route according to the terrain elevation map and the operation route; Calculating the gradient direction of the height of each position according to the ground height of each position; According to the gradient direction of the height of each position, the angle of the gradient direction of each position is calculated, and the angle of the gradient direction of each position is saved as the target detection angle corresponding to each position.

4. The method according to claim 2, characterized in that The preset angle description information includes the gradient direction of the height corresponding to each position. The terrain change gradient corresponding to the operation route is calculated based on the terrain elevation map and the operation route to obtain and save the preset angle description information, including: Obtaining the ground height of each position of the operation route according to the terrain elevation map and the operation route; According to the ground height of each position, the gradient direction of the height of each position is calculated and saved as the preset angle description information, wherein the angle of the gradient direction of the height of each position is the target detection angle corresponding to the position.

5. The method according to claim 3 or 4, characterized in that The step of calculating the gradient direction of the height of each position according to the ground height of each position includes: The gradient direction of each sub-route of the operation route is calculated according to the ground height of each position, wherein the gradient direction of each position on any sub-route is the same.

6. The method according to claim 3, characterized in that The obtaining of a terrain elevation map of a target flight area corresponding to the operation route includes: Acquiring surveying and mapping data of the target flight area; The terrain elevation map is constructed according to the surveying and mapping data.

7. The method according to claim 1, characterized in that The target detection angle that each position needs to follow is determined according to a preset target-to-ground distance corresponding to the operation route. Before obtaining the preset angle description information of the operation route, the method further includes: Obtain target angles corresponding to different ground distance intervals; selecting a plurality of locations to be analyzed from the operation route; For each position to be analyzed, based on the target-to-ground distance of the position to be analyzed and the target angles corresponding to the different ground distance intervals, the target angle corresponding to one of the ground distance intervals is used as the target detection angle of the position to be analyzed, wherein the preset angle description information includes the target detection angles corresponding to multiple positions to be analyzed.

8. The method according to claim 7, characterized in that The method of using the target angle corresponding to one of the ground distance intervals as the target detection angle of the position to be analyzed according to the target ground distance of the position to be analyzed and the target angles corresponding to the different ground distance intervals includes: Obtaining a first target-to-ground distance of the analysis position and a second target-to-ground distance of a previous position to be analyzed, wherein the first target-to-ground distance is the target-to-ground distance of the position to be analyzed, and the second target-to-ground distance is the target-to-ground distance of the previous position to be analyzed determined based on the heading of the operation route; Calculating a distance difference based on the first target-to-ground distance and the second target-to-ground distance; When the distance difference is greater than the preset distance difference and the first target-to-ground distance and the second target-to-ground distance are in different ground distance intervals, the target angle corresponding to the ground distance interval in which the first target-to-ground distance is located is used as the target detection angle of the position to be analyzed; When the distance difference is not greater than the preset distance difference and / or the first target-to-ground distance and the second target-to-ground distance are in the same ground distance interval, the target detection angle of the previous position to be analyzed is used as the target detection angle of the position to be analyzed.

9. The method according to claim 7, characterized in that Obtaining target angles corresponding to different ground distance intervals includes: Obtaining a first angle corresponding to a first preset distance to the ground and a second angle corresponding to a second preset distance to the ground, wherein the first preset distance to the ground is lower than the second preset distance to the ground, and the first angle is greater than the second angle; The preset distance interval is divided into a plurality of ground distance intervals, and a target angle corresponding to each ground distance interval is set according to the first angle and the second angle, wherein the preset distance interval includes the first preset ground distance and the second preset ground distance.

10. The method according to claim 9, characterized in that The obtaining of a first angle corresponding to a first preset distance to the ground and a second angle corresponding to a second preset distance to the ground includes: According to the standard vertical detection range of the radar, a first angle corresponding to the first preset distance to the ground and a second angle corresponding to the second preset distance to the ground are determined; wherein, the first preset distance to the ground is less than the standard vertical detection distance, and the second preset distance to the ground is greater than or equal to the standard vertical detection distance. When the UAV is at the first preset distance to the ground and the detection angle of the radar is the first angle, the radar does not detect the ground.

11. The method according to claim 1, wherein The target detection angle that each position needs to follow is determined based on the terrain undulation corresponding to the operation route and a preset target-to-ground distance. Before obtaining the preset angle description information of the operation route, the method further includes: Obtaining a terrain elevation map of a target flight area corresponding to the operation route, wherein the terrain elevation map includes the altitude of each ground position; Calculating a terrain change gradient corresponding to the operating route based on the terrain elevation map and the operating route, wherein the terrain change gradient corresponding to the operating route includes gradient direction information corresponding to each position on the operating route; Obtaining target angles corresponding to different gradient direction information and different ground distance intervals, wherein the different gradient direction information includes gradient direction information corresponding to each position on the operation route; The preset angle description information is obtained according to the target angles corresponding to the different gradient direction information and different ground distance intervals, and the target ground distance and gradient direction information corresponding to each position in the operation route.

12. The method according to claim 11, characterized in that The obtaining of target angles corresponding to different gradient direction information and different ground distance intervals includes: For each piece of gradient direction information in the different gradient direction information, obtaining a third angle corresponding to a first preset distance to the ground and a fourth angle corresponding to a second preset distance to the ground under the gradient direction information, wherein the first preset distance to the ground is lower than the second preset distance to the ground, and the third angle is greater than the fourth angle; The preset distance interval is divided into a plurality of ground distance intervals, and a target angle corresponding to each ground distance interval is set according to the third angle and the fourth angle, wherein the preset distance interval includes the first preset ground distance and the second preset ground distance.

13. The method according to claim 12, characterized in that The obtaining of a third angle corresponding to the first preset distance to the ground and a fourth angle corresponding to the second preset distance to the ground under the gradient direction information includes: The third angle is calculated based on the gradient direction information, the first preset ground distance, and the standard vertical detection range of the radar; wherein the first preset ground distance is less than the standard vertical detection range, and the second preset ground distance is greater than or equal to the standard vertical detection range; under the gradient direction information, when the UAV is at the first preset ground distance and the detection angle of the radar is the third angle, the radar does not detect the ground; The fourth angle is calculated based on the gradient direction information, the second preset ground distance and the standard vertical detection distance.

14. The method according to claim 13, characterized in that The fourth angle is an angle of the gradient direction represented by the gradient direction information, and the third angle is calculated according to the gradient direction information, the first preset ground distance, and the standard vertical detection range of the radar, including: Calculating a third initial angle according to the first preset ground distance and the standard vertical detection distance; The sum of the third initial angle and the angle of the gradient direction indicated by the gradient direction information is calculated to obtain the third angle.

15. A method for controlling a ground-based flight, characterized in that: The method comprises: During the process of performing terrain simulation flight based on the operating route, the radar detection angle is controlled by the method according to any one of claims 1 to 14.

16. A radar detection angle control device, characterized in that: The device comprises: an information acquisition module for obtaining preset angle description information of an operating route, wherein the preset angle description information is used to indicate a target detection angle that the radar needs to follow at each position of the operating route, and the target detection angle that each position needs to follow is determined based on the terrain undulation corresponding to the operating route and / or a preset target-to-ground distance; the target detection angle that each position needs to follow is an angle in a gradient direction of the altitude of each position, or a target angle determined from target angles corresponding to different ground distance intervals based on the target-to-ground distance corresponding to the operating route, or a target angle determined from target angles corresponding to different ground distance intervals under an angle in a gradient direction of the target-to-ground distance corresponding to the operating route, wherein the larger the distance corresponding to each ground distance interval, the smaller the corresponding target angle; A control module is used to control the detection angle of the radar according to the preset angle description information when executing the operating route.

17. A ground-simulating flight control device, characterized in that: The device comprises: The flight control module is used to control the radar detection angle through the radar detection angle control device according to claim 16 during the process of performing terrain simulation flight based on the operating route.

18. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores machine-executable instructions that can be executed by the processor, and the processor can execute the machine-executable instructions to implement the method according to any one of claims 1 to 15.

19. A readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 15 is implemented.

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