Unmanned Aerial Vehicle Route Planning Method, System, Device and Medium

Abstract

The present invention provides a method, system, device and medium for unmanned aerial vehicle route planning, specifically relating to the field of unmanned aerial vehicle flight technology. The method obtains the route task of the unmanned aerial vehicle; plans a flight route carrying arc waypoints according to the route task of the unmanned aerial vehicle; determines the cut-off point parameters according to the current arc waypoint turning radius, turning direction parameter and the waypoint type of the next waypoint, turns or circles based on the arc waypoint, and after completing the turn or circle, cuts out the arc turn or circle based on the cut-off point parameters. The present invention can accurately control the arc cutting position of the unmanned aerial vehicle according to the cut-off point parameters; by selecting a suitable turning radius during the arc waypoint planning, the turning performance of the unmanned aerial vehicle is improved, and the time required for the unmanned aerial vehicle to turn is shortened; for users, the expected turning flight trajectory of the unmanned aerial vehicle can be observed during route planning, improving the user experience.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and particularly to a method, system, device and medium for route planning of an unmanned aerial vehicle. Background Art

[0002] An unmanned aerial vehicle, abbreviated as UAV (Unmanned Aerial Vehicle), is an unpiloted aircraft controlled by a radio remote control device and a self - contained program control device. UAVs have a wide range of applications and are used in industries such as agricultural plant protection, surveying and mapping, military defense, disaster relief, and video shooting.

[0003] In the related art, when an unmanned aerial vehicle executes a route task, it usually needs to turn or circle around a target point of interest. However, usually, the UAV route consists of a polyline segment composed of a series of straight - line waypoints, without special processing such as smoothing of the turning section, resulting in many problems such as unpredictable turning trajectories of the UAV, easy flight risks, inability to exert the maximum turning performance, and long turning times. Summary of the Invention

[0004] In view of the above - mentioned disadvantages of the prior art, the purpose of the present invention is to provide a method, system, device and medium for route planning of an unmanned aerial vehicle, which is used to solve the problem of inaccurate turning during UAV route planning in the prior art.

[0005] To achieve the above - mentioned purpose and other related purposes, the present invention provides a method for route planning of an unmanned aerial vehicle, the method comprising:

[0006] Obtain the route task of the unmanned aerial vehicle;

[0007] Plan a flight route carrying arc waypoints according to the route task of the unmanned aerial vehicle;

[0008] Determine the cut - off point parameters according to the turning radius, turning direction parameters of the current arc waypoint and the waypoint type of the next waypoint, turn or circle based on the arc waypoint, and after completing the turn or circle, cut off the arc turn or circle based on the cut - off point parameters.

[0009] In an embodiment of the present invention, the arc waypoint includes the longitude and latitude of the target point, the height of the target point, the cut - off point parameters, the circling direction, the circling radius, the circling time, the number of circling turns and the circling type, and the cut - off point parameters include the cut - off point azimuth angle or the longitude and latitude of the cut - off point.

[0010] In an embodiment of the present invention, it further comprises:

[0011] Judge whether the next waypoint is a straight - line waypoint;

[0012] If the next waypoint is a straight waypoint, determine whether the straight waypoint is within the current circular turning radius; if so, give an error prompt; if not, determine the azimuth angle of the first cut-out point of the straight waypoint, and convert and determine the azimuth angle of the first cut-out point as the first angle value.

[0013] In an embodiment of the present invention, it further includes:

[0014] If the next waypoint is not a straight waypoint, determine whether the next waypoint is a circular arc waypoint; if so, determine whether the turning direction of the next waypoint is the same as the turning direction of the current circular arc waypoint; if the same, determine the first turning direction angle; if different, determine the second turning direction angle;

[0015] Determine the azimuth angle of the second cut-out point of the circular arc waypoint according to the turning direction angle, and convert and determine the azimuth angle of the second cut-out point as the second angle value.

[0016] In an embodiment of the present invention, the first turning direction angle is π / 2, and the second turning direction angle is cos((R1 + R2) / D), where R1 is the turning radius of the current circular arc waypoint, R2 is the turning radius of the next circular arc waypoint, and D is the distance between the current circular arc waypoint and the next circular arc waypoint.

[0017] In an embodiment of the present invention, the azimuth angle of the first cut-out point is ψ - dir*cos(R1 / D), and the azimuth angle of the second cut-out point is ψ - dir*Δ, where ψ is the azimuth angle of the next circular arc waypoint relative to the current center position, dir is the turning direction of the current circular arc waypoint, and Δ is the first turning direction angle or the second turning direction angle.

[0018] In an embodiment of the present invention, the hovering type includes at least one of the following:

[0019] If the hovering type is a normal turn, the unmanned aerial vehicle exits the turn after the azimuth angle relative to the center reaches the cut-out point azimuth angle;

[0020] If the hovering type is a height hover, the unmanned aerial vehicle exits the hover after the azimuth angle relative to the center reaches the cut-out point azimuth angle and the hovering height reaches the target point height;

[0021] If the hovering type is a time hover, the unmanned aerial vehicle exits the hover after the azimuth angle relative to the center reaches the cut-out point azimuth angle and the hovering time reaches the preset time;

[0022] If the hovering type is a lap hover, the unmanned aerial vehicle exits the hover after the azimuth angle relative to the center reaches the cut-out point azimuth angle and the number of hovering laps reaches the preset number of laps.

[0023] In an embodiment of the present invention, it further includes:

[0024] Obtain a straight-line point tangent to the previous waypoint and the current arc waypoint, insert the straight-line point as an auxiliary waypoint between the previous waypoint and the current arc waypoint, and use the auxiliary waypoint to make the previous waypoint smoothly cut into the current arc waypoint.

[0025] The present invention also provides an unmanned aerial vehicle route planning system. The system includes a control device and at least one unmanned aerial vehicle. The control device includes a memory and a processor, the processor is coupled to the memory, and the memory stores program instructions. When the program instructions stored in the memory are executed by the processor, the method described in any one of the above embodiments is implemented.

[0026] The present invention also provides an unmanned aerial vehicle route planning control device. The control device includes a processor, the processor is coupled to the memory, and the memory stores program instructions. When the program instructions stored in the memory are executed by the processor, the method described in any one of the above embodiments is implemented.

[0027] The present invention also provides a computer-readable storage medium, including a program, which when running on a computer, causes the computer to execute the method described in any one of the above embodiments.

[0028] As described above, the present invention provides an unmanned aerial vehicle route planning method, system, device and medium. The method plans a flight route with arc waypoints according to the route task of the unmanned aerial vehicle, pre-plans an arc trajectory through the arc waypoints, obtains the cut-out point parameters of the arc trajectory, and can accurately control the arc cut-out position of the unmanned aerial vehicle based on the cut-out point parameters. The unmanned aerial vehicle flies according to the planned arc. By selecting an appropriate turning radius during the arc waypoint planning, the turning performance of the unmanned aerial vehicle is improved, and the time required for the unmanned aerial vehicle to turn is shortened; for users, the expected turning flight trajectory of the unmanned aerial vehicle can be observed during route planning. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0030] Figure 1 It is a schematic flowchart of an unmanned aerial vehicle route planning method in an embodiment of the present invention;

[0031] Figure 2Flowchart of the cut-off point azimuth algorithm in the UAV route planning method according to an embodiment of the present invention;

[0032] Figure 3 Schematic diagram of the turning arc effect in the UAV route planning method according to an embodiment of the present invention;

[0033] Figure 4 Schematic diagram of the hovering waypoint effect in the UAV route planning method according to an embodiment of the present invention;

[0034] Figure 5 Structural schematic diagram of a UAV route planning device according to an embodiment of the present invention. Detailed implementation manners

[0035] The following uses specific specific examples to illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0036] It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner. Therefore, only the components related to the present invention are shown in the diagrams, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and ratio of each component in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0037] Embodiment 1

[0038] In response to the above technical problems, an embodiment of the present invention provides a UAV route planning method. This method plans a flight route with arc waypoints according to the route task of the UAV, pre-plans an arc trajectory through the arc waypoints, obtains the cut-off point parameters of the arc trajectory, and can accurately control the UAV to cut off the arc position based on the cut-off point parameters. The UAV flies according to the planned arc trajectory. By selecting an appropriate turning radius when planning the arc waypoints, the turning performance of the UAV is improved, and the time required for the UAV to turn is shortened; for users, the expected turning flight trajectory of the UAV can be observed during route planning.

[0039] Please refer to Figure 1 , the present invention provides a UAV route planning method, which includes:

[0040] Step S101, obtaining the route task of the UAV;

[0041] Among them, the unmanned aerial vehicle includes but is not limited to an unmanned aircraft, which includes a rotor-type unmanned aircraft, such as a quadcopter, a hexacopter, an octocopter, and may also be a fixed-wing unmanned aircraft, or a combination of a rotor-type and a fixed-wing unmanned aircraft, which is not limited herein.

[0042] In the related art, an unmanned aircraft may include a power system, a flight control system, and a frame. The unmanned aircraft can communicate wirelessly with a control terminal, and the control terminal can obtain and display flight information of the unmanned aircraft, etc. The control terminal can communicate with the unmanned aircraft wirelessly, be used for remotely operating the unmanned aircraft, and formulating a flight route to send to the unmanned aircraft so that the unmanned aircraft flies according to the flight route.

[0043] Among them, the frame includes a fuselage and landing gear (also called undercarriage). The fuselage may include a fuselage body and one or more arms connected to the fuselage body, and the one or more arms extend radially from the central frame. The landing gear is connected to the fuselage and is used for supporting when the unmanned aircraft lands.

[0044] The power system may include one or more electronic speed controllers (abbreviated as ESCs), one or more propellers, and one or more motors corresponding to the one or more propellers. Among them, the motor is connected between the electronic speed controller and the propeller, and the motor and the propeller are arranged on the arm of the unmanned aircraft; the electronic speed controller is used for receiving a drive signal generated by the flight control system and providing a drive current to the motor according to the drive signal to control the rotation speed of the motor. The motor is used for driving the propeller to rotate, thereby providing power for the flight of the unmanned aircraft, and this power enables the unmanned aircraft to realize one or more degrees of freedom of movement.

[0045] In some embodiments, the unmanned aircraft can rotate around one or more rotation axes. For example, the above rotation axes may include a roll axis, a yaw axis, and a pitch axis. It should be understood that the motor can be a DC motor or an AC motor. In addition, the motor can be a brushless motor or a brushed motor.

[0046] The flight control system may include a flight controller and a sensing system. The sensing system is used for measuring the attitude information of the unmanned aerial vehicle, that is, the position information and state information of the unmanned aircraft in space, such as three-dimensional position, three-dimensional angle, three-dimensional speed, three-dimensional acceleration, and three-dimensional angular velocity, etc. The sensing system may include at least one of sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an Inertial Measurement Unit (IMU), a vision sensor, a Global Navigation Satellite System, and a barometer. For example, the Global Navigation Satellite System may be a Global Positioning System (GPS).

[0047] It should be noted that the flight route task includes obtaining the positions and setting sequences of the waypoints set by the user, and is generated according to the waypoint positions and setting sequences. Specifically, the user can mark points on the map as needed, that is, set waypoints, and the coordinates corresponding to the waypoints are the positions corresponding to the waypoints. At the same time, set the starting point and the ending point, and set the sequence of all waypoints according to the starting point and the ending point. In the flight route task, the waypoints exist in the form of coordinates, and the waypoint coordinates can be position coordinates measured by positioning measurement methods such as GPS (Global Positioning System) or RTK (Real-Time Kinematic).

[0048] For example, the flight route task can also obtain map information imported from the outside, such as KML (a landmark file), KMZ (a compressed KML file), or SHP (ESRI Shapefile), etc. The map information includes linear features (such as obtaining the riverbank line during riverbank inspection), and generates the flight route data according to the linear features. Specifically, the flight route task includes the starting point coordinates, ending point coordinates corresponding to the linear feature, as well as the position coordinates and arrangement order of each other waypoint on the linear feature.

[0049] Step S102, plan a flight route carrying arc waypoints according to the flight route task of the unmanned aerial vehicle;

[0050] Among them, it should be noted that it includes the target point longitude and latitude, target point altitude, cut-out point parameters, turning direction, turning radius, turning time, number of turning circles, and turning type. The cut-out point parameters include the cut-out point azimuth angle or the cut-out point longitude and latitude, that is, the cut-out point relative center azimuth angle or the cut-out point longitude and latitude coordinates.

[0051] For example, on the above basis, the arc waypoint can also include a height type, which is divided into absolute height and relative height. The turning direction is clockwise rotation and counterclockwise rotation. The turning type includes ordinary turning, turning altitude, turning time, and number of turning circles.

[0052] It should be noted that the flight route can only include arc waypoints, or can be composed of straight-line waypoints and arc waypoints. That is, the flight route can be from arc waypoint A to arc waypoint B, or from straight-line waypoint C to arc waypoint A, or from arc waypoint A to straight-line waypoint D, which is not limited here.

[0053] Step S103, determine the cut-out point parameters according to the turning radius, turning direction parameter of the current arc waypoint and the waypoint type of the next waypoint, turn or circle based on the arc waypoint, and after completing the turn or circle, cut out the arc turn or circle based on the cut-out point parameters.

[0054] Among them, the turning direction parameter includes clockwise turning and counterclockwise turning, and the flight direction and flight trajectory are determined according to the turning direction parameter of the arc waypoint.

[0055] It should be noted that the cut-out point parameter can ensure that the unmanned aerial vehicle smoothly cuts out the arc waypoint and exits the turn or hover.

[0056] Among them, the waypoint type of the next waypoint includes a straight waypoint and an arc waypoint. If the type of the next waypoint is a straight waypoint, the cut-out point parameter is determined according to the turning radius range of the current arc waypoint. If the type of the next waypoint is an arc waypoint, the cut-out point parameter is determined according to the turning direction of the next waypoint and the turning direction of the current arc waypoint.

[0057] Exemplarily, the control device is used to execute any one of the route planning methods provided in the embodiments of the present invention to obtain a flight route, and the obtained flight route is sent to the unmanned aerial vehicle so that the unmanned aerial vehicle can fly according to the planned flight route. When the unmanned aerial vehicle executes the route task, it turns according to the planned trajectory. The user can observe the expected turning trajectory in advance through the ground terminal display device, improving the user experience; when the ground operator plans the turning waypoint, the maximum turning performance of the unmanned aerial vehicle can be fully considered to shorten the turning time; at the same time, the arc waypoint includes the arc cut-out point parameter, which can accurately control the position where the aircraft cuts out the arc.

[0058] See details in Figure 2 , which is the flow chart of the cut-out point azimuth angle algorithm in the unmanned aerial vehicle route planning method in an embodiment of the present invention, and is described in detail as follows:

[0059] Judge whether the next waypoint is a straight waypoint;

[0060] If the next waypoint is a straight waypoint and it is judged whether the straight waypoint is within the current arc turning radius range; if so, an error prompt is given; if not, the first cut-out point azimuth angle of the straight waypoint is determined, and the first cut-out point azimuth angle is converted and determined as the first angle value, that is, it is represented by an angle of 0 to 360 degrees.

[0061] For example, if the next waypoint is a straight waypoint and within the turning radius of the current arc waypoint, an error is returned and the cut-out point azimuth angle is not calculated;

[0062] If the next waypoint is a straight waypoint and not within the turning radius, the cut-out point azimuth angle is calculated, and the calculation formula is: ψ out = ψ - dir * cos(R1 / D);

[0063] Through the above method, the cut-out point azimuth angle between the current arc waypoint and the next waypoint (that is, the straight waypoint) can be accurately calculated, so that the unmanned aerial vehicle flies according to the planned arc point, which is beneficial to accurately controlling the turning or hovering of the unmanned aerial vehicle.

[0064] Optionally, it further includes:

[0065] If the next waypoint is not a straight waypoint and it is determined whether the next waypoint is an arc waypoint, if so, it is determined whether the turning direction of the next waypoint is the same as the turning direction of the current arc waypoint; if the same, the first turning direction angle is determined; if different, the second turning direction angle is determined;

[0066] According to the turning direction angle, the second cut-out point azimuth angle of the arc waypoint is determined, and the second cut-out point azimuth angle is converted and determined as the second angle value, that is, expressed in an angle of 0 to 360 degrees.

[0067] Among them, it should be noted that the first turning direction angle is π / 2, and the second turning direction angle is cos((R1 + R2) / D), where R1 is the turning radius of the current arc waypoint, R2 is the turning radius of the next arc waypoint, and D is the distance between the current arc waypoint and the next arc waypoint.

[0068] It should also be noted that the first cut-out point azimuth angle is ψ - dir*cos(R1 / D), and the second cut-out point azimuth angle is ψ - dir*Δ, where ψ is the azimuth angle of the next arc waypoint relative to the current center position, dir is the turning direction of the current arc waypoint, and Δ is the first turning direction angle or the second turning direction angle.

[0069] In some other embodiments, see Figure 2 , which is described in detail as follows:

[0070] a) If the next waypoint is a straight waypoint and within the turning radius range of the current arc waypoint, an error is returned and the cut-out point azimuth angle is not calculated;

[0071] b) If the next waypoint is a straight waypoint and not within the turning radius, the cut-out point azimuth angle is calculated, and the calculation formula is: ψ out = ψ - dir*cos(R1 / D);

[0072] c) If the next waypoint is an arc waypoint, the turning direction angle Δ is calculated according to the following formula;

[0073] ① If the turning direction is the same as the current arc direction, then: Δ = π / 2;

[0074] ② If the turning direction is different from the current arc direction, then: Δ = cos((R1 + R2) / D);

[0075] d) If the next waypoint is an arc waypoint, the cut-out point azimuth angle calculation formula is:

[0076] ψ out = ψ - dir*Δ;

[0077] In the above steps a) to d), R1 and R2 respectively represent the turning radii of the current circular arc waypoint and the next circular arc waypoint, dir represents the turning direction of the current circular arc waypoint (-1 indicates counterclockwise turning, 1 indicates clockwise turning), D represents the distance between the current position and the next target point, and ψ represents the azimuth angle of the next target point relative to the current center position of the circle;

[0078] In this embodiment, by precisely controlling the entry and exit positions of the circular arc, the angle of the point where the UAV cuts out the circular arc can be precisely controlled, improving the user experience; it also realizes the predictable turning trajectory and maximum turning performance when the UAV turns at a straight-line waypoint, shortening the turning time.

[0079] Optionally, the hovering type includes at least one of the following:

[0080] If the hovering type is a normal turn, the UAV exits the turn after the azimuth angle of the UAV relative to the center of the circle reaches the azimuth angle of the cut-out point;

[0081] If the hovering type is altitude hovering, the UAV exits the hovering after the azimuth angle of the UAV relative to the center of the circle reaches the azimuth angle of the cut-out point and the hovering altitude reaches the altitude of the target point;

[0082] If the hovering type is time hovering, the UAV exits the hovering after the azimuth angle of the UAV relative to the center of the circle reaches the azimuth angle of the cut-out point and the hovering time reaches the preset time;

[0083] If the hovering type is number-of-circles hovering, the UAV exits the hovering after the azimuth angle of the UAV relative to the center of the circle reaches the azimuth angle of the cut-out point and the number of hovering circles reaches the preset number of circles.

[0084] In this embodiment, circular arc waypoints are used to uniformly represent turning circular arcs and hovering waypoints. The waypoint information includes attributes such as hovering time, number of hovering circles, and hovering type, which can execute the hovering task more flexibly and greatly improve the turning performance of the UAV.

[0085] Optionally, it further includes:

[0086] Obtain the straight-line point where the previous waypoint is tangent to the current circular arc waypoint, insert the straight-line point as an auxiliary waypoint between the previous waypoint and the current circular arc waypoint, and use the auxiliary waypoint to smoothly cut into the current circular arc waypoint from the previous waypoint.

[0087] The unmanned aerial vehicle route planning method provided by the present invention plans a flight route carrying circular arc waypoints according to the route task of the unmanned aerial vehicle, plans a circular arc trajectory in advance through the circular arc waypoints, obtains the cut-off point parameters of the circular arc trajectory, and can accurately control the position where the unmanned aerial vehicle cuts out the circular arc based on the cut-off point parameters. The unmanned aerial vehicle flies according to the planned circular arc trajectory, improving the turning performance of the unmanned aerial vehicle and shortening the time required for the unmanned aerial vehicle to turn. For users, the user experience is also enhanced by observing the expected turning trajectory in advance.

[0088] Optionally, the circular arc waypoint is planned and implemented through a terminal device as a type of waypoint. The specific implementation steps for the ground terminal to plan the circular arc waypoint are as follows:

[0089] (1) Determine the longitude and latitude coordinates of the circular arc waypoint on the terminal by means of map point selection or manual parameter input, etc.

[0090] (2) Input the flight altitude of the waypoint in the waypoint editing window on the terminal and select the altitude type. The altitude type is divided into absolute altitude and relative altitude.

[0091] (3) Input the turning radius through the waypoint editing window on the terminal. The turning radius is not less than the minimum turning radius that the unmanned aerial vehicle can achieve.

[0092] (4) Select the turning direction through the waypoint editing window on the terminal. The turning direction is divided into clockwise rotation and counterclockwise rotation.

[0093] (5) Select the hovering type through the waypoint editing window on the ground terminal. The hovering type is divided into ordinary turning, hovering by altitude, hovering by time, and hovering by number of circles.

[0094] (6) When the hovering type is selected as ordinary turning or hovering by altitude, there is no need to input the hovering time and number of hovering circles parameters.

[0095] (7) When the hovering type is selected as hovering by time, the hovering time parameter needs to be input in the hovering time parameter window.

[0096] (8) When the hovering type is selected as hovering by number of circles, the number of hovering circles parameter needs to be output in the hovering number of circles parameter window.

[0097] (9) After the route planning is completed, the ground terminal preprocesses the waypoint data. The preprocessing process includes:

[0098] Calculate the cut-off point parameters of the circular arc segment. The calculation process when the cut-off point parameters are expressed in azimuth angle is shown in Figure 1 。

[0099] Calculate the straight-line points tangent to the current arc segment based on the type of the previous waypoint, and insert the obtained straight-line points as auxiliary waypoints between the previous waypoint and the current arc waypoint. These auxiliary waypoints can ensure a smooth entry into the arc segment after the straight-line segment ends.

[0100] Display the processed flight route on the user terminal. For the display effect of the turning arc waypoint on the user terminal, as Figure 3 shown, where waypoint 1 and waypoint 3 are straight-line waypoints, and waypoint 2 is an arc turning waypoint. After processing using the flight route planning method, an auxiliary straight-line waypoint A is inserted, and the straight-line segment 1 is tangent to the arc segment formed by the arc waypoint 2. For the display effect of the hovering waypoint on the user terminal, as Figure 4 shown, where waypoint 1 and waypoint 3 are straight-line waypoints, and waypoint 2 is a hovering waypoint.

[0101] Through the above method, by using arc waypoints, the user can observe the turning trajectory in advance through the ground control device. When planning the turning trajectory, the turning performance of the UAV can be fully considered to shorten the turning time. When planning, by determining the parameters of the cut-out point of the arc trajectory, the cut-out position of the UAV from the arc can be accurately controlled.

[0102] Embodiment 2

[0103] Refer to Figure 5 , the present invention also provides an unmanned aerial vehicle flight route planning control device 500. The control device includes a processor, the processor is coupled with a memory, and the memory stores program instructions. When the program instructions stored in the memory are executed by the processor, the following functions are realized:

[0104] An acquisition module 501, configured to acquire the flight route task of the unmanned aerial vehicle;

[0105] A flight route determination module 502, configured to plan a flight route with arc waypoints according to the flight route task of the unmanned aerial vehicle;

[0106] A flight route execution module 503, configured to determine the cut-out point parameters according to the turning radius, turning direction parameters of the current arc waypoint and the waypoint type of the next waypoint, perform turning or hovering based on the arc waypoint, and after completing the turning or hovering, cut out the arc turning or hovering based on the cut-out point parameters.

[0107] Exemplarily, the control terminal includes a remote controller, a ground control platform, a mobile phone, a tablet computer, a laptop computer, a PC computer, etc., which are not limited herein.

[0108] The arc waypoint includes the longitude and latitude of the target point, the height of the target point, the cut-out point parameters, the hovering direction, the hovering radius, the hovering height, the hovering time, the number of hovering circles and the hovering type. The cut-out point parameters include the cut-out point azimuth angle or the longitude and latitude of the cut-out point.

[0109] Among them, the spiral type includes at least one of the following:

[0110] If the spiral type is a normal turn, the unmanned aerial vehicle exits the turn after the relative azimuth angle of the unmanned aerial vehicle with respect to the center of the circle reaches the azimuth angle of the cut-out point;

[0111] If the spiral type is a height spiral, the unmanned aerial vehicle exits the spiral after the relative azimuth angle of the unmanned aerial vehicle with respect to the center of the circle reaches the azimuth angle of the cut-out point and the spiral height reaches the height of the target point;

[0112] If the spiral type is a time spiral, the unmanned aerial vehicle exits the spiral after the relative azimuth angle of the unmanned aerial vehicle with respect to the center of the circle reaches the azimuth angle of the cut-out point and the spiral time reaches the preset time;

[0113] If the spiral type is a lap spiral, the unmanned aerial vehicle exits the spiral after the relative azimuth angle of the unmanned aerial vehicle with respect to the center of the circle reaches the azimuth angle of the cut-out point and the number of spiral laps reaches the preset number of laps.

[0114] Optionally, the route execution module further includes:

[0115] Determine whether the next waypoint is a straight-line waypoint;

[0116] If the next waypoint is a straight-line waypoint and it is determined whether the straight-line waypoint is within the current arc turning radius range; if so, an error prompt is given; if not, the first cut-out point azimuth angle of the straight-line waypoint is determined, and the first cut-out point azimuth angle is converted and determined as the first angle value.

[0117] If the next waypoint is not a straight-line waypoint and it is determined whether the next waypoint is an arc waypoint, if so, determine whether the turning direction of the next waypoint is the same as the turning direction of the current arc waypoint; if the same, determine the first turning direction angle; if different, determine the second turning direction angle;

[0118] Among them, the first turning direction angle is π / 2, and the second turning direction angle is cos((R1 + R2) / D), where R1 is the turning radius of the current arc waypoint, R2 is the turning radius of the next arc waypoint, and D is the distance between the current arc waypoint and the next arc waypoint;

[0119] Determine the second cut-out point azimuth angle of the arc waypoint according to the turning direction angle, and convert the second cut-out point azimuth angle and determine it as the second angle value.

[0120] Among them, the first cut-out point azimuth angle is ψ - dir*cos(R1 / D), and the second cut-out point azimuth angle is ψ - dir*Δ, where ψ is the azimuth angle of the next arc waypoint relative to the current center position of the circle, dir is the turning direction of the current arc waypoint, and Δ is the first turning direction angle or the second turning direction angle.

[0121] Optionally, it further includes:

[0122] An auxiliary waypoint module, configured to obtain a straight-line point where the previous waypoint is tangent to the current circular arc waypoint, insert the straight-line point as an auxiliary waypoint between the previous waypoint and the current circular arc waypoint, and use the auxiliary waypoint to smoothly cut into the current circular arc waypoint from the previous waypoint.

[0123] In this embodiment, the system executes the method described in any of the above embodiments. For the specific functions and technical effects, please refer to the above embodiments and will not be elaborated here.

[0124] An embodiment of the present invention provides a route planning and control device for an unmanned aerial vehicle. The control device plans a flight route with circular arc waypoints according to the route task of the unmanned aerial vehicle, pre-plans a circular arc trajectory through the circular arc waypoints, obtains the cut-off point parameters of the circular arc trajectory, and can accurately control the cut-off position of the unmanned aerial vehicle based on the cut-off point parameters. The unmanned aerial vehicle flies according to the planned circular arc trajectory. By selecting an appropriate turning radius when planning the circular arc waypoints, the turning performance of the unmanned aerial vehicle is improved, and the time required for the unmanned aerial vehicle to turn is shortened; for users, the expected turning flight trajectory of the unmanned aerial vehicle can be observed during route planning.

[0125] An embodiment of the present application further provides an unmanned aerial vehicle route planning system, including a control device and at least one aircraft. The control device includes a memory and a processor, the processor is coupled to the memory, and the memory stores program instructions. When the program instructions stored in the memory are executed by the processor, the method described in any of the above embodiments is implemented.

[0126] An embodiment of the present application further provides a non-volatile readable storage medium, in which one or more modules (programs) are stored. When the one or more modules are applied to a device, the device can be made to execute the instructions (instructions) included in the first embodiment of the embodiments of the present application.

[0127] An embodiment of the present application further provides a computer-readable storage medium, including a program. When it runs on a computer, the computer is made to execute the method described in any of the above embodiments.

[0128] In summary, the present invention plans a flight route carrying arc waypoints according to the route mission of the unmanned aerial vehicle. By planning the arc trajectory in advance through the arc waypoints, the cut-off point parameters of the arc trajectory are obtained. According to the cut-off point parameters, the unmanned aerial vehicle can be precisely controlled to cut off the arc position. The unmanned aerial vehicle flies according to the planned arc trajectory. By selecting an appropriate turning radius during the planning of the arc waypoints, the turning performance of the unmanned aerial vehicle is improved, and the time required for the unmanned aerial vehicle to turn is shortened. For users, the expected turning flight trajectory of the unmanned aerial vehicle can be observed during route planning. Therefore, the present invention effectively overcomes various disadvantages in the prior art and has high industrial utilization value.

[0129] The above embodiments are only illustrative of the principles and effects of the present invention, and are not used to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes completed by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A method for route planning of an unmanned aerial vehicle, characterized in that, The method includes: Obtaining a route task of an unmanned aerial vehicle; Planning a flight route with arc waypoints according to the route task of the unmanned aerial vehicle; the arc waypoints include the longitude and latitude of the target point, the height of the target point, cut-out point parameters, circling direction, circling radius, circling time, number of circling laps and circling type, and the cut-out point parameters include the cut-out point azimuth angle or the longitude and latitude of the cut-out point; Determining the cut-out point parameters according to the turning radius of the current arc waypoint, the turning direction parameter and the waypoint type of the next waypoint, turning or circling based on the arc waypoint, and after completing the turning or circling, cutting out the arc turning or circling based on the cut-out point parameters; Judging whether the next waypoint is a straight-line waypoint; if the next waypoint is a straight-line waypoint and it is judged whether the straight-line waypoint is within the range of the current arc turning radius; if so, giving an error prompt; if not, determining the first cut-out point azimuth angle of the straight-line waypoint and converting the first cut-out point azimuth angle to determine the first angle value; Judging whether the next waypoint is an arc waypoint, if so, judging whether the turning direction of the next waypoint is the same as the turning direction of the current arc waypoint; if the same, determining the first turning direction angle; if different, determining the second turning direction angle; determining the second cut-out point azimuth angle of the arc waypoint according to the turning direction angle and converting the second cut-out point azimuth angle to determine the second angle value.

2. The method according to claim 1, characterized in that, The first turning direction angle is x / 2, and the second turning direction angle is cos((R1 - R2) / D), where R1 is the turning radius of the current arc waypoint, R2 is the turning radius of the next arc waypoint, and D is the distance between the current arc waypoint and the next arc waypoint.

3. The method according to claim 2, characterized in that, The azimuth angle of the first cut-off point is ψ-dir*cos(R1 / D), and the azimuth angle of the second cut-off point is where ψ is the azimuth angle of the next circular arc waypoint relative to the current center position, dir is the turning direction of the current circular arc waypoint, and Δ is the first turning direction angle or the second turning direction angle.

4. The method according to claim 1, characterized in that, The circling type includes at least one of the following: If the circling type is a normal turn, exit the turn after the relative azimuth angle of the unmanned aerial vehicle with respect to the center of the circle reaches the cut-out point azimuth angle; If the circling type is a height circle, exit the circle after the relative azimuth angle of the unmanned aerial vehicle with respect to the center of the circle reaches the cut-out point azimuth angle and the circling height reaches the target point height; If the circling type is a time circle, exit the circle after the relative azimuth angle of the unmanned aerial vehicle with respect to the center of the circle reaches the cut-out point azimuth angle and the circling time reaches the preset time; If the circling type is a lap circle, exit the circle after the relative azimuth angle of the unmanned aerial vehicle with respect to the center of the circle reaches the cut-out point azimuth angle and the number of circling laps reaches the preset number of laps.

5. The method according to claim 1, characterized in that, It further includes: Obtaining a straight-line point where the previous waypoint is tangent to the current arc waypoint, inserting the straight-line point as an auxiliary waypoint between the previous waypoint and the current arc waypoint, and using the auxiliary waypoint to smoothly cut into the current arc waypoint from the previous waypoint.

6. An unmanned aerial vehicle route planning control device, characterized in that, The control device includes a processor, the processor is coupled with a memory, and the memory stores program instructions. When the program instructions stored in the memory are executed by the processor, the method described in any one of claims 1 to 5 is implemented.

7. An unmanned aerial vehicle route planning system, characterized in that, Comprising a control device and at least one aircraft, the control device includes a memory and a processor, the processor is coupled to the memory, and the memory stores program instructions, and when the program instructions stored in the memory are executed by the processor, the method according to any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium, characterized in that, Comprising a program which, when run on a computer, causes the computer to execute the method according to any one of claims 1 to 5.

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