UAV route generation method, device, equipment and computer-readable storage medium

Abstract

The present application provides a method, device, equipment and computer-readable storage medium for generating a route for a drone; the method in the present application includes: receiving a drone navigation instruction, obtaining a drone identification and navigation information associated with the navigation instruction; obtaining ground environment information between a starting address and a destination address in the navigation information, selecting navigation points according to the ground environment information, and aggregating the navigation points to form a navigation point set; obtaining performance parameters of a drone corresponding to the drone identification, and calculating the number of route plans according to the performance parameters and the navigation task volume and navigation task time in the navigation information; selecting a target navigation point from the navigation point set according to a preset route planning rule, and arranging the target navigation points to generate a target route corresponding to the number of route plans; the present application reasonably plans routes according to the navigation information and performance information of the drone, and effectively improves the transportation efficiency of the drone.

Description

Technical Field

[0001] The present application relates to the field of drone technology, and in particular to a drone route generation method, device, equipment and computer-readable storage medium. Background Art

[0002] With the rapid development of computer technology, drones are widely used in all aspects of people's lives; for example, drone cruising, drone spraying of pesticides, drone logistics transportation, etc.

[0003] Although drones have been widely used, the current drone routes have not been managed in a standardized manner. In other words, the current drone route planning methods are different, and the routes generated according to different planning methods are different, and the generated routes may not be consistent with the drone application scenarios. How to reasonably plan drone routes so that drone routes are consistent with drone application scenarios and improve drone transportation efficiency has become a technical problem that needs to be solved urgently. Summary of the invention

[0004] The present application provides a method, device, equipment and computer-readable storage medium for generating a drone route, aiming to solve the current technical problem that drone routes cannot be reasonably planned and the drone transportation efficiency is low.

[0005] On the one hand, the present application provides a method for generating a drone route, the method comprising the following steps:

[0006] Receiving a drone navigation instruction, and obtaining a drone identification and navigation information associated with the navigation instruction;

[0007] Acquire ground environment information between a starting address and a destination address in the navigation information, select navigation points according to the ground environment information, and aggregate the navigation points to form a navigation point set;

[0008] Acquire the performance parameters of the drone corresponding to the drone identifier, and calculate the number of route planning according to the performance parameters and the navigation task amount and navigation task time in the navigation information;

[0009] According to the preset route planning rules, target navigation points are selected from the navigation point set, and the target navigation points are arranged to generate a target route corresponding to the route planning quantity.

[0010] In some embodiments of the present application, the obtaining of ground environment information between a starting address and a destination address in the navigation information, selecting navigation points according to the ground environment information, and aggregating the navigation points to form a navigation point set includes:

[0011] Extracting the starting address and the destination address in the navigation information, and determining the navigation transportation area with the line segment between the starting address and the destination address as the center line segment;

[0012] Acquire ground environment information of the navigation transportation area, and select a flyable area from the navigation transportation area according to ground building information, ground human flow information, and ground natural resource information in the ground environment information;

[0013] With the start address as the starting point and the destination address as the end point, navigation points are selected in the flyable area, and the navigation points are aggregated to form a navigation point set.

[0014] In some embodiments of the present application, the obtaining of the performance parameters of the drone corresponding to the drone identifier, and calculating the number of route planning according to the performance parameters and the navigation task amount and navigation task time in the navigation information, includes:

[0015] Acquire the performance parameters of the drone corresponding to the drone identifier, and calculate the single transport time according to the flight speed in the performance parameters and the starting address and the destination address in the navigation information;

[0016] Calculate the number of single-machine transportation times according to the navigation mission time in the navigation information and the single transportation time;

[0017] Calculate the total transport volume of a single machine according to the load volume in the performance parameters and the number of transports of the single machine;

[0018] The number of route planning is calculated based on the navigation task volume in the navigation information and the total transportation volume of the single aircraft.

[0019] In some embodiments of the present application, selecting a target navigation point from the navigation point set according to a preset route planning rule, and arranging the target navigation point to generate a target route corresponding to the route planning quantity includes:

[0020] Selecting a target navigation point from the navigation point set according to a preset route planning rule and the drone turning angle, the drone climbing angle, and the drone diving angle in the performance parameters;

[0021] According to the spatial positions of the target navigation points, the target navigation points are arranged to generate target routes corresponding to the number of route planning.

[0022] In some embodiments of the present application, after receiving the drone navigation instruction and obtaining the drone identification and navigation information associated with the navigation instruction, the method includes:

[0023] Extracting the starting address and the destination address in the navigation information, and determining whether there is a planned route between the starting address and the destination address;

[0024] If there is a planned route between the starting address and the destination address, obtaining the performance parameters of the drone corresponding to the drone identifier, and selecting a target route from the planned routes according to the performance parameters and the navigation task amount and navigation task time in the navigation information;

[0025] If there is no planned route between the starting address and the destination address, the steps of obtaining ground environment information between the starting address and the destination address in the navigation information, selecting navigation points according to the ground environment information, and aggregating the navigation points to form a navigation point set are performed.

[0026] In some embodiments of the present application, if there is a planned route between the starting address and the destination address, obtaining the performance parameters of the drone corresponding to the drone identifier, and selecting the target route from the planned routes according to the performance parameters and the navigation task amount and navigation task time in the navigation information, includes:

[0027] If there is a planned route between the starting address and the destination address, obtaining environmental information of the planned route;

[0028] Determining the priority level of the planned route according to the environmental information of the planned route;

[0029] Acquire the performance parameters of the drone corresponding to the drone identifier, and calculate the number of route usage according to the performance parameters and the navigation task amount and navigation task time in the navigation information;

[0030] The planned routes are arranged from high to low according to priority, and a target route corresponding to the route usage quantity is selected from the planned routes.

[0031] In some embodiments of the present application, selecting a target navigation point from the navigation point set according to a preset route planning rule, and arranging the target navigation point to generate a target route corresponding to the route planning quantity includes:

[0032] Controlling the UAV to perform navigation tasks along the route and obtaining status information of the UAV;

[0033] Analyze the status information of the drone to obtain a flight risk coefficient of the drone, and if the flight risk coefficient of the drone is greater than a preset risk coefficient, adjust the route of the drone;

[0034] The accident rate of the route is counted, and if the accident rate of the route is higher than a preset threshold, each navigation point in the route is adjusted to generate a new route.

[0035] On the other hand, the present application provides a drone route generation device, the drone route generation device comprising:

[0036] A request receiving module, used to receive a drone navigation instruction and obtain a drone identification and navigation information associated with the navigation instruction;

[0037] an acquisition and aggregation module, used to acquire ground environment information between a starting address and a destination address in the navigation information, select navigation points according to the ground environment information, and aggregate the navigation points to form a navigation point set;

[0038] A quantity determination module is used to obtain the performance parameters of the drone corresponding to the drone identifier, and calculate the number of route planning according to the performance parameters and the navigation task amount and navigation task time in the navigation information;

[0039] The route generation module is used to select target navigation points from the navigation point set according to preset route planning rules, and arrange the target navigation points to generate a target route corresponding to the route planning quantity.

[0040] On the other hand, the present application also provides a drone route generation device, which includes: one or more processors; a memory; and one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor to implement the drone route generation method.

[0041] On the other hand, the present application also provides a computer-readable storage medium having a computer program stored thereon, and the computer program is loaded by a processor to execute the steps in the drone route generation method.

[0042] In the technical solution of the present application, a navigation instruction of a UAV is received, and the UAV identification and navigation information associated with the navigation instruction are obtained; the ground environment information between the starting address and the destination address in the navigation information is obtained, a navigation point is selected according to the ground environment information, and the navigation points are aggregated to form a navigation point set; the performance parameters of the UAV corresponding to the UAV identification are obtained, and the number of route planning is calculated according to the performance parameters and the navigation task volume and navigation task time in the navigation information; according to the preset route planning rules, a target navigation point is selected from the navigation point set, and the target navigation point is arranged to generate a target route corresponding to the number of route planning. In the technical solution of the present application, a navigation point set is determined according to the ground environment information, so as to reduce the impact of the ground environment on the flight of the UAV and ensure the safety of UAV transportation. Further, a navigation point is selected from the navigation point set according to the navigation information and performance parameters of the UAV to generate a target route; various factors are comprehensively considered during route planning, so that the target route planning is more reasonable, so that the operating route of the UAV is consistent with the navigation task scenario of the UAV, and finally the transportation efficiency of the UAV is improved, so as to achieve efficient logistics through the UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0044] Figure 1 This is a schematic diagram of a scenario for generating a drone route provided in an embodiment of the present application;

[0045] Figure 2 This is a schematic diagram of an embodiment of a method for generating a drone route provided in an embodiment of the present application;

[0046] Figure 3 It is a specific scenario schematic diagram of an embodiment of a preset route planning rule in the drone route generation method provided in the embodiment of the present application;

[0047] Figure 4 It is a schematic diagram of a specific scenario of an embodiment of UAV route generation in the UAV route generation method provided in the embodiments of the present application;

[0048] Figure 5 This is a schematic diagram of an embodiment of a method for generating a drone route provided in an embodiment of the present application;

[0049] Figure 6 This is a schematic diagram of an embodiment of a method for generating a drone route provided in an embodiment of the present application;

[0050] Figure 7 It is a schematic diagram of the structure of an embodiment of a UAV route generation device provided in an embodiment of the present application;

[0051] Figure 8 It is a schematic diagram of the structure of an embodiment of a UAV route generation device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of the present invention.

[0053] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0054] In this application, the word "exemplary" is used to mean "serving as an example, illustration, or illustration." Any embodiment described in this application as "exemplary" is not necessarily to be construed as being preferred or advantageous over other embodiments. The following description is given to enable any person skilled in the art to implement and use the invention. In the following description, details are listed for the purpose of explanation. It should be understood that a person of ordinary skill in the art can recognize that the invention can be implemented without using these specific details. In other instances, well-known structures and processes are not elaborated in detail to avoid obscuring the description of the invention with unnecessary details. Therefore, the present invention is not intended to be limited to the embodiments shown, but is consistent with the widest scope consistent with the principles and features disclosed in this application.

[0055] The embodiments of the present application provide a method, apparatus, device and computer-readable storage medium for generating a drone route, which are described in detail below.

[0056] The drone route generation method in the embodiment of the present invention is applied to a drone route generation device, and the drone route generation device is arranged in a drone route generation device. The drone route generation device is provided with one or more processors, memories, and one or more applications, wherein the one or more applications are stored in the memories and configured to be executed by the processor to implement the drone route generation method; the drone route generation device can be a terminal, such as a mobile phone or a tablet computer, and the drone route generation device can also be a server, or a service cluster composed of multiple servers.

[0057] like Figure 1 As shown, Figure 1 This is a schematic diagram of a scenario for generating a drone route in an embodiment of the present application. The drone route generation scenario in the embodiment of the present invention includes a drone route generation device 100 (a drone route generation apparatus is integrated in the drone route generation device 100), and a computer-readable storage medium corresponding to the drone route generation is run in the drone route generation device 100 to execute the steps of generating a drone route.

[0058] Understandably, Figure 1 The drone route generation device in the drone route generation scenario shown, or the devices included in the drone route generation device, does not constitute a limitation on the embodiments of the present invention. That is, the number of devices and types of devices included in the drone route generation scenario, or the number of devices and types of devices included in each device, do not affect the overall implementation of the technical solution in the embodiments of the present invention, and can all be regarded as equivalent replacements or derivatives of the technical solution claimed for protection in the embodiments of the present invention.

[0059] The drone route generation device 100 in the embodiment of the present invention is mainly used for:

[0060] Receiving a drone navigation instruction, and obtaining a drone identification and navigation information associated with the navigation instruction;

[0061] Acquire ground environment information between a starting address and a destination address in the navigation information, select navigation points according to the ground environment information, and aggregate the navigation points to form a navigation point set;

[0062] Acquire the performance parameters of the drone corresponding to the drone identifier, and calculate the number of route planning according to the performance parameters and the navigation task amount and navigation task time in the navigation information;

[0063] According to the preset route planning rules, target navigation points are selected from the navigation point set, and the target navigation points are arranged to generate a target route corresponding to the route planning quantity.

[0064] In the embodiment of the present invention, the drone route generation device 100 may be an independent drone route generation device, or a drone route generation device network or drone route generation device cluster composed of drone route generation devices. For example, the drone route generation device 100 described in the embodiment of the present invention includes but is not limited to a computer, a network host, a single network drone route generation device, a set of multiple network drone route generation devices, or a cloud drone route generation device composed of multiple drone route generation devices. The cloud drone route generation device is composed of a large number of computers or network drone route generation devices based on cloud computing (Cloud Computing).

[0065] Those skilled in the art will understand that Figure 1 The application environment shown in the figure is only one application scenario of the present application solution and does not constitute a limitation on the application scenario of the present application solution. Other application environments may also include Figure 1 More or fewer drone route generation devices as shown in, or network connection relationships of drone route generation devices, such as Figure 1 Only one drone route generation device is shown. It can be understood that the drone route generation scenario may also include one or more other drone route generation devices, which are not specifically limited here. The drone route generation device 100 may also include a memory for storing data.

[0066] In addition, in the scenario of drone route generation in the present application, the drone route generation device 100 may be provided with a display device, or the drone route generation device 100 may not be provided with a display device, but may be connected to an external display device 200 for communication, and the display device 200 is used to output the result of the execution of the drone route generation method in the drone route generation device. The drone route generation device 100 may access a backend database 300 (the backend database may be in the local memory of the drone route generation device, or may be set in the cloud), and the backend database 300 may store information related to drone route generation.

[0067] It should be noted that Figure 1 The scene diagram of drone route generation shown is only an example. The scene of drone route generation described in the embodiment of the present invention is to more clearly illustrate the technical solution of the embodiment of the present invention, and does not constitute a limitation on the technical solution provided by the embodiment of the present invention.

[0068] Based on the above-mentioned scenario of UAV route generation, an embodiment of a UAV route generation method is proposed.

[0069] like Figure 2 As shown, Figure 2 This is a flow chart of an embodiment of a method for generating a drone route in an embodiment of the present application. The method for generating a drone route includes the following steps 201 to 204:

[0070] 201, receiving a drone navigation instruction, and obtaining a drone identifier and navigation information associated with the navigation instruction.

[0071] The drone route generation method in this embodiment is applied to a drone route generation device. The type of the drone route generation device is not specifically limited. For example, the drone route generation device can be a terminal, a server, etc. This embodiment is described using a terminal as an example. The terminal is communicatively connected to the drone, wherein the terminal can send control instructions to control the drone, and the drone can perform navigation tasks according to the control instructions of the terminal. The specific structure of the drone is not limited. For example, a shooting device is installed in the drone, and the shooting device is used to shoot video information. The drone can send the shot video information to the terminal so that the terminal user can view it and control the drone based on the video information.

[0072] The terminal receives the navigation command of the drone. The navigation command refers to the command for controlling the flight of the drone. The navigation command is associated with the drone identification and navigation information. The drone identification refers to the identification information that uniquely identifies the drone, such as the drone number or the drone name; the navigation information refers to the navigation-related information of the controlled drone, including the navigation task volume of the drone (the navigation task volume refers to the total cargo volume of the drone this time, such as 10 tons of emergency supplies), the navigation task time, the starting address and the destination address, etc.

[0073] Among them, the navigation instruction can be actively triggered by the user. For example, the user clicks the "Call UAV No. 001" button on the terminal display interface to actively trigger the navigation instruction of the UAV. In addition, the navigation instruction can also be automatically triggered by the terminal. For example, the triggering conditions of the navigation instruction pre-set in the terminal are: adding a new logistics task; the terminal detects the logistics information of the express delivery point in real time, and when a new logistics task is detected, the terminal automatically triggers the navigation instruction of the UAV.

[0074] The terminal receives the UAV navigation instruction, and obtains the UAV identification and navigation information associated with the navigation instruction, wherein the UAV identification refers to the identification information that uniquely identifies the UAV, such as the UAV number or the UAV name; the navigation information refers to the relevant information of the UAV navigation, and the navigation information includes the navigation task volume of the UAV (the navigation task volume refers to the total cargo volume of the UAV this time, for example, 10 tons of emergency supplies), the navigation task time, the starting address and the destination address, etc.

[0075] 202, obtaining ground environment information between the start address and the destination address in the navigation information, selecting navigation points according to the ground environment information, and aggregating the navigation points to form a navigation point set.

[0076] The terminal obtains the starting address and the destination address in the navigation information, obtains the ground environment information between the starting address and the destination address, selects the navigation point according to the ground environment information, and aggregates the selected navigation points to form a navigation point set; specifically, including:

[0077] (1) extracting the starting address and the destination address in the navigation information, and determining the navigation transportation area by taking the line segment between the starting address and the destination address as the center line segment;

[0078] (2) obtaining ground environment information of the navigation transportation area, and selecting a flyable area from the navigation transportation area according to ground building information, ground human flow information, and ground natural resource information in the ground environment information;

[0079] (3) With the starting address as the starting point and the destination address as the end point, select navigation points in the flyable area, and aggregate the navigation points to form a navigation point set.

[0080] That is, the terminal extracts the starting address and the destination address in the navigation information, and the terminal uses the line segment between the starting address and the destination address as the center line segment to determine the navigation transportation area; for example, the terminal draws a circle with the starting address and the destination address as the diameter, and the terminal uses the circular area as the navigation transportation area. The terminal obtains the ground environment information of the navigation transportation area, and the terminal selects a flyable area from the navigation transportation area according to the ground building information, ground human flow information and ground natural resource information in the ground environment information; for example, the flyable area is as unmanned as possible (with little personnel flow and sparsely populated areas), such as river surfaces, river channels, mountainous areas, abandoned factory areas, and idle construction sites. The flyable area does not include commercial areas, densely populated residential areas, gas stations, power plants and other sensitive construction areas as much as possible. Under normal circumstances, the flyable area is required to run through the entire navigation transportation area. If the flyable area is a sensitive construction area, a prompt can be given to allow the operator to pay attention to the flight status of the drone.

[0081] After determining the flyable area, the terminal uses the starting address as the starting point and the destination address as the end point, and selects a navigation point in the flyable area, wherein the navigation point refers to the point in the route where the flight state of the drone changes, the best point for adjusting the flight state in the navigation point route, and the navigation point complies with the preset route planning rules (the preset route planning rules can be set according to the specific scenario, for example, the preset route planning rules are set to be greater than 20 meters above the ground), that is, the navigation point is in the flyable area. After the flyable area is determined, the horizontal and vertical coordinates of the navigation point are determined, and then the terminal determines the height information of the navigation point according to the flight altitude of the drone, and finally obtains different navigation points by determining the three-dimensional coordinates of the navigation point. The terminal summarizes the navigation points to form a navigation point set. In this embodiment, the navigation point set is determined based on the ground environment information, which reduces the impact of the ground environment on the flight of the drone and ensures the safety of drone transportation.

[0082] 203, obtaining performance parameters of the drone corresponding to the drone identifier, and calculating and obtaining the number of route planning according to the performance parameters and the navigation task amount and navigation task time in the navigation information.

[0083] The terminal obtains the performance parameters of the drone corresponding to the drone identification, wherein the performance parameters refer to the working parameters of the drone, and the performance parameters of the drone include: drone load, drone flight speed, drone remaining power, drone turning angle, drone climbing angle and drone dive angle. In addition, the performance parameters of the drone are related to the model of the drone. When the drone model is determined, the performance parameters of the drone can be determined; the terminal calculates the number of route planning based on the performance parameters and the navigation task volume and navigation task time in the navigation information to reasonably plan the route; specifically, including:

[0084] (1) obtaining performance parameters of the drone corresponding to the drone identifier, and calculating a single transport time according to the flight speed in the performance parameters and the starting address and the destination address in the navigation information;

[0085] (2) calculating the number of single-machine transportation times according to the navigation mission time in the navigation information and the single transportation time;

[0086] (3) Calculate the total transport volume of a single machine based on the load volume in the performance parameters and the number of transports of the single machine;

[0087] (4) Calculate the number of route plans based on the navigation task volume in the navigation information and the total transport volume of the single aircraft.

[0088] A mapping table of drone identification and performance parameters is pre-stored in the terminal. The terminal obtains the drone identification, queries the mapping table of drone identification and performance parameters, and obtains the performance parameters corresponding to the drone identification, wherein the performance parameters include flight speed, load capacity, navigation mission time, etc. The terminal calculates the single transportation time according to the flight speed in the performance parameters and the starting address and destination address in the navigation information. For example, the terminal determines the distance of the drone transportation according to the starting address and the destination address, that is, the drone usually does not fly in a straight line from the starting address to the destination address, but usually the transportation route of the drone is greater than the straight-line distance between the starting address and the destination address, and less than n times the straight-line distance between the starting address and the destination address (n can be determined according to the straight-line distance between the starting address and the destination address and the ground environment information). The terminal divides the distance of the drone transportation by the flight speed to obtain the single transportation time of the drone; the terminal divides the navigation task time in the navigation information by the single transportation time to obtain the number of single-machine transportations (the number of single-machine transportations refers to the number of transportations of each drone in this navigation task); the terminal multiplies the load in the performance parameter by the number of single-machine transportations to obtain the total single-machine transportation volume of a drone; the terminal divides the navigation task volume in the navigation information by the total single-machine transportation volume to obtain the number of route planning. That is, in this embodiment, the navigation task volume in the navigation information is divided by the total single-machine transportation volume to obtain the number of route planning, which means that the route of the drone is short, and one drone flies on one route. However, if the route of the drone is long, multiple drones may fly on one route. The terminal can fold the route planning data. For example, three drones can take off at intervals on one route. The terminal divides the navigation task volume in the navigation information by the total single-machine transportation volume to obtain initial data. The terminal divides the initial data by three to obtain the number of route planning.

[0089] In addition, when actually calculating the number of route plans, if the navigation mission time is long, usually there is no necessary connection between the drone mission volume and the navigation mission execution time. In order to improve transportation efficiency, the terminal can set the navigation time according to the navigation mission volume. When multiple drones can fly at intervals on a route, the terminal can reduce the number of route plans. For example, the navigation mission time is 4 hours and the drone's single transportation time is 1 hour. The terminal can control a drone to take off every 20 minutes on the route. The terminal determines that 10 drones can be launched on the route. The terminal determines the final cargo volume of each route based on the drone's flight information to adjust the calculated route planning quantity and obtain the final route planning quantity.

[0090] 204. According to a preset route planning rule, select target navigation points from the navigation point set, and arrange the target navigation points to generate a target route corresponding to the route planning quantity.

[0091] The terminal presets route planning rules, wherein the preset route planning rules can be set according to specific scenarios, referring to Figure 3 , Figure 3 This is a specific scenario diagram of an embodiment of the preset route planning rules in the drone route generation method provided in the embodiment of the present application. Taking a certain model of drone as an example, the preset route planning rules are as follows: 1. All navigation points are greater than 20 meters above the ground. The data requirements for different models are different, mainly to ensure flight safety; 2. For the route section crossing the high mountain (ridge), a waypoint needs to be set before and after the highest point of the mountain (more than 100 meters), and the height of these two waypoints is greater than 40 meters relative to the height of the highest point of the mountain (including trees and obstacles, etc.); 3. The horizontal distance between the two waypoints at the beginning of the route (waypoint 0 and waypoint 1) and the two waypoints at the end (waypoint N-1 and waypoint N) is greater than 350m, and the horizontal distance between other waypoints is greater than 200 meters; 4. The route slope h / d (h: vertical height between two waypoints, d: horizontal distance between two waypoints) needs to be less than 0.18, mainly to prevent the drone from climbing and diving at a large angle, so that the drone can fly more smoothly. 5. The horizontal angle of the route is greater than 45 degrees, mainly to ensure smooth turning when the drone is flying.

[0092] The terminal selects a target navigation point from the navigation point set according to a preset route planning rule, and arranges the target navigation points to generate a target route corresponding to the route planning quantity; specifically, including:

[0093] (1) selecting a target navigation point from the navigation point set according to a preset route planning rule and the UAV turning angle, UAV climbing angle, and UAV diving angle in the performance parameters;

[0094] (2) Arrange the target navigation points according to their spatial positions to generate target routes corresponding to the number of route planning.

[0095] That is, the terminal selects the target navigation point from the navigation point set according to the preset route planning rules and the UAV turning angle, the UAV climbing angle and the UAV dive angle in the performance parameters; that is, due to the different performances of different models, for example, the climbing angle corresponding to the climbing performance of the xx-type UAV is less than 0.15 of the height to distance, then the terminal can select the target navigation point from the navigation point set according to the climbing angle of the UAV and the preset route planning rules; that is to say, if the performance parameters of the UAV are different, the selected navigation points are also different, and the terminal arranges the target navigation points according to the spatial position of the target navigation points to generate the target route corresponding to the route planning quantity. In this embodiment, the target navigation point is selected according to the preset route planning rules and the performance parameters of the UAV to generate the target route, so that UAVs with different performances can be transported at different waypoints on different routes, thereby improving space utilization.

[0096] In the embodiment of the present application, a navigation point set is determined based on ground environment information, which reduces the impact of the ground environment on the flight of the drone and ensures the safety of drone transportation. Furthermore, navigation points are selected from the navigation point set based on the navigation information and performance parameters of the drone to generate a target route. Various factors are fully considered during route planning to make the target route planning more reasonable, so that the operating route of the drone is consistent with the navigation mission scenario of the drone, and ultimately improves the transportation efficiency of the drone, so as to achieve efficient logistics through the drone.

[0097] For ease of understanding, this embodiment uses the logistics transportation routes between express delivery points and the logistics transportation routes of emergency relief materials in the event of earthquakes and floods as examples:

[0098] Application scenario 1: Logistics transportation route planning for express delivery points. The terminal already has the navigation information and route planning rules of the logistics drone. The terminal determines the coordinates (latitude, longitude, altitude) of the express delivery point where the drone performs logistics transportation. The terminal obtains commercial map information (i.e., the ground environment information between the starting address and the destination address), marks the location of the express delivery point, and starts planning the route based on the navigation information and route planning rules.

[0099] The terminal determines that the route passes through uninhabited areas (areas with little personnel flow and sparse population), such as rivers, river channels, mountainous areas, abandoned factory areas, and idle construction sites. It tries not to pass through commercial areas, densely populated residential areas, gas stations, power plants and other sensitive building areas. If it cannot be avoided, when passing through sensitive building areas, the route will be marked with a red warning, and the captain or operator needs to pay special attention to the flight status of the drone, especially when the drone is operated on a large scale.

[0100] When the flight mission is complex, such as delivering 1 ton of goods from point A to point B on the same day, the terminal will deduce how many drones are needed and how many flights are needed to complete the mission based on the mission volume; assuming that the drone's single transport capacity is 20kg, it needs to fly 50 round trips (50 round trips, the drone returns empty). A round trip takes 30 minutes, and 50 round trips take 1,500 minutes. Calculated as 8 hours a day, four drones need to fly at the same time to meet the flight mission requirements of the day. Four drones need four routes to fly at the same time (the routes are shared, and the four drones are released in sequence, which is complicated). Each route can be staggered by a certain distance (for example, 30 meters horizontally and 20 meters vertically). At the same time, the operation mission can be carried out. 80kg of materials can be transported each time, and only 13 transportations are required, which takes 6.5 hours to complete the 1,040kg material transportation mission.

[0101] When route resources are limited, or restricted by objective conditions (the more routes there are, the greater the air risk will be; the covered ground area will expand and the ground risk will increase), two routes can be used, namely one outbound route and one return route. A drone is released every 8 minutes, and the terminal can release the drone in sequence according to the specific time of the drone's take-off, endurance and landing stages, and the airspace safety rules during take-off and landing (similar to civil aviation, when a drone takes off or lands at the take-off and landing field, other aircraft are required to maintain a certain distance from the take-off and landing field). Reasonable time intervals are recommended for sequential release.

[0102] The route planning in this embodiment is based on the timeliness requirements of logistics transportation and the characteristics of urban logistics distribution. It usually requires delivery upon arrival to reduce the waiting time for cargo storage. Therefore, it is suitable for the drone sequential flight mode to effectively improve the transportation efficiency of drones.

[0103] Application scenario 2: Logistics transportation route planning for emergency relief supplies in the event of earthquakes and floods. The terminal already has the navigation information and route planning rules of the logistics drone. The terminal determines the starting address and ending address (latitude, longitude, altitude) for the drone to carry out logistics transportation. The terminal uses commercial map information to determine the ground environment information between the starting address and the destination address, marks the starting address and the ending address, and starts planning the route based on the navigation information and route planning rules.

[0104] In addition, due to the suddenness and particularity of disasters, too much preparation is not allowed. When the rescue destination is too far away (the distance here is far, but it does not exceed the range limit of the drone), and the communication signal is blocked and cannot cover the take-off and landing points, the system gives the location of the air relay point and activates the communication relay drone to ensure the completion of the flight mission.

[0105] Since the purpose is rapid emergency rescue, the flight distance of the route is planned to be as short as possible, mainly avoiding high-rise buildings (including forests and mountains) along the way, and reaching the destination as soon as possible; there are as many routes as possible, and as much rescue materials and daily supplies as possible can be carried to the rescue destination; if there are 5 people trapped at the rescue destination, 5 sets of life jackets and food are needed, the drone needs to complete the flight mission in one time as much as possible, and transport the rescue materials to the destination as soon as possible. The system plans the route according to the flight mission, combined with the drone's flight performance and route planning rules, and gives mission guidance. The captain or on-site rescue personnel can carry out the drone flight mission according to the guidance.

[0106] The route planning in this embodiment needs to be combined with detailed flight missions including cargo category, cargo weight, and cargo timeliness, and a specific route mission plan is automatically generated according to specific requirements to make the route and mission match.

[0107] Reference Figure 4 , Figure 4It is a specific scenario schematic diagram of an embodiment of drone route generation in the drone route generation method provided in the embodiments of the present application.

[0108] In some embodiments of the present application, in combination with the above-mentioned specific route planning scenario, the drone route planning method provided in this embodiment includes:

[0109] (1) Determine the model of the drone and its performance parameters based on the model, specifically the full load capacity (maximum cargo loading capacity), maximum range (maximum distance that can be flown, considering round trip), endurance speed, and flight time when the drone is fully charged or fully fueled.

[0110] (2) When the coordinates of the take-off and landing points are input, the terminal can calculate the range requirements. If the range is greater than the maximum range of the drone, the flight mission cannot be performed. When the drone performance meets the mission range, the corresponding flight time of the corresponding model is calculated, that is, how long it will take for the drone to reach the destination after taking off. If the current mission is to transport emergency relief supplies, all drones currently on hand will be used for drone transportation and delivery.

[0111] (3) The route mission information output by the terminal includes each route (usually 6 routes, corresponding to 6 drones, because the vehicle-mounted transport platform can load up to 6 drones). For example, the road transportation of emergency materials to the destination point B is blocked, and the rescue vehicle (drone vehicle-mounted platform) drives to the blocked point A. The rescue materials are all loaded, and the route mission automatic generation system generates 6 routes. The 6 drones receive 6 route information (the generated route information file is directly imported into the drone control ground station, and distributed to the controlled drones by the ground station, which can be operated by a computer) to perform the flight mission. If there are high obstacles blocking points AB, a relay point route is generated as a communication relay, and the rescue materials carried are replaced with communication relay equipment.

[0112] (4) The route information output by the terminal also includes flight time and take-off and landing reference time. Continuing with the previous example, the rescue vehicle arrives at the scene at 10 a.m., and the operator enters the take-off and landing point coordinates. At 10:05 a.m., the system generates 6 routes and, based on the aircraft model’s capabilities, derives a single-trip flight time of 20 minutes (assuming a speed of 20 m / s and a range of 24 km). The drone can take off at 10:10 (5 minutes is the time for route introduction and drone take-off preparation), and the supplies will arrive at the destination for delivery at 10:30 a.m. The entire process is reasonable and applicable.

[0113] The route planning method in this embodiment has the following advantages: 1. Fast calculation speed. It takes no more than 1 minute from inputting coordinates to obtaining routes, and multiple routes can be generated for two points. 2. No temporary tasks or surveys are required. Only the starting point and the end point need to be input during the entire planning process to obtain a complete route path, which reduces on-site operations and user training time. For emergency material transportation in natural disasters, it can be quickly deployed. 3. Strong scalability. Users can import data and write ground risk rules by themselves to adapt to the needs of different scenarios and tasks, such as requiring multiple drones of different models to perform flight missions at the same time. 4. Associated with flight missions, flight routes are planned, and flight mission guidance is also given (which can be understood as flight information, flight sorties, frequency, take-off time, etc.), and on-site personnel can choose according to actual conditions. 5. Route risks are visualized, and the system displays ground risks and air risks. 6. It has passed large-scale actual tests and works normally in different application scenarios with strong stability and reliability.

[0114] Reference Figure 5 , Figure 5 It is a flow chart of an embodiment of UAV route generation in the UAV route generation method provided in the embodiments of the present application.

[0115] In some embodiments of the present application, it is specifically described that when a planned route already exists, the terminal selects a target route from the planned routes according to the performance parameters and navigation information of the drone, including the following steps 301 to 303:

[0116] 301, extracting the starting address and the destination address in the navigation information, and determining whether there is a planned route between the starting address and the destination address.

[0117] The terminal extracts the starting address and destination address from the navigation information, and queries the database. If there is a flight record between the starting address and the destination address in the database, the terminal determines that there is a planned route between the starting address and the destination address; if there is no flight record between the starting address and the destination address in the database, the terminal determines that there is no planned route between the starting address and the destination address.

[0118] 302. If there is a planned route between the starting address and the destination address, obtain the performance parameters of the drone corresponding to the drone identifier, and select a target route from the planned routes based on the performance parameters and the navigation task amount and navigation task time in the navigation information.

[0119] If there is a planned route between the starting address and the destination address, the terminal obtains the performance parameters of the drone corresponding to the drone identifier (the performance parameters include the drone load, the drone flight speed, the drone remaining power, the drone turning angle, the drone climbing angle and the drone diving angle), and the terminal selects the target route from the planned routes according to the performance parameters and the navigation task amount and navigation task time in the navigation information; specifically, it includes:

[0120] (1) If there is a planned route between the starting address and the destination address, obtain environmental information of the planned route;

[0121] (2) determining the priority level of the planned route based on the environmental information of the planned route;

[0122] (3) obtaining performance parameters of the drone corresponding to the drone identifier, and calculating the number of route usage based on the performance parameters and the navigation task volume and navigation task time in the navigation information;

[0123] (4) Arrange the planned routes according to their priority from high to low, and select a target route corresponding to the number of route usages from the planned routes.

[0124] That is, if there is a planned route between the starting address and the destination address, the terminal obtains the environmental information of the planned route, wherein the environmental information of the planned route includes wind speed information, wind direction information, flight altitude, etc. of each point on the planned route; the terminal determines the priority of the planned route according to the environmental information of the planned route; for example, implementation method one: the terminal converts the wind speed information, wind direction information and flight altitude on the route into a score, the terminal counts the scores of each route, and determines the priority of the planned route according to the score; implementation method two: the terminal obtains the risk value of each route, and the terminal determines the priority of the planned route according to the risk value.

[0125] The terminal obtains the performance parameters of the drone corresponding to the drone identification, and the terminal calculates the number of route usage based on the performance parameters and the navigation task volume and navigation task time in the navigation information; for example, a drone identification and performance parameter mapping table is pre-stored in the terminal, the terminal obtains the drone identification, the terminal queries the drone identification and performance parameter mapping table, and obtains the performance parameters corresponding to the drone identification, wherein the performance parameters include flight speed, load capacity and navigation task time, etc. The terminal obtains the distance of the planned route, and the terminal divides the distance of the planned route by the flight speed to obtain the single transportation time of the drone; the drone divides the navigation task time in the navigation information by the single transportation time to obtain the number of single-machine transportations; the terminal multiplies the load capacity in the performance parameters by the number of single-machine transportations to obtain the total single-machine transportation volume of a drone; the terminal divides the navigation task volume in the navigation information by the total single-machine transportation volume to obtain the number of route usage.

[0126] The terminal arranges the planned routes in descending order of priority, and selects the target routes corresponding to the number of routes used from the planned routes. The terminal activates the planned routes according to the specific task conditions to reduce duplicate route planning.

[0127] 303. If there is no planned route between the starting address and the destination address, execute the steps of obtaining ground environment information between the starting address and the destination address in the navigation information, selecting navigation points according to the ground environment information, and aggregating the navigation points to form a navigation point set.

[0128] If there is no planned route between the starting address and the destination address, the terminal obtains ground environment information between the starting address and the destination address in the navigation information, selects navigation points according to the ground environment information, and aggregates the navigation points to form a navigation point set. The terminal obtains the performance parameters of the drone corresponding to the drone identification, and calculates the number of route planning based on the performance parameters and the navigation task volume and navigation task time in the navigation information; the terminal selects the target navigation point from the navigation point set according to the preset route planning rules, and arranges the target navigation points to generate the target route corresponding to the number of route planning.

[0129] In this embodiment, after receiving the drone navigation command, the terminal obtains the navigation information and extracts the starting address and destination address in the navigation information, determines whether there is a planned route between the starting address and the destination address, and selects the planned route according to the specific transportation scenario to avoid repeated route planning while ensuring transportation efficiency.

[0130] Reference Figure 6 , Figure 6 It is a flow chart of an embodiment of UAV route generation in the UAV route generation method provided in the embodiments of the present application.

[0131] In some embodiments of the present application, after the drone route is generated in the drone route generation method, the following steps 401 to 403 are included:

[0132] 401, controlling the UAV to perform a navigation task along the route, and obtaining status information of the UAV.

[0133] The terminal controls the drone to perform navigation tasks along the route and obtains the drone's status information, where the status information includes the drone's real-time flight speed, drone's flight altitude, drone's remaining battery power, etc.

[0134] 402, analyzing the state information of the drone to obtain the flight risk coefficient of the drone, and if the flight risk coefficient of the drone is greater than a preset risk coefficient, adjusting the route of the drone.

[0135] The terminal analyzes the status information of the drone, wherein the manner in which the terminal analyzes the status information of the drone is not specifically limited. For example, a risk analysis algorithm is provided in the terminal, and the terminal processes the collected status information according to the risk analysis algorithm to obtain a flight risk coefficient of the drone. The terminal compares the flight risk coefficient of the drone with a preset risk coefficient (the preset risk coefficient refers to the probability of an accident occurring during drone flight, and the preset risk coefficient can be flexibly set according to specific scenarios). If the flight risk coefficient of the drone is less than or equal to the preset risk coefficient, the current flight route is maintained; if the flight risk coefficient of the drone is greater than the preset risk coefficient, the route of the drone is adjusted.

[0136] 403, counting the accident rate of the route, if the accident rate of the route is higher than a preset threshold, adjusting each navigation point in the route to generate a new route.

[0137] The terminal counts the accident rate of the route. If the accident rate of the route is higher than a preset threshold (the preset threshold can be set according to the specific scenario, for example, set to 10%), the terminal analyzes the situation of each navigation point in the route, adjusts each navigation point in the route, and generates a new route.

[0138] In this embodiment, the terminal monitors the flight status of the drone in real time to adjust the flight route of the drone. At the same time, the terminal counts the drone accident rate of each route. If the accident rate of the route is higher than the preset threshold, the various navigation points in the route are adjusted to generate a new route, making the drone route safer.

[0139] like Figure 7 As shown, Figure 7 The present invention is a schematic diagram of the structure of an embodiment of a UAV route generating device.

[0140] In order to better implement the drone route generation method in the embodiment of the present application, based on the drone route generation method, a drone route generation device is also provided in the embodiment of the present application. The drone route generation device includes the following modules 501-504:

[0141] The request receiving module 501 is used to receive the drone navigation instruction and obtain the drone identification and navigation information associated with the navigation instruction;

[0142] An acquisition and aggregation module 502 is used to acquire ground environment information between a start address and a destination address in the navigation information, select navigation points according to the ground environment information, and aggregate the navigation points to form a navigation point set;

[0143] The quantity determination module 503 is used to obtain the performance parameters of the drone corresponding to the drone identifier, and calculate the number of route planning according to the performance parameters and the navigation task amount and navigation task time in the navigation information;

[0144] The route generation module 504 is used to select target navigation points from the navigation point set according to a preset route planning rule, and arrange the target navigation points to generate a target route corresponding to the route planning quantity.

[0145] In some embodiments of the present application, the acquisition and aggregation module 502 includes:

[0146] Extracting the starting address and the destination address in the navigation information, and determining the navigation transportation area with the line segment between the starting address and the destination address as the center line segment;

[0147] Acquire ground environment information of the navigation transportation area, and select a flyable area from the navigation transportation area according to ground building information, ground human flow information, and ground natural resource information in the ground environment information;

[0148] With the start address as the starting point and the destination address as the end point, navigation points are selected in the flyable area, and the navigation points are aggregated to form a navigation point set.

[0149] In some embodiments of the present application, the quantity determination module 503 includes:

[0150] Acquire the performance parameters of the drone corresponding to the drone identifier, and calculate the single transport time according to the flight speed in the performance parameters and the starting address and the destination address in the navigation information;

[0151] Calculate the number of single-machine transportation times according to the navigation mission time in the navigation information and the single transportation time;

[0152] Calculate the total transport volume of a single machine according to the load volume in the performance parameters and the number of transports of the single machine;

[0153] The number of route planning is calculated based on the navigation task volume in the navigation information and the total transportation volume of the single aircraft.

[0154] In some embodiments of the present application, the route generation module 504 includes:

[0155] Selecting a target navigation point from the navigation point set according to a preset route planning rule and the drone turning angle, the drone climbing angle, and the drone diving angle in the performance parameters;

[0156] According to the spatial positions of the target navigation points, the target navigation points are arranged to generate target routes corresponding to the number of route planning.

[0157] In some embodiments of the present application, the drone route generation device includes:

[0158] Extracting the starting address and the destination address in the navigation information, and determining whether there is a planned route between the starting address and the destination address;

[0159] If there is a planned route between the starting address and the destination address, obtaining the performance parameters of the drone corresponding to the drone identifier, and selecting a target route from the planned routes according to the performance parameters and the navigation task amount and navigation task time in the navigation information;

[0160] If there is no planned route between the starting address and the destination address, the steps of obtaining ground environment information between the starting address and the destination address in the navigation information, selecting navigation points according to the ground environment information, and aggregating the navigation points to form a navigation point set are performed.

[0161] In some embodiments of the present application, if there is a planned route between the starting address and the destination address, obtaining the performance parameters of the drone corresponding to the drone identifier, and selecting the target route from the planned routes according to the performance parameters and the navigation task amount and navigation task time in the navigation information, includes:

[0162] If there is a planned route between the starting address and the destination address, obtaining environmental information of the planned route;

[0163] Determining the priority level of the planned route according to the environmental information of the planned route;

[0164] Acquire the performance parameters of the drone corresponding to the drone identifier, and calculate the number of route usage according to the performance parameters and the navigation task amount and navigation task time in the navigation information;

[0165] The planned routes are arranged from high to low according to priority, and a target route corresponding to the route usage quantity is selected from the planned routes.

[0166] In some embodiments of the present application, the drone route generation device further includes:

[0167] The step of selecting target navigation points from the navigation point set according to a preset route planning rule, and arranging the target navigation points to generate a target route corresponding to the route planning quantity includes:

[0168] Controlling the UAV to perform navigation tasks along the route and obtaining status information of the UAV;

[0169] Analyze the status information of the drone to obtain a flight risk coefficient of the drone, and if the flight risk coefficient of the drone is greater than a preset risk coefficient, adjust the route of the drone;

[0170] The accident rate of the route is counted, and if the accident rate of the route is higher than a preset threshold, each navigation point in the route is adjusted to generate a new route.

[0171] In this embodiment, the drone route generation device receives the drone navigation instruction, obtains the drone identification and navigation information associated with the navigation instruction; obtains the ground environment information between the starting address and the destination address in the navigation information, selects the navigation point according to the ground environment information, and summarizes the navigation points to form a navigation point set; obtains the performance parameters of the drone corresponding to the drone identification, and calculates the number of route planning according to the performance parameters and the navigation task volume and navigation task time in the navigation information; selects the target navigation point from the navigation point set according to the preset route planning rules, and arranges the target navigation point to generate the target route corresponding to the number of route planning. In this embodiment, the navigation point set is determined according to the ground environment information, so as to reduce the impact of the ground environment on the flight of the drone and ensure the safety of drone transportation. Further, according to the navigation information and performance parameters of the drone, the navigation point is selected from the navigation point set to generate the target route; when planning the route, various factors are fully considered, so that the target route planning is more reasonable, so that the operation route of the drone is consistent with the navigation task scenario of the drone, and finally the transportation efficiency of the drone is improved, so as to achieve efficient logistics through the drone.

[0172] The embodiment of the present invention also provides a drone route generation device, such as Figure 8 As shown, Figure 8It is a schematic diagram of the structure of an embodiment of a UAV route generation device provided in an embodiment of the present application.

[0173] The drone route generation device integrates any one of the drone route generation devices provided in the embodiments of the present invention, and the drone route generation device includes: one or more processors; a memory; and one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor in the steps of the drone route generation method described in any of the above-mentioned drone route generation method embodiments.

[0174] Specifically, the drone route generation device may include one or more processing core processors 601, one or more computer-readable storage media memories 602, a power supply 603, an input unit 604 and other components. Those skilled in the art will understand that Figure 8 The structure of the drone route generation device shown in the figure does not constitute a limitation on the drone route generation device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0175] The processor 601 is the control center of the drone route generation device. It uses various interfaces and lines to connect the various parts of the entire drone route generation device. By running or executing the software programs and / or modules stored in the memory 602, and calling the data stored in the memory 602, it performs various functions of the drone route generation device and processes data, thereby monitoring the drone route generation device as a whole. Optionally, the processor 601 may include one or more processing cores; preferably, the processor 601 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 601.

[0176] The memory 602 can be used to store software programs and modules. The processor 601 executes various functional applications and data processing by running the software programs and modules stored in the memory 602. The memory 602 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area may store data created according to the use of the drone route generation device, etc. In addition, the memory 602 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. Accordingly, the memory 602 may also include a memory controller to provide the processor 601 with access to the memory 602.

[0177] The drone route generation device also includes a power supply 603 for supplying power to various components. Preferably, the power supply 603 can be logically connected to the processor 601 through a power management system, so as to manage charging, discharging, and power consumption through the power management system. The power supply 603 can also include any components such as one or more DC or AC power supplies, recharging systems, power failure detection circuits, power converters or inverters, and power status indicators.

[0178] The drone route generation device may also include an input unit 604, which can be used to receive input digital or character information, and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control.

[0179] Although not shown, the drone route generation device may also include a display unit, etc., which will not be described in detail here. Specifically in this embodiment, the processor 601 in the drone route generation device will load the executable files corresponding to the processes of one or more application programs into the memory 602 according to the following instructions, and the processor 601 will run the application programs stored in the memory 602, thereby realizing various functions, as follows:

[0180] Receiving a drone navigation instruction, and obtaining a drone identification and navigation information associated with the navigation instruction;

[0181] Acquire ground environment information between a starting address and a destination address in the navigation information, select navigation points according to the ground environment information, and aggregate the navigation points to form a navigation point set;

[0182] Acquire the performance parameters of the drone corresponding to the drone identifier, and calculate the number of route planning according to the performance parameters and the navigation task amount and navigation task time in the navigation information;

[0183] According to the preset route planning rules, target navigation points are selected from the navigation point set, and the target navigation points are arranged to generate a target route corresponding to the route planning quantity.

[0184] A person of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by instructions, or by controlling related hardware through instructions. The instructions may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0185] To this end, an embodiment of the present invention provides a computer-readable storage medium, which may include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc. A computer program is stored thereon, and the computer program is loaded by a processor to execute the steps in any of the drone route generation methods provided in the embodiments of the present invention. For example, the computer program can be loaded by the processor to execute the following steps:

[0186] Receiving a drone navigation instruction, and obtaining a drone identification and navigation information associated with the navigation instruction;

[0187] Acquire ground environment information between a starting address and a destination address in the navigation information, select navigation points according to the ground environment information, and aggregate the navigation points to form a navigation point set;

[0188] Acquire the performance parameters of the drone corresponding to the drone identifier, and calculate the number of route planning according to the performance parameters and the navigation task amount and navigation task time in the navigation information;

[0189] According to the preset route planning rules, target navigation points are selected from the navigation point set, and the target navigation points are arranged to generate a target route corresponding to the route planning quantity.

[0190] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the detailed description of other embodiments above, and will not be repeated here.

[0191] In specific implementation, the above units or structures can be implemented as independent entities, or can be arbitrarily combined to be implemented as the same or several entities. The specific implementation of the above units or structures can refer to the previous method embodiments, which will not be repeated here.

[0192] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0193] The above is a detailed introduction to a method for generating a UAV route provided in an embodiment of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for generating a drone route, characterized in that: The UAV route generation method comprises: Receive a drone navigation instruction, and obtain a drone identifier and navigation information associated with the navigation instruction; Extracting the starting address and the destination address in the navigation information, and determining the navigation transportation area with the line segment between the starting address and the destination address as the center line segment; Acquire ground environment information of the navigation transportation area, and select a flyable area from the navigation transportation area according to ground building information, ground human flow information, and ground natural resource information in the ground environment information; Taking the starting address as the starting point and the destination address as the end point, selecting navigation points in the flyable area, and aggregating the navigation points to form a navigation point set; wherein the navigation point is a point in the route where the flight state of the drone changes; Acquire performance parameters of the drone corresponding to the drone identifier, and calculate the number of route planning based on the performance parameters and the navigation task amount and navigation task time in the navigation information; According to the preset route planning rules, target navigation points are selected from the navigation point set, and the target navigation points are arranged to generate a target route corresponding to the route planning quantity.

2. The method for generating a UAV route according to claim 1, characterized in that: The step of obtaining the performance parameters of the drone corresponding to the drone identifier, and calculating the number of route planning according to the performance parameters and the navigation task amount and navigation task time in the navigation information, includes: Acquire the performance parameters of the drone corresponding to the drone identifier, and calculate the single transport time according to the flight speed in the performance parameters and the starting address and the destination address in the navigation information; Calculate the number of single-machine transportation times according to the navigation mission time in the navigation information and the single transportation time; Calculate the total transport volume of a single machine according to the load volume in the performance parameters and the number of transports of the single machine; The number of route planning is calculated based on the navigation task volume in the navigation information and the total transportation volume of the single aircraft.

3. The method for generating a UAV route according to claim 1, characterized in that: The step of selecting a target navigation point from the navigation point set according to a preset route planning rule, and arranging the target navigation point to generate a target route corresponding to the route planning quantity includes: Selecting a target navigation point from the navigation point set according to a preset route planning rule and the drone turning angle, the drone climbing angle, and the drone diving angle in the performance parameters; According to the spatial positions of the target navigation points, the target navigation points are arranged to generate target routes corresponding to the number of route planning.

4. The method for generating a UAV route according to claim 1, characterized in that: After receiving the drone navigation instruction and obtaining the drone identification and navigation information associated with the navigation instruction, the method includes: Extracting the starting address and the destination address in the navigation information, and determining whether there is a planned route between the starting address and the destination address; If there is a planned route between the starting address and the destination address, obtaining the performance parameters of the drone corresponding to the drone identifier, and selecting a target route from the planned routes according to the performance parameters and the navigation task amount and navigation task time in the navigation information; If there is no planned route between the starting address and the destination address, the steps of obtaining ground environment information between the starting address and the destination address in the navigation information, selecting navigation points according to the ground environment information, and aggregating the navigation points to form a navigation point set are performed.

5. The method for generating a UAV route according to claim 4, characterized in that: If there is a planned route between the starting address and the destination address, obtaining performance parameters of the drone corresponding to the drone identifier, and selecting a target route from the planned routes according to the performance parameters and the navigation task amount and navigation task time in the navigation information, including: If there is a planned route between the starting address and the destination address, obtaining environmental information of the planned route; Determining the priority level of the planned route according to the environmental information of the planned route; Acquire the performance parameters of the drone corresponding to the drone identifier, and calculate the number of route usage according to the performance parameters and the navigation task amount and navigation task time in the navigation information; The planned routes are arranged from high to low according to priority, and a target route corresponding to the route usage quantity is selected from the planned routes.

6. The method for generating a UAV route according to any one of claims 1 to 5, characterized in that: The step of selecting a target navigation point from the navigation point set according to a preset route planning rule, and arranging the target navigation point to generate a target route corresponding to the route planning quantity includes: Controlling the UAV to perform navigation tasks along the route and obtaining status information of the UAV; Analyze the status information of the drone to obtain a flight risk coefficient of the drone, and if the flight risk coefficient of the drone is greater than a preset risk coefficient, adjust the route of the drone; The accident rate of the route is counted, and if the accident rate of the route is higher than a preset threshold, each navigation point in the route is adjusted to generate a new route.

7. A drone route generation device, characterized in that: The unmanned aerial vehicle route generating device comprises: A request receiving module, used to receive a drone navigation instruction and obtain a drone identification and navigation information associated with the navigation instruction; The acquisition and aggregation module is used to extract the starting address and the destination address in the navigation information, determine the navigation transportation area with the line segment between the starting address and the destination address as the center line segment; obtain the ground environment information of the navigation transportation area, and select a flyable area from the navigation transportation area according to the ground building information, ground human flow information and ground natural resource information in the ground environment information; select navigation points in the flyable area with the starting address as the starting point and the destination address as the end point, and aggregate the navigation points to form a navigation point set; wherein the navigation point is a point in the route where the flight state of the drone changes; A quantity determination module is used to obtain the performance parameters of the drone corresponding to the drone identifier, and calculate the number of route planning according to the performance parameters and the navigation task amount and navigation task time in the navigation information; The route generation module is used to select target navigation points from the navigation point set according to preset route planning rules, and arrange the target navigation points to generate a target route corresponding to the route planning quantity.

8. A drone route generation device, characterized in that: The drone route generation device includes: one or more processors; a memory; and one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor to implement the drone route generation method described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and the computer program is loaded by a processor to execute the steps in the method for generating a drone route according to any one of claims 1 to 6.

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