Route planning method and device of unmanned aerial vehicle, unmanned aerial vehicle and storage medium

Abstract

The application discloses a kind of unmanned vehicle's route planning method, device, unmanned vehicle and storage medium, the method includes: determining the boundary of target aerial survey area;Determine the minimum circumscribed rectangle corresponding to the boundary of target aerial survey area;According to the minimum circumscribed rectangle and the boundary of target aerial survey area, the route of the unmanned vehicle is generated.The method can optimize the unmanned aerial vehicle survey method of small watershed of soil and water conservation by determining the minimum circumscribed rectangle of the boundary of target aerial survey area and generating the route of the unmanned vehicle in combination with the boundary of target aerial survey area, can cover small watershed of soil and water conservation all at once, make the number of unmanned aerial vehicle turning and heading along the aerial survey direction minimum, save the flight energy and aerial survey time of unmanned aerial vehicle, simultaneously avoid the invalid aerial survey data generated due to repeated aerial survey or missing of unmanned aerial vehicle, effectively reduce the data volume of aerial survey, reduce the processing difficulty of aerial survey data, shorten the data processing time.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a flight path planning method and device for unmanned aerial vehicles, an unmanned aerial vehicle and a storage medium. BACKGROUND

[0002] With the continuous development of measurement technology, unmanned aerial vehicles are increasingly widely used in soil and water conservation monitoring and supervision. In the process of unmanned aerial vehicle photogrammetry in a small watershed of soil and water conservation, the existing related technology generates a surveying and mapping flight path according to the user's selection or drawing of a region on a terminal device, and then the user drags or adds region points on the map to obtain a specific region position that the user wants to collect and photograph. Then, a surveying and mapping flight path is generated according to the relevant parameters (flight path interval, flight path angle, lateral overlap rate, etc.) set by the user. However, this method has the problems of missing measurement or repeated photogrammetry, and the amount of photogrammetry data obtained is large, resulting in complex data processing. Therefore, it is necessary to propose a flight path planning method for unmanned aerial vehicles to avoid the generation of invalid photogrammetry data due to repeated photogrammetry or missing measurement, reduce the amount of photogrammetry data, and improve the data processing efficiency. SUMMARY

[0003] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the purpose of the present application is to propose a flight path planning method and device for unmanned aerial vehicles, an unmanned aerial vehicle and a storage medium.

[0004] The flight path planning method for unmanned aerial vehicles proposed by the present application comprises the following steps:

[0005] determining the boundary of a target photogrammetry region;

[0006] determining a minimum circumscribed rectangle corresponding to the boundary of the target photogrammetry region;

[0007] generating a flight path for the unmanned aerial vehicle according to the minimum circumscribed rectangle and the boundary of the target photogrammetry region.

[0008] In addition, the flight path planning method for unmanned aerial vehicles according to the embodiments of the present application can also have the following additional technical features:

[0009] Further, generating a flight path for the unmanned aerial vehicle according to the minimum circumscribed rectangle and the boundary of the target photogrammetry region comprises the following steps:

[0010] determining a center point of the minimum circumscribed rectangle and a plurality of first intersection points between the minimum circumscribed rectangle and the boundary of the target photogrammetry region;

[0011] determining a starting point, an ending point and a flight path progression direction of the unmanned aerial vehicle photogrammetry according to the center point and the plurality of first intersection points;

[0012] calculating a flight path interval;

[0013] generate the flight path of the unmanned aerial vehicle according to the starting point, the flight path progressive direction and the flight path interval.

[0014] Further, the starting point, the ending point and the flight path progressive direction of the unmanned aerial vehicle aerial survey are determined according to the center point and the plurality of first intersection points, comprising:

[0015] a plurality of distance values corresponding to the plurality of first intersection points to the center point are calculated respectively, a line direction of a first intersection point corresponding to a maximum value in the plurality of distance values and a first intersection point corresponding to a second maximum value is taken as the flight path progressive direction, a first intersection point corresponding to a second minimum value in the plurality of distance values is taken as the starting point of the unmanned aerial vehicle aerial survey, and a first intersection point corresponding to a minimum value in the plurality of distance values is taken as the ending point of the unmanned aerial vehicle aerial survey.

[0016] Further, the center point of the minimum circumscribed rectangle is determined, comprising:

[0017] an intersection point of two diagonal lines of the minimum circumscribed rectangle is determined as the center point.

[0018] Further, the flight path interval is calculated, comprising:

[0019] d=a*r*(1-m%)

[0020] wherein, d is the flight path interval, a is a pixel number of a side length of a single aerial photograph of the unmanned aerial vehicle aerial survey perpendicular to the heading, m is a lateral overlap degree, and r is a surveying resolution.

[0021] Further, the flight path of the unmanned aerial vehicle is generated according to the starting point, the flight path progressive direction and the flight path interval, comprising:

[0022] a plurality of first sub-flight paths are arranged between the starting point and the ending point in a direction parallel to the flight path progressive direction, wherein a distance between two adjacent first sub-flight paths is the flight path interval;

[0023] a second sub-flight path is arranged between the two adjacent first sub-flight paths;

[0024] a plurality of the first sub-flight paths and the second sub-flight path are connected in sequence with the starting point as a starting position, to obtain the flight path of the unmanned aerial vehicle.

[0025] Further, the second sub-flight path is arranged between the two adjacent first sub-flight paths, comprising:

[0026] two second intersection points of a latter first sub-flight path in the two adjacent first sub-flight paths and a boundary of the target aerial surveying region are obtained;

[0027] an intersection point of the two second intersection points in the same direction as a flight path progressive direction corresponding to an earlier first sub-flight path in the two adjacent first sub-flight paths is taken as a first target intersection point.

[0028] determining whether the perpendicular line segment between the first target intersection point and the previous first sub-flight line is located within the boundary of the target aerial survey area; if yes, obtaining two third intersection points between the previous first sub-flight line of the adjacent two first sub-flight lines and the boundary of the target aerial survey area, and taking the intersection point in the same direction as the flight direction as the second target intersection point, and taking the perpendicular line segment between the second target intersection point and the next first sub-flight line of the adjacent two first sub-flight lines as the second sub-flight line, otherwise, taking the perpendicular line segment between the first target intersection point and the previous first sub-flight line as the second sub-flight line.

[0029] The aerial route planning method of the unmanned aerial vehicle according to the embodiment of the present application can optimize the unmanned aerial vehicle aerial survey method of the small watershed of soil and water conservation, cover the small watershed of soil and water conservation at one time, minimize the number of turns and U-turns of the unmanned aerial vehicle in the aerial survey direction, save the flight energy and aerial survey time of the unmanned aerial vehicle, avoid invalid aerial survey data caused by repeated aerial survey or missed survey of the unmanned aerial vehicle, effectively reduce the data amount of the aerial survey, and reduce the processing difficulty of the aerial survey data and the data processing time.

[0030] In view of the above problems, the present application further provides an aerial route planning device of an unmanned aerial vehicle, which comprises:

[0031] a first determination module configured to determine the boundary of the target aerial survey area;

[0032] a second determination module configured to determine the minimum circumscribed rectangle corresponding to the boundary of the target aerial survey area;

[0033] a generation module configured to generate the aerial route of the unmanned aerial vehicle according to the minimum circumscribed rectangle and the boundary of the target aerial survey area.

[0034] The aerial route planning device of the unmanned aerial vehicle according to the embodiment of the present application can optimize the unmanned aerial vehicle aerial survey method of the small watershed of soil and water conservation, cover the small watershed of soil and water conservation at one time, minimize the number of turns and U-turns of the unmanned aerial vehicle in the aerial survey direction, save the flight energy and aerial survey time of the unmanned aerial vehicle, avoid invalid aerial survey data caused by repeated aerial survey or missed survey of the unmanned aerial vehicle, effectively reduce the data amount of the aerial survey, and reduce the processing difficulty of the aerial survey data and the data processing time.

[0035] In view of the above problems, the present application further provides an unmanned aerial vehicle, which comprises:

[0036] The route planning device of the unmanned aerial vehicle as described in the above embodiment; or

[0037] The processor, the memory, and the route planning program of the unmanned aerial vehicle stored on the memory and executable on the processor, the route planning program of the unmanned aerial vehicle, when executed by the processor, implements the route planning method of the unmanned aerial vehicle as described in any of the above embodiments.

[0038] According to the unmanned aerial vehicle of the embodiment of the present application, by determining the minimum circumscribed rectangle of the boundary of the target aerial survey area, and generating the route of the unmanned aerial vehicle in combination with the boundary of the target aerial survey area, the unmanned aerial vehicle aerial survey method of the small watershed of soil and water conservation can be optimized, the small watershed of soil and water conservation can be covered all at once, the number of times of turning and heading of the unmanned aerial vehicle along the aerial survey direction is minimized, the flight energy and the aerial survey time of the unmanned aerial vehicle are saved, invalid aerial survey data caused by repeated aerial survey or missed survey of the unmanned aerial vehicle is avoided, the data amount of the aerial survey is effectively reduced, the processing difficulty of the aerial survey data is reduced, and the data processing time is shortened.

[0039] In view of the above problems, the present application further provides a computer storage medium, and the computer readable storage medium stores a route planning program of an unmanned aerial vehicle, and the route planning program of the unmanned aerial vehicle, when executed by a processor, implements the route planning method of the unmanned aerial vehicle as described in any of the above embodiments.

[0040] According to the computer storage medium of the embodiment of the present application, the route planning program of the unmanned aerial vehicle stored on the computer storage medium, when executed by a processor, by determining the minimum circumscribed rectangle of the boundary of the target aerial survey area, and generating the route of the unmanned aerial vehicle in combination with the boundary of the target aerial survey area, the unmanned aerial vehicle aerial survey method of the small watershed of soil and water conservation can be optimized, the small watershed of soil and water conservation can be covered all at once, the number of times of turning and heading of the unmanned aerial vehicle along the aerial survey direction is minimized, the flight energy and the aerial survey time of the unmanned aerial vehicle are saved, invalid aerial survey data caused by repeated aerial survey or missed survey of the unmanned aerial vehicle is avoided, the data amount of the aerial survey is effectively reduced, the processing difficulty of the aerial survey data is reduced, and the data processing time is shortened.

[0041] Additional aspects and advantages of the present application will be made apparent from the following description of the embodiments of the present application, which is given by way of example only. BRIEF DESCRIPTION OF DRAWINGS

[0042] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description of the embodiments, given by way of example only, with reference to the following drawings, in which:

[0043] Figure 1 is a flowchart of a route planning method of an unmanned aerial vehicle according to an embodiment of the present application;

[0044] Figure 2is a structural schematic diagram of route planning of a UAV according to an embodiment of the present application;

[0045] Figure 3 is a structural schematic diagram of a route planning device of a UAV according to an embodiment of the present application. DETAILED DESCRIPTION

[0046] Embodiments of the present application are described in detail below, and the embodiments described with reference to the accompanying drawings are exemplary, and embodiments of the present application are described in detail below.

[0047] The following describes Figures 1-3 A route planning method, device, UAV and storage medium of a UAV according to an embodiment of the present application are described.

[0048] Figure 1 is a flowchart of a route planning method of a UAV according to an embodiment of the present application. As shown in Figure 1 A route planning method of a UAV includes the following steps:

[0049] Step S1: determining a boundary of a target aerial survey area.

[0050] Step S2: determining a minimum circumscribed rectangle corresponding to the boundary of the target aerial survey area.

[0051] Step S3: generating a route of a UAV according to the minimum circumscribed rectangle and the boundary of the target aerial survey area.

[0052] Specifically, embodiments of the present application can optimize a UAV aerial survey method for a small watershed of soil and water conservation by determining a minimum circumscribed rectangle of a boundary of a target aerial survey area and generating a route of a UAV in combination with the boundary of the target aerial survey area, can cover the small watershed of soil and water conservation all at once, minimizes the number of turns and U-turns of the UAV along the aerial survey direction, saves flight energy and aerial survey time of the UAV, avoids invalid aerial survey data caused by repeated aerial survey or missed survey of the UAV, effectively reduces the amount of data of the aerial survey, and reduces the processing difficulty of the aerial survey data and the time of data processing.

[0053] In an embodiment of the present application, generating a route of a UAV according to the minimum circumscribed rectangle and the boundary of the target aerial survey area includes: determining a center point of the minimum circumscribed rectangle and a plurality of first intersection points of the minimum circumscribed rectangle and the boundary of the target aerial survey area; determining a starting point, an ending point and a route progression direction of the UAV aerial survey according to the center point and the plurality of first intersection points; calculating a route interval; and generating a route of the UAV according to the starting point, the route progression direction and the route interval.

[0054] Figure 2 is a structural schematic diagram of route planning of a UAV according to an embodiment of the present application.

[0055] In a specific embodiment, such as Figure 2 As shown, the center point of the minimum bounding rectangle MNPQ is O, and the multiple first intersection points of the minimum bounding rectangle MNPQ with the boundary of the target aerial survey area are C1, C2, C3, and C4, respectively. Then, the starting point, ending point, and flight path direction of the UAV aerial survey can be determined based on the center point O and the multiple first intersection points C1, C2, C3, and C4; the flight path spacing is calculated; and the flight path of the UAV is generated based on the starting point, the flight path direction, and the flight path spacing.

[0056] In one embodiment of the present invention, determining the starting point, ending point, and route progression direction of the UAV aerial survey based on the center point and multiple first intersection points includes: calculating multiple distance values ​​from the multiple first intersection points to the center point respectively; taking the direction of the line connecting the first intersection point corresponding to the maximum value and the second largest value among the multiple distance values ​​as the route progression direction; taking the first intersection point corresponding to the second smallest value among the multiple distance values ​​as the starting point of the UAV aerial survey; and taking the first intersection point corresponding to the minimum value among the multiple distance values ​​as the ending point of the UAV aerial survey.

[0057] In a specific embodiment, such as Figure 2 As shown, multiple distance values ​​d1, d2, d3, and d4 from multiple first intersection points C1, C2, C3, and C4 to the center point O are calculated respectively. The direction of the line connecting the first intersection point C2 corresponding to the maximum value of the multiple distance values ​​d1, d2, d3, and d4, such as the first intersection point C2 corresponding to the second largest value d4, is taken as the direction of the flight path progression. The first intersection point C3 corresponding to the second smallest value d3 among the multiple distance values ​​d1, d2, d3, and d4 is taken as the starting point of the UAV aerial survey, and the first intersection point C1 corresponding to the minimum value among the multiple distance values, such as d1, is taken as the ending point of the UAV aerial survey. For example, assuming the minimum value among multiple distance values ​​is d2, the maximum value is d1, and the second largest value is d3, then the first intersection point C4 corresponding to distance value d4 is selected as the starting point of the UAV operation route, and the first intersection point C2 corresponding to distance value d2 is selected as the ending point of the UAV operation route. The direction of the line connecting points C1 and C3 is the direction of the route progression. Assuming the minimum value is d3, the maximum value is d2, and the second largest value is d4, then the first intersection point C1 corresponding to distance value d1 is selected as the starting point of the UAV operation route, and the first intersection point C3 corresponding to distance value d3 is selected as the ending point of the UAV operation route. The direction of the line connecting points C2 and C4 is the direction of the route progression. Assuming the minimum value is d4, the maximum value is d1, and the second largest value is d3, then the first intersection point C2 corresponding to distance value d2 is selected as the starting point of the UAV operation route, and the first intersection point C4 corresponding to distance value d4 is selected as the ending point of the UAV operation route. The direction of the line connecting points C1 and C3 is the direction of the route progression.

[0058] In one embodiment of the present invention, determining the center point of the smallest bounding rectangle includes: determining the intersection of the two diagonals of the smallest bounding rectangle as the center point. In a specific embodiment, such as... Figure 2 As shown, the intersection point O of the two diagonals of the minimum bounding rectangle MNPQ is determined as the center point of the minimum bounding rectangle.

[0059] In one embodiment of the present invention, calculating the route spacing includes:

[0060] d = a * r * (1 - m%)

[0061] Where d is the flight path spacing, a is the number of pixels perpendicular to the flight path side of a single UAV aerial photograph, m is the lateral overlap, and r is the aerial survey resolution.

[0062] In one embodiment of the present invention, generating a flight path for a UAV based on a starting point, a flight path progression direction, and a flight path spacing includes: laying out multiple first sub-flight paths between a starting point and a ending point along a direction parallel to the flight path progression direction, wherein the distance between two adjacent first sub-flight paths is the flight path spacing; laying out second sub-flight paths between two adjacent first sub-flight paths; and connecting the multiple first sub-flight paths and second sub-flight paths sequentially with the starting point as the starting position to obtain the flight path for the UAV.

[0063] In a specific embodiment, such as Figure 2 As shown, multiple first sub-routes, such as A, B, and C, are laid out between the starting point C3 and the ending point C1 along a direction parallel to the flight path progression C2-C4. The distance between two adjacent first sub-routes, such as A and B, is the route spacing d. Second sub-routes, such as D and E, are laid out between two adjacent first sub-routes. Then, starting from the starting point C3, multiple first and second sub-routes are connected sequentially to obtain the UAV's flight path. This optimizes the number of UAV aerial survey routes and the total length under the same soil and water conservation small watershed conditions, shortens the UAV aerial survey time, and achieves the effect of minimizing the amount of aerial survey data while ensuring the integrity of the UAV aerial survey results for the soil and water conservation small watershed. This reduces the difficulty of aerial survey data processing and shortens the aerial survey data processing time.

[0064] In one embodiment of the present invention, setting up a second sub-line between two adjacent first sub-lines includes: obtaining two second intersection points between the latter of the two adjacent first sub-lines and the boundary of the target aerial survey area; taking the intersection point of the two second intersection points that is in the same direction as the route progression direction corresponding to the former of the two adjacent first sub-lines as a first target intersection point; determining whether the perpendicular line segment between the first target intersection point and the former first sub-line is located within the boundary of the target aerial survey area; if so, obtaining two third intersection points between the former of the two adjacent first sub-lines and the boundary of the target aerial survey area, and setting the two third intersection points as... The intersection point in the same direction as the progression of the route is taken as the second target intersection point. The perpendicular segment between the second target intersection point and the latter of the two adjacent first sub-routes is taken as the second sub-routes. Otherwise, the perpendicular segment between the first target intersection point and the former first sub-routes is taken as the second sub-routes. This optimizes the number and total length of UAV aerial survey routes under the same soil and water conservation watershed conditions, shortens the UAV aerial survey time, and achieves the effect of minimizing the amount of aerial survey data while ensuring the integrity of the UAV aerial survey results for soil and water conservation watersheds. This reduces the difficulty of aerial survey data processing and shortens the processing time.

[0065] In a specific embodiment, such as Figure 2 As shown, for two adjacent first sub-paths A and B, the two second intersection points between the first sub-path A (i.e., the latter of the two adjacent first sub-paths A and B) and the boundary of the target aerial survey area are C5 and C6. The intersection point C5, which is in the same direction as the path progression of the first sub-path B (i.e., the former of the two adjacent first sub-paths A and B), is taken as the first target intersection point. The perpendicular segment C5C7 between the first target intersection point C5 and the previous first sub-path B is not within the boundary of the target aerial survey area, so the perpendicular segment between the first target intersection point C5 and the previous first sub-path B is taken as the second sub-path. Then, starting from the starting point C3, multiple first sub-paths and second sub-paths are connected sequentially to obtain the flight path of the UAV.

[0066] In a specific embodiment, such as Figure 2As shown, two adjacent first sub-routes C and D, the first sub-route C (i.e. the latter first sub-route in the two adjacent first sub-routes C and D) and the two second intersection points of the boundary of the target aerial survey area are C8 and C9, the intersection C8 corresponding to the first sub-route D (i.e. the former first sub-route in the two adjacent first sub-routes C and D) in the same direction of the progressive direction of the route as the first target intersection point, and the perpendicular segment C8C10 between the first target intersection point C8 and the former first sub-route D is within the boundary of the target aerial survey area, then two third intersection points C11 and C12 of the first sub-route D and the boundary of the target aerial survey area are obtained, and the intersection C11 in the same direction of the progressive direction of the route among the two third intersection points C11 and C12 is taken as the second target intersection point, and the perpendicular segment C11C13 between the second target intersection point C11 and the first sub-route C is taken as the second sub-route. Then, the multiple first sub-routes and second sub-routes are connected in turn with the starting point C3 as the starting position to obtain the route of the unmanned aerial vehicle.

[0067] The route planning method of the unmanned aerial vehicle according to the embodiment of the application can optimize the unmanned aerial vehicle survey method of the small watershed for soil and water conservation, can cover the small watershed for soil and water conservation at one time, can minimize the number of turns and U-turns of the unmanned aerial vehicle in the survey direction, can save the flight energy and survey time of the unmanned aerial vehicle, can avoid invalid survey data caused by repeated survey or missed survey of the unmanned aerial vehicle, can effectively reduce the data amount of the survey, and can reduce the processing difficulty of the survey data and shorten the data processing time.

[0068] A further embodiment of the application also discloses a route planning device of an unmanned aerial vehicle, Figure 2 is a structural schematic diagram of the route planning device of the unmanned aerial vehicle according to an embodiment of the application, as Figure 3 Figure 3 As shown, the device 100 comprises a first determination module 110, a second determination module 120 and a generation module 130.

[0069] The first determination module 110 is configured to determine the boundary of the target aerial survey area, the second determination module 120 is configured to determine the minimum circumscribed rectangle corresponding to the boundary of the target aerial survey area, and the generation module 130 is configured to generate the route of the unmanned aerial vehicle according to the minimum circumscribed rectangle and the boundary of the target aerial survey area.

[0070] In an embodiment of the application, the generation module 130 generates the route of the unmanned aerial vehicle according to the minimum circumscribed rectangle and the boundary of the target aerial survey area, comprising: determining the center point of the minimum circumscribed rectangle and multiple first intersection points of the minimum circumscribed rectangle and the boundary of the target aerial survey area; determining the starting point, the ending point and the progressive direction of the route of the unmanned aerial vehicle according to the center point and the multiple first intersection points; calculating the route interval; and generating the route of the unmanned aerial vehicle according to the starting point, the progressive direction of the route and the route interval.

[0071] In one embodiment of the present application, the generating module 130 determines the starting point, the ending point and the route progression direction of the UAV aerial survey according to the center point and the plurality of first intersection points, including: calculating a plurality of distance values corresponding to the plurality of first intersection points to the center point respectively, taking the line direction of the first intersection point corresponding to the maximum value in the plurality of distance values and the first intersection point corresponding to the second maximum value as the route progression direction, taking the first intersection point corresponding to the second minimum value in the plurality of distance values as the starting point of the UAV aerial survey, and taking the first intersection point corresponding to the minimum value in the plurality of distance values as the ending point of the UAV aerial survey.

[0072] In one embodiment of the present application, the center point of the minimum circumscribed rectangle is determined, including: determining the intersection point of the two diagonal lines of the minimum circumscribed rectangle as the center point.

[0073] In one embodiment of the present application, the route interval is calculated, including:

[0074] d = a * r * (1 - m%)

[0075] Wherein, d is the route interval, a is the number of pixels of the side length of the aerial photograph of the UAV aerial survey perpendicular to the heading, m is the lateral overlap, and r is the aerial survey resolution.

[0076] In one embodiment of the present application, the generating module 130 generates the route of the UAV according to the starting point, the route progression direction and the route interval, including: arranging a plurality of first sub-routes between the starting point and the ending point along the direction parallel to the route progression direction, wherein the distance between adjacent two first sub-routes is the route interval; arranging a second sub-route between adjacent two first sub-routes; and connecting the plurality of first sub-routes and the second sub-route in turn with the starting point as the starting position to obtain the route of the UAV.

[0077] In one embodiment of the present application, the generating module 130 arranges the second sub-route between adjacent two first sub-routes, including: obtaining two second intersection points of the latter first sub-route in the adjacent two first sub-routes and the boundary of the target aerial survey area; taking the intersection point of the two second intersection points corresponding to the same direction of the route progression direction of the former first sub-route in the adjacent two first sub-routes as the first target intersection point; judging whether the perpendicular line segment between the first target intersection point and the former first sub-route is located within the boundary of the target aerial survey area; if yes, obtaining two third intersection points of the former first sub-route in the adjacent two first sub-routes and the boundary of the target aerial survey area, and taking the intersection point of the two third intersection points corresponding to the same direction of the route progression direction as the second target intersection point, and taking the perpendicular line segment between the second target intersection point and the latter first sub-route in the adjacent two first sub-routes as the second sub-route, otherwise, taking the perpendicular line segment between the first target intersection point and the former first sub-route as the second sub-route.

[0078] It should be noted that the route planning device 100 of the unmanned aerial vehicle of the embodiment of the present application is similar to the specific implementation mode of the route planning method of the unmanned aerial vehicle of the embodiment of the present application when planning the route of the unmanned aerial vehicle, and the specific implementation mode is described in the method part. In order to reduce redundancy, it will not be described here.

[0079] According to the route planning device 100 of the unmanned aerial vehicle of the embodiment of the present application, by determining the minimum circumscribed rectangle of the boundary of the target aerial survey area, and combining the boundary of the target aerial survey area to generate the route of the unmanned aerial vehicle, the unmanned aerial vehicle aerial survey method of the small watershed of soil and water conservation can be optimized, the small watershed of soil and water conservation can be covered all at once, the number of turning and heading of the unmanned aerial vehicle along the aerial survey direction is minimized, the flight energy and aerial survey time of the unmanned aerial vehicle are saved, invalid aerial survey data caused by repeated aerial survey or missed survey of the unmanned aerial vehicle is avoided, the data amount of the aerial survey is effectively reduced, the processing difficulty of the aerial survey data is reduced, and the data processing time is shortened.

[0080] A further embodiment of the present application also discloses an unmanned aerial vehicle, comprising: the route planning device of the unmanned aerial vehicle according to any one of the above embodiments; or a processor, a memory, and a route planning program of the unmanned aerial vehicle stored on the memory and executable on the processor, the route planning program of the unmanned aerial vehicle is executed by the processor to realize the route planning method of the unmanned aerial vehicle according to any one of the above embodiments.

[0081] According to the route planning device 100 of the unmanned aerial vehicle of the embodiment of the present application, by determining the minimum circumscribed rectangle of the boundary of the target aerial survey area, and combining the boundary of the target aerial survey area to generate the route of the unmanned aerial vehicle, the unmanned aerial vehicle aerial survey method of the small watershed of soil and water conservation can be optimized, the small watershed of soil and water conservation can be covered all at once, the number of turning and heading of the unmanned aerial vehicle along the aerial survey direction is minimized, the flight energy and aerial survey time of the unmanned aerial vehicle are saved, invalid aerial survey data caused by repeated aerial survey or missed survey of the unmanned aerial vehicle is avoided, the data amount of the aerial survey is effectively reduced, the processing difficulty of the aerial survey data is reduced, and the data processing time is shortened.

[0082] A further embodiment of the present application also discloses a computer storage medium, the computer readable storage medium stores a route planning program of the unmanned aerial vehicle, the route planning program of the unmanned aerial vehicle is executed by the processor to realize the route planning method of the unmanned aerial vehicle according to any one of the above embodiments.

[0083] The computer storage medium according to the embodiment of the present application, which stores the route planning program of the unmanned aerial vehicle, when executed by the processor, can optimize the unmanned aerial vehicle surveying method of the small watershed of soil and water conservation, can cover the small watershed of soil and water conservation at one time, can minimize the number of turns and U-turns of the unmanned aerial vehicle, can save the flight energy and surveying time of the unmanned aerial vehicle, can avoid invalid surveying data caused by repeated surveying or missed surveying, can effectively reduce the data amount of the surveying, and can reduce the processing difficulty of the surveying data and shorten the data processing time.

[0084] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the exemplary description of the above terms does not necessarily mean the same embodiment or example.

[0085] Although the embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made thereto without departing from the principles and spirit of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A method for route planning of a UAV, the method comprising: The method comprises the following steps: determining the boundary of a target aerial survey area; determining a minimum circumscribed rectangle corresponding to the boundary of the target aerial survey area; determining a center point of the minimum circumscribed rectangle and a plurality of first intersection points between the minimum circumscribed rectangle and the boundary of the target aerial survey area; calculating a plurality of distance values corresponding to the plurality of first intersection points and the center point respectively, taking the direction of a line connecting a first intersection point corresponding to the maximum distance value and a first intersection point corresponding to the second maximum distance value as the flight direction of the aerial survey route, taking a first intersection point corresponding to the second minimum distance value as the starting point of the aerial survey route of the unmanned aerial vehicle, and taking a first intersection point corresponding to the minimum distance value as the ending point of the aerial survey route of the unmanned aerial vehicle; calculating the aerial survey route interval; generating the aerial survey route of the unmanned aerial vehicle according to the starting point, the flight direction and the aerial survey route interval. 2.The method of claim 1, wherein, The method further comprises the following steps: determining the center point of the minimum circumscribed rectangle comprises: 3.The method of claim 1 or 2, wherein, determining the intersection point of two diagonal lines of the minimum circumscribed rectangle as the center point. The method further comprises the following steps: 4.The method of claim 1, wherein, wherein d is the aerial survey route interval, a is the number of pixels of the side length of the aerial survey image perpendicular to the flight direction, m is the lateral overlap degree, and r is the aerial survey resolution. The method further comprises the following steps: generating the aerial survey route of the unmanned aerial vehicle according to the starting point, the flight direction and the aerial survey route interval comprises: arranging a plurality of first sub-routes between the starting point and the ending point in a direction parallel to the flight direction, wherein the distance between two adjacent first sub-routes is the aerial survey route interval; 5.The method of claim 4, wherein, arranging a second sub-route between two adjacent first sub-routes; connecting the plurality of first sub-routes and second sub-routes in sequence to obtain the aerial survey route of the unmanned aerial vehicle. The method further comprises the following steps: arranging a second sub-route between two adjacent first sub-routes comprises: 6.A route planning device of a UAV, characterized by, obtaining two second intersection points between the latter first sub-route of the two adjacent first sub-routes and the boundary of the target aerial survey area; taking the intersection point of the two second intersection points in the same direction as the flight direction of the former first sub-route of the two adjacent first sub-routes as a first target intersection point; judging whether the perpendicular line segment between the first target intersection point and the former first sub-route is located within the boundary of the target aerial survey area; if yes, obtaining two third intersection points between the former first sub-route of the two adjacent first sub-routes and the boundary of the target aerial survey area, taking the intersection point of the two third intersection points in the same direction as the flight direction as a second target intersection point, and taking the perpendicular line segment between the second target intersection point and the latter first sub-route of the two adjacent first sub-routes as the second sub-route; otherwise, taking the perpendicular line segment between the first target intersection point and the former first sub-route as the second sub-route. The method comprises the following steps: a first determining module configured to determine the boundary of a target aerial survey area; a second determining module configured to determine a minimum circumscribed rectangle corresponding to the boundary of the target aerial survey area; a generating module configured to determine a center point of the minimum circumscribed rectangle and a plurality of first intersection points between the minimum circumscribed rectangle and the boundary of the target aerial survey area; respectively calculate a plurality of distance values corresponding to a plurality of the first intersection points to the center point, take a line direction of a first intersection point corresponding to a maximum value in the plurality of distance values and a first intersection point corresponding to a second maximum value as a flight route progressive direction, take a first intersection point corresponding to a second minimum value in the plurality of distance values as a starting point of the unmanned aerial vehicle aerial survey, and take a first intersection point corresponding to a minimum value in the plurality of distance values as an end point of the unmanned aerial vehicle aerial survey; calculate a flight route interval; generate a flight route of the unmanned aerial vehicle according to the starting point, the flight route progressive direction and the flight route interval.

7. A drone, characterized in that, comprise: the flight route planning device of the unmanned aerial vehicle according to claim 6; or, a processor, a memory, and a flight route planning program of the unmanned aerial vehicle stored on the memory and executable on the processor, the flight route planning program of the unmanned aerial vehicle, when executed by the processor, implements the flight route planning method of the unmanned aerial vehicle according to any one of claims 1-5.

8. A computer storage medium, characterized in that the computer readable storage medium has stored thereon a flight route planning program of the unmanned aerial vehicle, the flight route planning program of the unmanned aerial vehicle, when executed by a processor, implements the flight route planning method of the unmanned aerial vehicle according to any one of claims 1-5.

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