Unmanned Aerial Vehicle Mapping Route Planning Method, System, Equipment and Medium

Abstract

The present invention provides a method, a system, a device and a medium for mapping route planning of an unmanned aerial vehicle, specifically relating to the technical field of unmanned aerial vehicle flight. The method obtains the target operation area of the unmanned aerial vehicle; divides the target operation area into at least one mapping flight segment, and the mapping flight segment includes a parallel round-trip route, a cross round-trip route or a polyline route; constructs a flight auxiliary flight segment based on the route corresponding to the mapping flight segment so that the round-trip route or the polyline route is smoothly connected. The flight auxiliary flight segment includes an extension line of the mapping flight segment, a turning arc waypoint and a straight waypoint; plans the mapping route according to the position information of each mapping flight segment and the flight auxiliary flight segment. By using the flight auxiliary flight segment, smooth turning can be realized, the turning slope is small, and the turning trajectory is not easy to overshoot. At the same time, the time required for the unmanned aerial vehicle to map the route in the target operation area is shortened, and the efficiency of the unmanned aerial vehicle mapping the route is also improved.

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 mapping 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, mapping, military defense, disaster relief, and video shooting.

[0003] In the related art, when using a fixed - wing UAV for mapping operations, since the fixed - wing UAV requires a certain space range to turn near the endpoints of the route, it will deviate far from the operation route near the endpoints of the operation route, or there will be a large overshoot relative to the expected operation track. To ensure the effective mapping operation range, the actual mapping operation area is usually enlarged, the effective operation section is extended, and several auxiliary flight waypoints for flight turning are inserted at both ends of the mapping section respectively to assist the UAV in completing the turning flight.

[0004] However, the above - mentioned mapping route method has the disadvantage of low operation efficiency. At the same time, if turning is performed according to a broken - line section, it not only cannot ensure the smooth turning of the unmanned aerial vehicle on the round - trip route or the turning (broken - line) route, but also prolongs the turning time. Summary of the Invention

[0005] 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 mapping route planning of an unmanned aerial vehicle, which is used to solve the problem that when planning the mapping route of a UAV in the prior art, it cannot ensure the smooth turning of the unmanned aerial vehicle on the round - trip route or the broken - line route.

[0006] To achieve the above - mentioned purpose and other related purposes, the present invention provides a method for mapping route planning of an unmanned aerial vehicle, and the method includes:

[0007] Obtain the target operation area of the unmanned aerial vehicle;

[0008] Divide the target operation area into at least one mapping section, and the mapping section is a parallel round - trip route, a cross - round - trip route or a broken - line route;

[0009] Based on the route corresponding to the mapping section, construct a flight auxiliary section to make the round - trip route smoothly connected. The flight auxiliary section includes the extension line of the mapping section, the turning arc waypoint and the straight - line waypoint;

[0010] Plan the mapping route according to the position information of each mapping section and the flight auxiliary section.

[0011] In an embodiment of the present invention, the flight assistance flight segment further includes: extending both ends of the starting point and the terminal point of the route mapping with respect to each other to form two extension lines, generating arc waypoints tangent to the endpoints of each extension line at the endpoints of the extension line, and connecting the arc cut-off point of the previous mapping flight segment and the arc cut-in point of the next mapping flight segment in sequence according to the flight direction, and linear waypoints tangent to the two arcs respectively.

[0012] In an embodiment of the present invention, it further includes: determining the turning direction according to the position of the next target waypoint relative to the current target waypoint. If the next target waypoint is on the right side of the current target waypoint, it is determined that the two arc waypoints turn clockwise; if the next target waypoint is on the left side of the current target waypoint, it is determined that the two arc waypoints turn counterclockwise.

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

[0014] Obtain the first mapping route along the flight direction in the round-trip route or the polyline route, establish a first extension line at the mapping end point of the first mapping route, and determine the position information of the first linear waypoint by using the longitude, latitude and altitude of the first extension line;

[0015] Obtain the second mapping route along the flight direction in the round-trip route or the polyline route, establish a second extension line at the mapping starting point of the second mapping route, and determine the position information of the cut-off point of the second arc waypoint by using the longitude, latitude and altitude of the second extension line;

[0016] Obtain the first azimuth angle of the connection line between the first linear waypoint and the cut-off point of the second arc waypoint relative to the first extension line;

[0017] Obtain the second azimuth angle of the vector connecting the mapping starting point to the mapping end point of the first mapping route;

[0018] Obtain the third azimuth angle of the vector connecting the mapping end point to the mapping starting point of the second mapping route.

[0019] In an embodiment of the present invention, it further includes:

[0020] Determine the turning direction of the two arc waypoints according to whether the angle of the first azimuth angle is less than zero;

[0021] Determine the fourth azimuth angle of the center position of the first arc waypoint relative to the first linear waypoint according to the second azimuth angle and the turning direction;

[0022] Determine the position information of the first arc waypoint according to the fourth azimuth angle and the turning radius of the first arc waypoint;

[0023] Determine the fifth azimuth angle of the second circular arc waypoint relative to the cut-off point of the second circular arc waypoint according to the third azimuth angle and the turning direction;

[0024] Determine the position information of the second circular arc waypoint according to the fifth azimuth angle and the turning radius of the second circular arc waypoint.

[0025] In an embodiment of the present invention, it further includes:

[0026] Determine the sixth azimuth angle between vectors according to the position information of the first circular arc waypoint and the position information of the second circular arc waypoint;

[0027] Determine the seventh azimuth angle of the cut-off point of the first circular arc waypoint relative to the first circular arc waypoint according to the sixth azimuth angle and the turning direction, and the seventh azimuth angle is the same as the azimuth angle of the cut-in point of the second circular arc waypoint;

[0028] Determine the position information of the second straight line waypoint according to the azimuth angle of the cut-in point of the second circular arc waypoint, the turning radius of the second circular arc waypoint and the position information of the second circular arc waypoint;

[0029] Determine the azimuth angle of the cut-off point of the second circular arc waypoint according to the sum of the fifth azimuth angle and π.

[0030] In an embodiment of the present invention, it further includes: the circular arc waypoint includes the target point longitude and latitude, the target point height, 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 cut-off point longitude and latitude.

[0031] The present invention also provides an unmanned aerial vehicle mapping route planning and control device, including:

[0032] An acquisition module, configured to acquire the target operation area of the unmanned aerial vehicle;

[0033] An area division module, configured to divide the target operation area into at least one mapping flight segment, and the mapping flight segment includes a parallel round-trip route, a cross round-trip route or a polyline route;

[0034] A flight assistance module, based on the route corresponding to the mapping flight segment, constructs a flight assistance flight segment to smoothly connect the round-trip route or the polyline route, and the flight assistance flight segment includes the extension line of the mapping flight segment, the turning circular arc waypoint and the straight line waypoint;

[0035] A mapping planning module, configured to plan the mapping route according to the position information of each mapping flight segment and the flight assistance flight segment.

[0036] The present invention also provides a mapping route planning system for an unmanned aerial vehicle. The system includes a control device and at least one 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.

[0037] The present invention also provides a control device for mapping route planning of an unmanned aerial vehicle. 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.

[0038] 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.

[0039] As described above, the present invention provides a method, a system, a device and a medium for mapping route planning of an unmanned aerial vehicle. The method divides a target operation area into at least one mapping flight segment. The mapping flight segment includes a parallel round-trip route, a cross round-trip route or a broken-line route. A flight auxiliary segment is constructed based on the route corresponding to the mapping flight segment so that the routes are smoothly connected. The flight auxiliary segment includes an extension line of the route, an arc waypoint for turning and a straight waypoint. The mapping route is planned according to the position information of each mapping flight segment and the flight auxiliary segment. The flight auxiliary segment is used to achieve a smooth turn, with a small turning slope and the turning trajectory is not likely to overshoot. At the same time, the time required for the unmanned aerial vehicle to map the route in the target operation area is shortened, and the efficiency of the unmanned aerial vehicle mapping the route is also improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] 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 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.

[0041] Figure 1 It is a schematic flowchart of the method for mapping route planning of an unmanned aerial vehicle in an embodiment of the present invention;

[0042] Figure 2 It is a schematic diagram of the planning effect of a large-spacing parallel round-trip route in an embodiment of the present invention;

[0043] Figure 3 It is a schematic diagram of the planning effect of a small-spacing parallel round-trip route in an embodiment of the present invention;

[0044] Figure 4 Schematic diagram of the large-spacing intersection route planning effect in an embodiment of the present invention;

[0045] Figure 5 Schematic diagram of the small-spacing intersection route planning effect in an embodiment of the present invention;

[0046] Figure 6 Block diagram of the structure of the unmanned aerial vehicle mapping route planning control device in an embodiment of the present invention. Specific embodiments

[0047] The following illustrates the embodiments of the present invention through specific examples. Those skilled in the art can easily understand the 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 embodiments, and 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.

[0048] 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.

[0049] Embodiment 1

[0050] In response to the above technical problems, the embodiment of the present invention provides a method for planning an unmanned aerial vehicle mapping route. The method divides a target operation area into at least one mapping flight segment, and the mapping flight segment includes a parallel round-trip route, an intersection round-trip route, or a polyline route. A flight auxiliary flight segment is constructed based on the route corresponding to the mapping flight segment to enable smooth connection between the routes. The flight auxiliary flight segment includes an extension line of the mapping flight segment, a turning arc waypoint, and a straight waypoint. The mapping route is planned according to the position information of each mapping flight segment and the flight auxiliary flight segment. The flight auxiliary flight segment is used to achieve smooth turning, with a small turning slope and the turning trajectory is not likely to overshoot. At the same time, the time required for the unmanned aerial vehicle to map the route in the target operation area is shortened, and the efficiency of the unmanned aerial vehicle mapping route is also improved.

[0051] Please refer to Figure 1 , a flowchart of a method for planning an unmanned aerial vehicle mapping route provided by the present invention, the method includes:

[0052] Step S101, obtain the target operation area of the unmanned aerial vehicle;

[0053] Among them, the unmanned aerial vehicle includes but is not limited to drones, and the drone includes rotary-wing drones, such as quadrotor drones, hexacopter drones, octocopter drones, or can be a fixed-wing drone, or a combination of rotary-wing and fixed-wing drones, which is not limited herein.

[0054] It should be noted that when surveying and mapping personnel select a target area in the electronic map, the following several feasible implementation methods may be included:

[0055] One feasible implementation method is that surveying and mapping personnel select several boundary points of the target area on the electronic map. For example, boundary point 1, boundary point 2, boundary point 3, and boundary point 4. Specifically, surveying and mapping personnel can select boundary point 1, boundary point 2, boundary point 3, and boundary point 4 of the target area on the electronic map through the input devices of the PC ground station, such as a mouse, keyboard, etc. In other embodiments, the screen of the PC ground station can be a touch screen, and surveying and mapping personnel can also select boundary point 1, boundary point 2, boundary point 3, and boundary point 4 of the target area on the electronic map by clicking on the touch screen. The PC ground station determines the target area according to the boundary points 1, 2, 3, and 4 selected by the surveying and mapping personnel.

[0056] Another feasible implementation method is that surveying and mapping personnel first select a point on the electronic map, and then drag the mouse to another point to frame out the target area.

[0057] This is only for illustrative purposes and does not limit the way for surveying and mapping personnel to select the target area, nor the specific form of the user interface and the displayed content.

[0058] After the surveying and mapping personnel select the target area on the electronic map, the PC ground station can determine the positioning information of the target area on the electronic map. For example, the positioning information of each boundary point on the boundary of the target area on the electronic map.

[0059] Furthermore, the PC ground station determines the surveying route information according to the positioning information of the target area. The PC ground station determines the boundary of the target area according to boundary point 1, boundary point 2, boundary point 3, and boundary point 4. For example, the boundary between boundary point 1 and boundary point 2, the boundary between boundary point 2 and boundary point 3, and the boundary between boundary point 3 and boundary point 4.

[0060] Further, according to the positioning information of the boundary points on each boundary of the target area on the electronic map, the surveying route is determined. The surveying route includes multiple surveying waypoints (such as Figures 2 to 5For the waypoints in it, surveyors can also set the flight altitude, flight speed, flight attitude, and operations to be performed at each survey waypoint of the UAV through the user interface, such as taking pictures, surveying, etc. It can be understood that the survey route information includes the positioning information of each survey waypoint, the flight altitude, flight speed, flight attitude, and operations to be performed at each survey waypoint of the UAV, etc.

[0061] Step S102: Divide the target operation area into at least one survey flight segment, where the survey flight segment is a parallel round-trip route, a cross round-trip route, or a polyline route (i.e., a turning route).

[0062] It should be noted that the target operation area can be divided into one or more survey flight segments. For example, multiple survey flight segments can be multiple parallel round-trip routes of the same type, or multiple survey flight segments can be multiple cross round-trip routes of the same type, or multiple survey flight segments can be multiple turning routes of the same type, or multiple survey flight segments can be parallel round-trip routes, cross round-trip routes, or turning routes.

[0063] Step S103: Based on the route corresponding to the survey flight segment, construct a flight auxiliary segment to smoothly connect the round-trip routes. The flight auxiliary segment includes the extension line of the survey flight segment, the arc waypoints for turning, and the straight waypoints.

[0064] It should be noted that the flight auxiliary segment further includes: extending the two ends of the survey starting point and the survey terminal relative to the survey route to form two extension lines. An arc waypoint tangent to the end point of each extension line is generated at the end point of each extension line. A straight waypoint connecting the two arc waypoints and tangent to the cut-out point of one arc waypoint and the cut-in point of the other arc waypoint, that is, a straight waypoint that is sequentially connected to the cut-out point of the arc of the previous survey flight segment and the cut-in point of the arc of the next survey flight segment according to the flight direction and is tangent to the two arcs.

[0065] It also should be noted that the two extension lines respectively correspond to two arc waypoints for turning (the first arc waypoint and the second arc waypoint). The turning directions of the two arc waypoints, for example, are determined according to the position of the next target waypoint relative to the current target waypoint. If the next target waypoint is on the right side of the current target waypoint, it is determined that the two arc waypoints turn clockwise; if the next target waypoint is on the left side of the current target waypoint, it is determined that the two arc waypoints turn counterclockwise. By setting the turning directions of the arc waypoints in the same direction, on the one hand, it can avoid the complex planning of the survey route and reduce the survey time of the UAV; on the other hand, by reducing the workload of planning the survey route, the efficiency of planning the survey route can also be improved.

[0066] For example, by making the first circular waypoint and the second circular waypoint tangent to the straight-line waypoint respectively, one end of the straight-line waypoint is tangent to the cut-off point of the first circular waypoint, and the other end of the straight-line waypoint is tangent to the cut-in point of the second circular waypoint, thereby determining the position information of the straight-line waypoint.

[0067] In the above manner, a smooth turn is achieved by using the flight assist section, with a small turning slope and the turning trajectory not prone to overshoot. At the same time, the maximum performance of the UAV during turning is ensured, and the turning time is also shortened.

[0068] Step S104, plan the mapping route according to the position information of each of the mapping sections and flight assist sections.

[0069] Specifically, according to the relative position information of each mapping section and the position information of each mapping section flight assist section, the planned mapping route of the target operation area is reconstructed in the position sequence.

[0070] Among them, the mapping personnel can see the operation area, obstacles, etc. in the mapping image by magnifying the mapping image on the PC ground station. Among them, the operation area can specifically be a farmland, the obstacle can specifically be a road, and the obstacle can specifically be a tree, a utility pole or other objects. This is only for illustrative purposes and does not limit the specific content of the mapping image. It can be understood that for the PC ground station, the positioning information of each pixel point in the mapping image is known.

[0071] The PC ground station can determine the operation route of the UAV according to the boundary information of the operation area in the mapping image, for example, the positioning information of the boundary points, and the positioning information of the obstacles.

[0072] In this embodiment, the ground station device determines the planned mapping route according to the positioning information of the target area, controls the UAV to perform the mapping task in the target area according to the mapping route, determines the mapping image of the target area through the image information of the target area collected by the UAV during the mapping task, and determines the operation route of the UAV according to the mapping image. Compared with the prior art, it is not necessary for the mapping personnel to carry a positioning device to walk around the target area to measure the positioning information of the boundary points of the target area and the positioning information of the obstacles in or around the target area, which saves time and effort and improves the planning efficiency of the UAV operation route.

[0073] In some other embodiments, the circular waypoint includes the target point longitude and latitude, the target point altitude, the cut-off point parameters, the circling direction, the circling radius, the circling time, the number of circling laps, and the circling type. The cut-off point parameters include the cut-off point azimuth angle or the cut-off point longitude and latitude, that is, the azimuth angle of the cut-off point relative to the center of the circle or the longitude and latitude coordinates of the cut-off point.

[0074] For example, the hovering directions are clockwise rotation and counterclockwise rotation, and the hovering types include ordinary turning, hovering altitude, hovering time, and number of hovering circles.

[0075] Determine the cut-off point parameters (cut-off point azimuth or cut-off point longitude and latitude) according to the turning radius and turning direction of the current circular arc waypoint and the waypoint type of the next waypoint. Based on the circular arc waypoint, turn or hover according to the planned circular arc waypoint. After completing the turn or hover, exit the turn or hover based on the cut-off point parameters.

[0076] Specifically, when the unmanned aerial vehicle performs tasks at the circular arc waypoint, it can achieve a turning action through the circular arc waypoint or achieve hovering through the circular arc waypoint.

[0077] Exemplarily, use the control device to execute a mapping route planning method provided by an embodiment of the present invention to obtain a mapping route, and send the obtained mapping route to the unmanned aerial vehicle so that the unmanned aerial vehicle can perform tasks according to the planned mapping route. When the unmanned aerial vehicle performs the mapping task, it flies according to the planned mapping route. The user can observe the expected turning trajectory in advance through the ground station terminal display device, improving the user experience; when the ground operation user plans the turning waypoint, the maximum turning performance of the unmanned aerial vehicle is exerted, shortening the turning time; at the same time, using the circular arc cut-off point parameters of the circular arc waypoint, the position where the aircraft cuts out the circular arc can be accurately controlled.

[0078] Based on the above embodiment, the process of the mapping route planning method for the unmanned aerial vehicle in this embodiment is as follows:

[0079] Plan the operation plot through the ground station terminal, and generate operation flight segments according to the set route spacing parameters;

[0080] The ground station terminal processes the operation flight segments, extends the operation flight segments to ensure that the unmanned aerial vehicle completes the turning flight within the effective operation flight segments, and the user can change or configure the flight segment extension distance through the ground station terminal;

[0081] Generate turning circular arcs outside the extension lines at both ends of two adjacent effective operation routes respectively, and the generated circular arcs are tangent to the extended routes respectively;

[0082] Set the turning directions of the two turning circular arcs to be the same. If the next target point is on the right side of the current operation flight segment, both turning circular arcs are clockwise turns; if the next target point is on the left side of the current operation flight segment, both turning circular arcs are counterclockwise turns;

[0083] The ground station terminal calculates a straight flight segment that is tangent to both turning circular arcs;

[0084] Calculate the positions of the cut-off points of the two circular arcs respectively according to the tangent point positions;

[0085] Repeat the above method to obtain two linear auxiliary waypoints (two first linear waypoints and one second linear waypoint) and two arc auxiliary waypoints (a first arc waypoint and a second arc waypoint) with smooth connection of two adjacent operation flight segments;

[0086] The ground station terminal combines the operation waypoints and the generated auxiliary flight waypoints to generate the final mission execution waypoints;

[0087] The display interface of the ground station terminal respectively draws the flight trajectories of the linear flight segments and the turning flight segments according to the waypoint parameters.

[0088] Through the above method, the mapping route planning method in this embodiment is applicable to parallel round-trip operation routes, cross round-trip operation routes or turning operation routes. At the same time, the planned mapping route is displayed through the ground station terminal, which is convenient for users to know the turning trajectory in advance and improves the user experience.

[0089] For details, see Figure 2 , which is a schematic diagram of the planning effect of a large-spacing parallel round-trip route in an embodiment of the present invention, and is described in detail as follows:

[0090] Obtain the first mapping route along the flight direction in the round-trip route or the polyline route, establish a first extension line at the mapping end point of the first mapping route, and determine the position information of the first linear waypoint by using the longitude, latitude and altitude of the first extension line;

[0091] For example, according to the position information (longitude, latitude and altitude) of the start point 1 and the end point 2 of the mapping segment and the distance parameter for extending the auxiliary waypoint, determine the position information of the first linear waypoint A.

[0092] Obtain the second mapping route along the flight direction in the round-trip route or the polyline route, establish a second extension line at the mapping start point of the second mapping route, and determine the position information of the cut-off point of the second arc waypoint by using the longitude, latitude and altitude of the second extension line;

[0093] For example, according to the position information (longitude, latitude and altitude) of the start point 3 and the end point 4 of the segment where the mapping end point of the round-trip route is located and the distance parameter for extending the auxiliary waypoint, determine the cut-off point D * of the second arc waypoint, where the cut-off point D * of the second arc waypoint is not a flight waypoint and is only used for auxiliary calculation.

[0094] Obtain the first azimuth angle of the connection line between the first linear waypoint and the cut-off point of the second arc waypoint relative to the first extension line;

[0095] Obtain the second azimuth angle of the vector connecting the mapping start point to the mapping end point of the first mapping route;

[0096] Obtain the third azimuth angle of the vector connecting the mapping end point to the mapping start point of the second segment of the mapping route.

[0097] For example, the connecting line AD * The first azimuth angle Ψ with respect to the first extension line (i.e., the connecting line between waypoint 2 and waypoint A), and the first azimuth angle can be expressed in an angle range of -180° to 180°.

[0098] Determine the turning direction of the two arc waypoints according to whether the angle of the first azimuth angle is less than zero;

[0099] For example, calculate the turning direction of the arc waypoint through the first azimuth angle Ψ. When Ψ≥0, the turning direction is clockwise, dir1 = 1; when Ψ<0, the turning direction is counterclockwise, dir1 = -1.

[0100] Determine the fourth azimuth angle of the center position of the first arc waypoint relative to the first straight waypoint according to the second azimuth angle and the turning direction;

[0101] For example, determine the second azimuth angle of the center position of the first arc waypoint B relative to the first straight waypoint A in the following way, Ψ AB = Ψ + dir * π / 2, where Ψ AB is the fourth azimuth angle, dir is the turning direction, π is the angle value, and Ψ is the first azimuth angle.

[0102] Determine the position information of the first arc waypoint according to the fourth azimuth angle and the turning radius of the first arc waypoint;

[0103] For example, use the second azimuth angle Ψ AB and the turning radius R1 of the first arc waypoint to determine the position information of the first arc waypoint B, which helps to clearly determine the longitude, latitude and altitude of the first arc waypoint. Among them, the altitude is the same as that of waypoint A.

[0104] Determine the fifth azimuth angle of the second arc waypoint relative to the cut-off point of the second arc waypoint according to the third azimuth angle and the turning direction;

[0105] For example, determine the third azimuth angle of the second arc waypoint D relative to the cut-off point D of the second arc waypoint in the following way * of the second arc waypoint D, Ψ D*D = Ψ - dir * π / 2, where Ψ D*D is the third azimuth angle, dir is the turning direction, π is the angle value, and Ψ is the third azimuth angle.

[0106] Determine the position information of the second arc waypoint according to the fifth azimuth angle and the turning radius of the second arc waypoint.

[0107] For example, use the third azimuth angle Ψ D*DDetermine the position information of the second circular arc waypoint D based on the turning radius R2 of the second circular arc waypoint, which helps to clearly determine the longitude, latitude, and altitude of the second circular arc waypoint D. Among them, the altitude is the same as the altitude of the cut-out point D of the second circular arc waypoint * The altitudes are the same.

[0108] Determine the sixth azimuth angle of the vector based on the position information of the first circular arc waypoint and the position information of the second circular arc waypoint;

[0109] For example, use the position information of the first circular arc waypoint B and the position information of the second circular arc waypoint D to determine the sixth azimuth angle Ψ of the vector BD BD .

[0110] Determine the seventh azimuth angle of the cut-out point of the first circular arc waypoint relative to the first circular arc waypoint according to the angle difference between the fourth azimuth angle and the turning direction. The seventh azimuth angle is the same as the azimuth angle of the cut-in point of the second circular arc waypoint;

[0111] For example, use the following formula to determine the fifth azimuth angle of the cut-out point D of the first circular arc waypoint * relative to the first circular arc waypoint B, Ψ out1 = Ψ BD - dir * π / 2, where Ψ out1 is the fifth azimuth angle, which can be converted to an angle between 0 and 360° for representation. Ψ BD is the fifth azimuth angle, dir is the turning direction, π is the angle value, and the azimuth angle of the cut-in point of the second circular arc waypoint is the same as the seventh azimuth angle Ψ out1 .

[0112] Determine the position information of the second straight-line waypoint based on the azimuth angle of the cut-in point of the second circular arc waypoint, the turning radius of the second circular arc waypoint, and the position information of the second circular arc waypoint;

[0113] For example, use the azimuth angle Ψ of the cut-in point of the second circular arc waypoint out1 , the turning radius R2 of the second circular arc waypoint, and the position information of the second circular arc waypoint D to determine the position information of the second straight-line waypoint C. Among them, the altitude in the position information of the second straight-line waypoint C is the same as the altitude of the second circular arc waypoint D.

[0114] Determine the azimuth angle of the cut-out point of the second circular arc waypoint according to the sum of the fifth azimuth angle and π.

[0115] For example, use the following method to determine the azimuth angle of the cut-out point of the second circular arc waypoint, Ψ out2 = Ψ D*D + π, Ψ out2 is the azimuth angle of the cut-out point of the second circular arc waypoint, Ψ D*D is the fifth azimuth angle, π is the angle value, and the azimuth angle of the cut-out point of the second circular arc waypoint can be converted to an angle between 0 and 360° for representation.

[0116] In the above manner, until all the segments of the flight assistance segment in the survey flight segment are determined. On the one hand, in the survey flight segment of the survey flight line, by precisely controlling the positions of entering and exiting the turning arc, the angle of the point where the UAV cuts out the arc can be precisely controlled, enhancing the user experience; it also realizes that when the UAV turns at a straight flight waypoint, the turning trajectory is predictable, the maximum turning performance is achieved, and the turning time is shortened. On the other hand, using the flight assistance segment to construct a simple and smooth turning flight line to connect two flight segments can ensure the planning of various irregular areas, round-trip parallel flight segments, round-trip cross flight segments, and turning flight segments during the survey.

[0117] See Figure 3 , which is a schematic diagram of the planning effect of the small-spacing parallel round-trip flight line in an embodiment of the present invention; the difference in the above embodiment is that the spacing of the parallel round-trip flight line is small, and the calculation method of all segments of the flight assistance segment refers to the above description and will not be elaborated here.

[0118] See Figure 4 , which is a schematic diagram of the planning effect of the large-spacing cross flight line in an embodiment of the present invention; see Figure 5 , which is a schematic diagram of the planning effect of the small-spacing cross flight line in an embodiment of the present invention. The difference from Figure 2 is that in this embodiment, the two round-trip flight lines are cross flight lines, and the method for calculating the flight assistance segment is as follows. For convenience of description, in this embodiment, waypoint 1, waypoint 2, waypoint 3, and waypoint 4 are used to represent the waypoint numbers of any two consecutive operation flight segments. Among them, waypoint 1, waypoint 2, waypoint 3, and waypoint 4 are operation waypoints planned by the ground station software. For example, both flight segment 12 and flight segment 34 are actual operation flight segments, while flight segment 23 is a flight turning segment. Flight segment 12 and flight segment 34 need to ensure that the UAV flies according to the planned trajectory as much as possible, and there is no requirement for the flight trajectory of flight segment 23. The details are as follows:

[0119] (1) Select a survey operation area within the target operation area through the ground station terminal (equipment) to generate operation waypoints;

[0120] (2) According to the position information (latitude, longitude, and altitude) of waypoint 1 and waypoint 2, and the auxiliary waypoint extension distance parameter, calculate the latitude, longitude, and altitude of the auxiliary flight waypoint A. Waypoint A is a straight flight waypoint;

[0121] (3) According to the position information (latitude, longitude, and altitude) of waypoint 3 and waypoint 4, and the auxiliary waypoint extension distance parameter, calculate the position information (latitude, longitude, and altitude) of the cut-out point of the first turning arc (the second arc waypoint), and record this position as D * , this position is not a flight waypoint and is only used for process calculation;

[0122] (4) Calculate the waypoint A and the cut-off point D of the second turning arc * Connect the line AD * The azimuth angle Ψ relative to the straight flight segment 2A (the line connecting waypoint 2 and waypoint A) AD* ;

[0123] (5) Convert Ψ AD* To the range of -180° to 180°;

[0124] (6) Determine the turning direction of the arc waypoint. When Ψ AD* ≥0, the turning direction is clockwise, dir = 1; when Ψ AD* <0, the turning direction is counterclockwise, dir = -1;

[0125] (7) Calculate the azimuth angle Ψ of the straight flight segment 2A (the line connecting waypoint 2 and waypoint A) 2A ;

[0126] (8) Calculate the azimuth angle of the center position of the arc waypoint B relative to the straight waypoint A: ψ AB = ψ 2A + dir * π / 2;

[0127] (9) Calculate the longitude and latitude of the first arc waypoint B according to Ψ AB And the turning radius R1 of the first arc waypoint. The height of the first arc waypoint B is the same as the height of waypoint A;

[0128] (10) Calculate the straight flight segment 3D * (Waypoint 3 and D * Connect the line) azimuth angle Ψ 3D* ;

[0129] (11) Calculate the azimuth angle of the center position of the arc waypoint D relative to point D * Point azimuth angle: ψ D*D = ψ 3D* - dir * π / 2;

[0130] (12) Calculate the longitude and latitude of the second arc waypoint D according to Ψ D*D And the turning radius R. The height of the second arc waypoint D is the same as the height of the cut-off point D of the second arc waypoint * Height is the same;

[0131] (13) Calculate the azimuth angle Ψ of the vector BD according to the longitude and latitude of the first arc waypoint B and the second arc waypoint D BD ;

[0132] (14) Calculate the azimuth angle Ψ of the cut-off point of the first turning arc (the first arc waypoint) relative to the arc waypoint B out1 , The expression is as follows:

[0133] ψ out1= ψ BD - dir * π / 2

[0134] (15) Convert Ψ out1 to an angle value in the range of 0 to 360°;

[0135] (16) The azimuth angle Ψ of the entry point of the second turning arc (second arc waypoint) in2 = Ψ out1 ;

[0136] (17) Calculate the longitude and latitude of waypoint C based on Ψ in2 , the turning radius R of the second arc waypoint, and the longitude and latitude of the second arc waypoint D. Waypoint C is a straight-line waypoint, and the height of the straight-line waypoint C is the same as the height of the second arc waypoint D;

[0137] (18) The azimuth angle Ψ of the exit point of the second turning arc (second arc waypoint) out2 , and the expression is as follows:

[0138] ψ out2 = ψ D*D + π

[0139] (19) Convert Ψ out2 to an angle value in the range of 0 to 360°;

[0140] (20) Traverse and process all operation segments within the flight auxiliary segment according to steps (2) to (19);

[0141] (21) Use the processed waypoints for ground station display and upload them to the UAV;

[0142] In this embodiment, by dividing the target operation area into at least one surveying and mapping segment, the surveying and mapping segment includes a parallel round-trip route, a cross round-trip route, or a broken-line route, constructing a flight auxiliary segment based on the route corresponding to the surveying and mapping segment to make the routes smoothly connected. The flight auxiliary segment includes the extension line of the surveying and mapping segment, the turning arc waypoint, and the straight-line waypoint. Plan the surveying and mapping route according to the position information of each surveying and mapping segment flight auxiliary segment, and use the flight auxiliary segment to achieve smooth turning. The turning slope is small, and the turning trajectory is not easy to overshoot. At the same time, it shortens the time required for the UAV to survey the route in the target operation area and improves the efficiency of the UAV surveying the route.

[0143] Embodiment 2

[0144] See Figure 6 , the present invention also provides a structural block diagram of a UAV surveying and mapping route planning control device 600, including:

[0145] An acquisition module 601, configured to acquire the target operation area of the UAV;

[0146] An area division module 602, configured to divide the target operation area into at least one survey flight segment, where the survey flight segment is a parallel round-trip route, a cross round-trip route, or a polyline route;

[0147] A flight assistance module 603, configured to construct a flight assistance flight segment based on the route corresponding to the survey flight segment so that the round-trip route or the polyline route is smoothly connected. The flight assistance flight segment includes an extension line of the survey flight segment, turning arc waypoints, and straight waypoints;

[0148] Wherein, the flight assistance flight segment further includes: extending both ends of the survey starting point and the survey terminal relative to the round-trip route to form two extension lines, generating arc waypoints tangent to the endpoints of each extension line at the endpoints of each extension line, and straight waypoints connecting the two arc waypoints and tangent to the cut-out point of one arc waypoint and the cut-in point of the other arc waypoint.

[0149] It should be noted that the turning direction is determined according to the position of the next target waypoint relative to the current target waypoint. If the next target waypoint is on the right side of the current target waypoint, it is determined that the two arc waypoints turn clockwise; if the next target waypoint is on the left side of the current target waypoint, it is determined that the two arc waypoints turn counterclockwise.

[0150] It should also be noted that the arc waypoint includes the target point longitude and latitude, the target point altitude, the cut-out point parameters, the circling direction, the circling radius, the circling time, the number of circling turns, and the circling type. The cut-out point parameters include the cut-out point azimuth angle or the cut-out point longitude and latitude.

[0151] A survey planning module 604, configured to plan a survey route according to the position information of each survey flight segment and the flight assistance flight segment.

[0152] Optionally, it further includes:

[0153] Obtain the first survey flight segment along the flight direction in the round-trip route or the polyline route, establish a first extension line at the survey end point of the first survey flight segment, and determine the position information of the first straight waypoint by using the longitude, latitude, and altitude of the first extension line;

[0154] Obtain the second survey flight segment along the flight direction in the round-trip route or the polyline route, establish a second extension line at the survey starting point of the second survey flight segment, and determine the position information of the cut-out point of the second arc waypoint by using the longitude, latitude, and altitude of the second extension line;

[0155] Obtain the first azimuth angle of the connection line between the first straight waypoint and the cut-out point of the second arc waypoint relative to the first extension line;

[0156] Obtain the second azimuth angle of the vector connecting the surveying starting point and the surveying ending point of the first surveying route;

[0157] Obtain the third azimuth angle of the vector connecting the surveying ending point and the surveying starting point of the second surveying route.

[0158] Optionally, it further includes:

[0159] Determine the turning direction of the two arc waypoints according to whether the angle of the first azimuth angle is less than zero;

[0160] Determine the fourth azimuth angle of the center position of the first arc waypoint relative to the first straight waypoint according to the second azimuth angle, the turning direction;

[0161] Determine the position information of the first arc waypoint according to the fourth azimuth angle and the turning radius of the first arc waypoint;

[0162] Determine the fifth azimuth angle of the second arc waypoint relative to the cut-out point of the second arc waypoint according to the angle difference between the third azimuth angle and the turning direction;

[0163] Determine the position information of the second arc waypoint according to the fifth azimuth angle and the turning radius of the second arc waypoint.

[0164] Optionally, it further includes:

[0165] Determine the sixth azimuth angle between vectors according to the position information of the first arc waypoint and the position information of the second arc waypoint;

[0166] Determine the seventh azimuth angle of the cut-out point of the first arc waypoint relative to the first arc waypoint according to the angle difference between the sixth azimuth angle and the turning direction, and the seventh azimuth angle is the same as the azimuth angle of the cut-in point of the second arc waypoint;

[0167] Determine the position information of the second straight waypoint according to the azimuth angle of the cut-in point of the second arc waypoint, the turning radius of the second arc waypoint and the position information of the second arc waypoint;

[0168] Determine the cut-out point azimuth angle of the second arc waypoint according to the sum of the fifth azimuth angle and π.

[0169] In this embodiment, the control device executes the method described in any of the above embodiments. For the specific functions and technical effects, refer to the above embodiments and will not be elaborated here.

[0170] An embodiment of the present invention provides a control device for mapping route planning of an unmanned aerial vehicle. The control device divides a target operation area into at least one mapping flight segment, and the mapping flight segment includes a parallel round-trip route, a cross round-trip route or a polyline route. A flight auxiliary segment is constructed based on the route corresponding to the mapping flight segment so that the routes are smoothly connected. The flight auxiliary segment includes an extension line of the mapping flight segment, an arc waypoint for turning and a straight waypoint. The mapping route is planned according to the position information of each mapping flight segment and the flight auxiliary segment, and smooth turning is realized by using the flight auxiliary segment. The turning slope is small and the turning trajectory is not likely to overshoot. At the same time, the time required for the unmanned aerial vehicle to map the route in the target operation area is shortened, and the efficiency of the unmanned aerial vehicle mapping the route is also improved.

[0171] An embodiment of the present application also provides a mapping route planning system for an unmanned aerial vehicle, including a control device and at least one aircraft. The control device includes a memory and a processor, the processor is coupled with 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.

[0172] An embodiment of the present application also 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 caused to execute the instructions (instructions) of the steps included in Embodiment 1 of the embodiments of the present application.

[0173] An embodiment of the present application 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 of the above embodiments.

[0174] In summary, the present invention divides a target operation area into at least one mapping flight segment, and the mapping flight segment is a parallel round-trip route, a cross round-trip route or a polyline route. A flight auxiliary segment is constructed based on the route corresponding to the mapping flight segment so that the routes are smoothly connected. The flight auxiliary segment includes an extension line of the mapping route, an arc waypoint for turning and a straight waypoint. The mapping route is planned according to the position information of each mapping flight segment and the flight auxiliary segment, and smooth turning is realized by using the flight auxiliary segment. The turning slope is small and the turning trajectory is not likely to overshoot. At the same time, the time required for the unmanned aerial vehicle to map the route in the target operation area is shortened, and the efficiency of the unmanned aerial vehicle mapping the route is also improved. Therefore, the present invention effectively overcomes various disadvantages in the prior art and has high industrial utilization value.

[0175] The above embodiments are only illustrative of the principles and effects of the present invention and are not intended 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 made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A method for mapping route planning of an unmanned aerial vehicle, characterized in that, The method includes: Obtaining a target operation area of an unmanned aerial vehicle; Dividing the target operation area into at least one survey flight segment, where the survey flight segment includes a parallel round-trip route, a cross round-trip route, or a polyline route; Constructing a flight auxiliary flight segment based on the route corresponding to the survey flight segment so that the round-trip route or the polyline route is smoothly connected. The flight auxiliary flight segment includes an extension line of the survey flight segment, turning arc waypoints, and straight waypoints. Extend both ends of the survey starting point and the survey terminal with respect to the round-trip route or the polyline route to form two extension lines. An arc waypoint tangent to the end point of each extension line is generated at the end point of each extension line. Straight waypoints that are tangent to the two arcs and connect the arc cut-off point of the previous survey flight segment and the arc cut-in point of the next survey flight segment in sequence according to the flight direction are provided. The arc waypoint includes target point longitude and latitude, target point altitude, cut-off point parameters, turning direction, turning radius, turning time, number of turning circles, and turning type. The cut-off point parameters include cut-off point azimuth or cut-off point longitude and latitude; Planning a survey flight route according to the position information of each survey flight segment and flight auxiliary flight segment.

2. The method according to claim 1, characterized in that, It further includes: Determining the turning direction according to the position of the next target waypoint relative to the current target waypoint. If the next target waypoint is on the right side of the current target waypoint, it is determined that the two arc waypoints turn clockwise; If the next target waypoint is on the left side of the current target waypoint, it is determined that the two arc waypoints turn counterclockwise.

3. The method according to claim 2, characterized in that, It further includes: Obtaining the first survey flight segment along the flight direction in the round-trip route or the polyline route, establishing a first extension line at the survey end point of the first survey flight segment, and determining the position information of the first straight waypoint by using the longitude, latitude, and altitude of the first extension line; Obtaining the second survey flight segment along the flight direction in the round-trip route or the polyline route, establishing a second extension line at the survey starting point of the second survey flight segment, and determining the position information of the cut-off point of the second arc waypoint by using the longitude, latitude, and altitude of the second extension line; Obtaining the first azimuth of the connection line between the first straight waypoint and the cut-off point of the second arc waypoint with respect to the first extension line; Obtaining the second azimuth of the vector connecting the survey starting point to the survey end point of the first survey flight segment; Obtaining the third azimuth of the vector connecting the survey end point to the survey starting point of the second survey flight segment.

4. The method according to claim 3, characterized in that It further includes: Determining the turning direction of the two arc waypoints according to whether the angle of the first azimuth is less than zero; Determining the fourth azimuth of the center position of the first arc waypoint relative to the first straight waypoint according to the second azimuth and the turning direction; Determining the position information of the first arc waypoint according to the fourth azimuth and the turning radius of the first arc waypoint; Determining the fifth azimuth of the second arc waypoint relative to the cut-off point of the second arc waypoint according to the third azimuth and the turning direction; Determining the position information of the second arc waypoint according to the fifth azimuth and the turning radius of the second arc waypoint.

5. The method according to claim 4, wherein It further includes: Obtaining the sixth azimuth of the vector determined according to the position information of the first arc waypoint and the position information of the second arc waypoint; Determine the seventh azimuth angle of the first circular arc waypoint cut-off point relative to the first circular arc waypoint according to the sixth azimuth angle and the turning direction, and the seventh azimuth angle is the same as the azimuth angle of the second circular arc waypoint entry point; Determine the position information of the second straight-line waypoint according to the azimuth angle of the second circular arc waypoint entry point, the turning radius of the second circular arc waypoint, and the position information of the second circular arc waypoint; Determine the azimuth angle of the second circular arc waypoint cut-off point according to the sum of the fifth azimuth angle and π.

6. An unmanned aerial vehicle mapping route planning and 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 mapping route planning system, characterized in that, Comprising a control device and at least one unmanned aerial vehicle, the control device includes a memory and a processor, the processor is coupled with 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 claims 1 to 5 is implemented.

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

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