Route height adjustment method, unmanned aerial vehicle operation method and related device

Abstract

A flight height adjustment method, a UAV operation method and related devices, the flight height adjustment method comprising: obtaining an operation route and an initial height table corresponding to the operation route; optimizing the initial height table by a maximum vertical speed and a maximum vertical acceleration of a UAV in a height direction to obtain a target height table comprising a plurality of interpolation points and a target height of each interpolation point, so that when the UAV flies according to the operation route and the target height table, the vertical speed of the UAV flying between any two adjacent interpolation points is less than the maximum vertical speed, and the vertical acceleration of the UAV flying between any three adjacent interpolation points is less than the maximum vertical acceleration, so that the UAV can always meet the flight performance requirements during flight.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle (UAV) plant protection, and in particular, relates to a flight path height adjustment method, a UAV operation method, and related devices. BACKGROUND

[0002] Currently, when using a UAV to perform plant protection operations, a three-dimensional map is first obtained by surveying a region to be operated, a two-dimensional flight path is then generated using the three-dimensional map, and height information is added to the two-dimensional flight path to obtain a three-dimensional flight path, and the UAV can perform operations according to the three-dimensional flight path.

[0003] However, the height information in the three-dimensional flight path obtained in this way is based on altitude, so it may be high and low due to terrain, the height of the crops themselves, and other reasons, resulting in shaking of the UAV during flight due to significant changes in height, which does not meet the flight performance requirements of the UAV. SUMMARY

[0004] The present application aims to provide a flight path height adjustment method, a UAV operation method, and related devices to solve the problem that the height information of the flight path in the prior art does not meet the flight performance requirements of the UAV.

[0005] To achieve the above-mentioned purpose, the technical solutions adopted by the embodiments of the present application are as follows:

[0006] In a first aspect, the present application provides a flight path height adjustment method, which includes: obtaining an operation flight path and an initial height table corresponding to the operation flight path, wherein the initial height table includes a plurality of interpolation points on the operation flight path and an interpolation height of each interpolation point; obtaining a maximum vertical speed and a maximum vertical acceleration of a UAV in the height direction; adjusting the interpolation height of the interpolation points in the initial height table according to the maximum vertical speed, so that the vertical speed of the UAV flying between any two adjacent interpolation points is less than the maximum vertical speed, to obtain a reference height table, which includes the plurality of interpolation points and a reference height of each interpolation point; adjusting the reference height of the interpolation points in the reference height table according to the maximum vertical acceleration, so that the vertical acceleration of the UAV flying between any three adjacent interpolation points is less than the maximum vertical acceleration, to obtain a target height table, which includes the plurality of interpolation points and a target height of each interpolation point.

[0007] Optionally, the step of adjusting the interpolation height of the interpolation points in the initial altitude table based on the maximum vertical speed, so that the vertical speed of the UAV flying between any two adjacent interpolation points is less than the maximum vertical speed, to obtain the reference altitude table, includes: obtaining the maximum horizontal speed of the UAV flying along the operation route; calculating the flight time of the UAV at the maximum horizontal speed to cover the preset interpolation distance based on the maximum horizontal speed and the preset interpolation distance between two adjacent interpolation points; obtaining the first interpolation height of the first interpolation point and the second interpolation height of the next interpolation point adjacent to the first interpolation point in the initial altitude table; calculating the vertical speed of the UAV from the first interpolation point to the next interpolation point within the flight time based on the flight time, the first interpolation height, and the second interpolation height; determining whether the vertical speed is less than the maximum vertical speed; if not, adjusting the first interpolation height and the maximum horizontal speed of the UAV to cover the preset interpolation distance between any two adjacent interpolation points. Adjust the lowest of the second interpolation heights; determine whether the next interpolation point is the last interpolation point in the initial altitude table; if not, replace the first interpolation point with the next interpolation point and execute the step of obtaining the first interpolation height of the first interpolation point in the initial altitude table and the second interpolation height of the next interpolation point adjacent to the first interpolation point, until the next interpolation point is the last interpolation point in the initial altitude table; determine whether the vertical speed of the UAV flying between any two adjacent interpolation points is less than the maximum vertical speed among the multiple interpolation points after altitude adjustment; if not, execute the step of obtaining the first interpolation height of the first interpolation point in the initial altitude table and the second interpolation height of the next interpolation point adjacent to the first interpolation point, until the vertical speed of the UAV flying between any two adjacent interpolation points is less than the maximum vertical speed among the multiple interpolation points after altitude adjustment, and obtain the reference altitude table.

[0008] Optionally, the step of increasing the lower of the first interpolation height and the second interpolation height includes: if the first interpolation height is greater than the second interpolation height, then adjusting the second interpolation height to H(n) = H(n-1) - v. max *t, where H(n) represents the second interpolation height, H(n-1) represents the first interpolation height, and v max Let t represent the maximum vertical velocity and t represent the flight time; if the first interpolated altitude is less than the second interpolated altitude, then the first interpolated altitude is adjusted to H(n-1) = H(n) - v. max *t.

[0009] Optionally, the step of adjusting the reference height of the interpolation point in the reference height table according to the maximum vertical acceleration, so that the vertical acceleration of the UAV flying between any three adjacent interpolation points is less than the maximum vertical acceleration, to obtain a target height table including the plurality of interpolation points and the target height of each interpolation point, comprises: obtaining a second reference height of a second interpolation point in the reference height table, a first reference height of a previous interpolation point adjacent to the second interpolation point, and a third reference height of a next interpolation point adjacent to the second interpolation point; calculating a vertical acceleration of the UAV flying from the previous interpolation point to the next interpolation point through the second interpolation point according to the flight time, the first reference height, the second reference height and the third reference height; determining whether the vertical acceleration is less than the maximum vertical acceleration; if not, adjusting the lowest one of the first reference height, the second reference height and the third reference height; determining whether the next interpolation point is the last interpolation point in the reference height table; if not, replacing the second interpolation point with the next interpolation point and performing the above steps until the next interpolation point is the last interpolation point in the initial height table; determining whether the vertical acceleration of the UAV flying between any three adjacent interpolation points in the plurality of interpolation points after height adjustment is less than the maximum vertical acceleration; if not, repeating the above steps until the vertical acceleration of the UAV flying between any three adjacent interpolation points in the plurality of interpolation points after height adjustment is less than the maximum vertical acceleration, to obtain the target height table.

[0010] Optionally, the step of adjusting the lowest one of the first reference height, the second reference height and the third reference height comprises: if the first reference height and the third reference height are both greater than the second reference height, adjusting the second reference height to wherein H n represents the second reference height, H n-1 represents the first reference height, H n+1 represents the third reference height, a max represents the maximum vertical acceleration, and t represents the flight time. n-1 if the second reference height is greater than the first reference height and the third reference height, and the third reference height is less than or equal to the first reference height, adjusting the third reference height to H max = -a 2 *t n + 2H n+1 - H ; if the second reference height is greater than the first reference height and the third reference height, and the third reference height is less than or equal to the first reference height, adjusting the third reference height to Hn+1 = -a max * t 2 + 2H n - H n-1 .

[0011] Optionally, the work flight path comprises at least one work flight segment, and the method further comprises: determining a target work flight segment from the at least one work flight segment in response to a flight path editing instruction; and setting the height of each interpolation point on the target work flight segment to a preset height, wherein the height is any one of the interpolation height, the reference height, and the target height.

[0012] Optionally, the method further comprises: determining whether the target heights of any three adjacent interpolation points in the plurality of interpolation points are equal; if yes, deleting the middle one of the three adjacent interpolation points; and repeating the above steps until the target heights of any three adjacent interpolation points in the plurality of interpolation points are all unequal.

[0013] Optionally, the step of obtaining the initial height table corresponding to the work flight path comprises: determining a plurality of interpolation points on the work flight path by using an equidistant interpolation method; querying the highest point terrain height in a circle with a preset radius and a current interpolation point as the center in a three-dimensional map, and taking the highest point terrain height as the interpolation height of the current interpolation point; and traversing each interpolation point to obtain the interpolation height of each interpolation point.

[0014] In a second aspect, the present application further provides a UAV work method, which comprises: obtaining a work flight path and a target height table corresponding to the work flight path, wherein the target height table is obtained according to the above flight path height adjustment method; and flying according to the work flight path and the target height table.

[0015] In a third aspect, the present application also provides a flight path height adjustment device, a first acquisition module is configured to acquire a work flight path and an initial altitude table corresponding to the work flight path, wherein the initial altitude table comprises a plurality of interpolation points on the work flight path and an interpolation height of each interpolation point; the first acquisition module is further configured to acquire a maximum vertical speed and a maximum vertical acceleration of a UAV in a height direction; a first adjustment module is configured to adjust the interpolation height of the interpolation points in the initial altitude table according to the maximum vertical speed, so that the vertical speed of the UAV flying between any two adjacent interpolation points is less than the maximum vertical speed, to obtain a reference altitude table, wherein the reference altitude table comprises the plurality of interpolation points and a reference height of each interpolation point; a second adjustment module is configured to adjust the reference height of the interpolation points in the reference altitude table according to the maximum vertical acceleration, so that the vertical acceleration of the UAV flying between any three adjacent interpolation points is less than the maximum vertical acceleration, to obtain a target altitude table, wherein the target altitude table comprises the plurality of interpolation points and a target height of each interpolation point.

[0016] Optionally, the first adjustment module is specifically configured to: acquire a maximum horizontal speed of the UAV flying along the work flight path; calculate a flight time of the UAV flying the preset interpolation distance at the maximum horizontal speed according to the maximum horizontal speed and a preset interpolation distance between two adjacent interpolation points; acquire a first interpolation height of a first interpolation point in the initial altitude table and a second interpolation height of a next interpolation point adjacent to the first interpolation point; calculate a vertical speed of the UAV flying from the first interpolation point to the next interpolation point within the flight time according to the flight time, the first interpolation height and the second interpolation height; determine whether the vertical speed is less than the maximum vertical speed; if not, increase the lower one of the first interpolation height and the second interpolation height; determine whether the next interpolation point is the last interpolation point in the initial altitude table; if not, replace the first interpolation point with the next interpolation point and perform the step of acquiring the first interpolation height of the first interpolation point in the initial altitude table and the second interpolation height of the next interpolation point adjacent to the first interpolation point until the next interpolation point is the last interpolation point in the initial altitude table; determine whether the vertical speed of the UAV flying between any two adjacent interpolation points in the plurality of interpolation points after height adjustment is less than the maximum vertical speed; if not, perform the step of acquiring the first interpolation height of the first interpolation point in the initial altitude table and the second interpolation height of the next interpolation point adjacent to the first interpolation point until the vertical speed of the UAV flying between any two adjacent interpolation points in the plurality of interpolation points after height adjustment is less than the maximum vertical speed, to obtain the reference altitude table.

[0017] Optionally, the first adjusting module performs the manner of increasing the lowest one of the first interpolation height and the second interpolation height, comprising: if the first interpolation height is greater than the second interpolation height, adjusting the second interpolation height as H(n) = H(n-1) - vt max , wherein H(n) represents the second interpolation height, H(n-1) represents the first interpolation height, vt represents the maximum vertical speed, and t represents the flight time; if the first interpolation height is less than the second interpolation height, adjusting the first interpolation height as H(n-1) = H(n) - vt max , wherein H(n) represents the second interpolation height, H(n-1) represents the first interpolation height, vt represents the maximum vertical speed, and t represents the flight time. max .

[0018] Optionally, the second adjusting module is specifically configured to: acquire a second reference height of a second interpolation point in the reference height table, a first reference height of a previous interpolation point adjacent to the second interpolation point, and a third reference height of a next interpolation point adjacent to the second interpolation point; calculate a vertical acceleration of the UAV from the previous interpolation point to the next interpolation point via the second interpolation point according to the flight time, the first reference height, the second reference height, and the third reference height; determine whether the vertical acceleration is less than the maximum vertical acceleration; if not, increase the lowest one of the first reference height, the second reference height, and the third reference height; determine whether the next interpolation point is the last interpolation point in the reference height table; if not, replace the second interpolation point with the next interpolation point and perform the above steps until the next interpolation point is the last interpolation point in the initial height table; determine whether the vertical accelerations of the UAV in any three adjacent interpolation points in the plurality of interpolation points after height adjustment are all less than the maximum vertical acceleration; if not, repeat the above steps until the vertical accelerations of the UAV in any three adjacent interpolation points in the plurality of interpolation points after height adjustment are all less than the maximum vertical acceleration, and obtain the target height table.

[0019] Optionally, the second adjusting module performs the manner of increasing the lowest one of the first reference height, the second reference height, and the third reference height, comprising: if the first reference height and the third reference height are both greater than the second reference height, adjusting the second reference height as , wherein H n represents the second reference height, H n-1 represents the first reference height, H n+1 represents the third reference height, and a represents the maximum vertical speed. maxrepresents the maximum vertical acceleration, t represents the time of flight; if the second reference height is greater than the first reference height and the third reference height, and the third reference height is greater than the first reference height, the first reference height is adjusted to H n-1 = -a max *t 2 + 2H n -H n+1 ; if the second reference height is greater than the first reference height and the third reference height, and the third reference height is less than or equal to the first reference height, the third reference height is adjusted to H n+1 = -a max *t 2 + 2H n -H n-1 .

[0020] Optionally, the work flight path comprises at least one work flight segment, and the device further comprises a processing module configured to: determine a target work flight segment from the at least one work flight segment in response to a flight path editing instruction; and set the height of each interpolation point on the target work flight segment to a preset height, wherein the height is any one of the interpolation height, the reference height, and the target height.

[0021] Optionally, the processing module is further configured to: determine whether the target heights of any three adjacent interpolation points in the plurality of interpolation points are equal; if yes, delete the middle one of the three adjacent interpolation points; and repeat the above steps until the target heights of any three adjacent interpolation points in the plurality of interpolation points are all unequal.

[0022] Optionally, the first obtaining module obtains the initial height table corresponding to the work flight path in the following manner: determining a plurality of interpolation points on the work flight path by using an equidistant interpolation method; querying the highest point terrain height in a circle with a preset radius and a current interpolation point as the center in a three-dimensional map, and taking the highest point terrain height as the interpolation height of the current interpolation point; and traversing each interpolation point to obtain the interpolation height of each interpolation point.

[0023] In a fourth aspect, the present application further provides a UAV work device, comprising: a second obtaining module configured to obtain a work flight path and a target height table corresponding to the work flight path, wherein the target height table is obtained according to the flight path height adjustment method described above; and an executing module configured to fly according to the work flight path and the target height table.

[0024] In a fifth aspect, the present application provides an electronic device, comprising: one or more processors; a memory for storing one or more programs, which, when executed by the one or more processors, cause the one or more processors to implement the flight path height adjustment method described above, and / or the unmanned aerial vehicle operation method of claim 9.

[0025] In a sixth aspect, the present application provides a computer-readable storage medium having stored thereon a computer program, which, when executed by a processor, implements the flight path height adjustment method described above, and / or the unmanned aerial vehicle operation method of claim 9.

[0026] Compared with the prior art, the flight path height adjustment method, the unmanned aerial vehicle operation method and the related device provided by the present application first obtain an operation flight path and an initial height table corresponding to the operation flight path, the initial height table comprising a plurality of interpolation points on the operation flight path and an interpolation height of each interpolation point; then the initial height table is optimized by the maximum vertical speed and the maximum vertical acceleration of the unmanned aerial vehicle in the height direction to obtain a target height table comprising a plurality of interpolation points and a target height of each interpolation point, so that when the unmanned aerial vehicle flies according to the operation flight path and the target height table, the vertical speed of flying between any two adjacent interpolation points is less than the maximum vertical speed, and the vertical acceleration of flying between any three adjacent interpolation points is less than the maximum vertical acceleration, that is, the unmanned aerial vehicle can always meet the flight performance requirements during the flight.

[0027] In order to make the above objectives, characteristics and advantages of the present application more apparent, clear and easy to understand, the following preferred embodiments are specifically described below with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the scheme of the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0029] Figure 1 A flowchart of the flight path height adjustment method provided by the embodiments of the present application is shown.

[0030] Figure 2 An example diagram of the operation flight path and the interpolation points provided by the embodiments of the present application is shown.

[0031] Figure 3 An example diagram of the height of the interpolation points provided by the embodiments of the present application is shown.

[0032] Figure 4 As shown in the flight route height adjustment method in FIG. 10, step S103 is a flowchart of one embodiment of the flight route height adjustment method. Figure 1

[0033] Figure 5 As shown in the flight route height adjustment method in FIG. 10, step S104 is a flowchart of one embodiment of the flight route height adjustment method. Figure 1

[0034] As shown in the flight route height adjustment method in FIG. 10, step S104 is a flowchart of one embodiment of the flight route height adjustment method. Figure 6

[0035] As shown in the flight route height adjustment method in FIG. 10, step S104 is a flowchart of one embodiment of the flight route height adjustment method. Figure 7

[0036] As shown in the flight route height adjustment method in FIG. 10, step S104 is a flowchart of one embodiment of the flight route height adjustment method. Figure 8

[0037] As shown in the flight route height adjustment method in FIG. 10, step S104 is a flowchart of one embodiment of the flight route height adjustment method. Figure 9

[0038] As shown in the flight route height adjustment method in FIG. 10, step S104 is a flowchart of one embodiment of the flight route height adjustment method. Figure 10

[0039] As shown in the flight route height adjustment method in FIG. 10, step S104 is a flowchart of one embodiment of the flight route height adjustment method. Figure 11

[0040] As shown in the flight route height adjustment method in FIG. 10, step S104 is a flowchart of one embodiment of the flight route height adjustment method. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all of the embodiments of the present application. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations.

[0042] Therefore, the detailed description of the embodiments of the present application provided in the drawings below is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application. ​​

[0043] It should be noted that similar reference numerals and letters refer to similar items throughout the accompanying drawings, and therefore, once an item is defined in one drawing, it is not necessary to further define and explain it in subsequent drawings. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only to distinguish descriptions, and cannot be understood as indicating or implying relative importance.

[0044] In the field of unmanned aerial vehicle plant protection, the traditional operation mode includes fixed altitude flight and ground simulation flight. The fixed altitude flight refers to flying along the set altitude, and the ground simulation flight refers to flying according to the set distance from the ground. Generally, the fixed altitude flight can only be applied to some environments with little terrain undulation, such as paddy fields, plains, etc.; the ground simulation flight method can be applied to environments with terrain undulation, such as hilly terraces, etc., but both the fixed altitude flight and the ground simulation flight require that the height of the ground crops themselves cannot be too high, and the ground undulation cannot be too large. For some economic trees, the height of the plants is usually several meters, and some even reach dozens of meters, so the fixed altitude flight and the ground simulation flight cannot be applied.

[0045] Therefore, when using an unmanned aerial vehicle for plant protection operation, a two-dimensional route is first planned for the to-be-operated area, and then height information is added to the two-dimensional route based on the three-dimensional map of the to-be-operated area. The height information is obtained according to the altitude of the highest point in the unit area, so the height information obtained may be high and low due to the terrain, the height of the crops themselves, etc. If the height changes significantly, that is, the difference between the previous height and the subsequent height is very large, it will cause the unmanned aerial vehicle to shake during flight, which does not meet the flight performance requirements of the unmanned aerial vehicle.

[0046] To solve this problem, the present application provides a route height adjustment method, an unmanned aerial vehicle operation method, and related devices. The initial height table is optimized by the maximum vertical speed and the maximum vertical acceleration of the unmanned aerial vehicle in the height direction, and a target height table including multiple interpolation points and the target height of each interpolation point is obtained, so that the vertical speed of the unmanned aerial vehicle flying between any two adjacent interpolation points is less than the maximum vertical speed, and the vertical acceleration of the unmanned aerial vehicle flying between any three adjacent interpolation points is less than the maximum vertical acceleration, that is, the unmanned aerial vehicle can always meet the flight performance requirements during flight. The following will be described in detail.

[0047] Please refer to Figure 1 , Figure 1A flowchart of a flight height adjustment method provided by an embodiment of the present application is shown. The flight height adjustment method is applied to an electronic device, which can be a terminal, a server, a ground station, a UAV, etc. The terminal can be a smartphone, a tablet computer, a portable notebook computer, a desktop computer, etc. The flight height adjustment method comprises the following steps:

[0048] In step S101, an operation flight path and an initial height table corresponding to the operation flight path are obtained. The initial height table comprises a plurality of interpolation points on the operation flight path and an interpolation height of each interpolation point.

[0049] In this embodiment, the operation flight path can be a two-dimensional flight path of a UAV on a horizontal plane, that is, the height of each point on the two-dimensional flight path is the horizontal plane. For example, please refer to Figure 2 , Figure 2 (a) shows a two-dimensional flight path pre-planned for a region to be operated. The operation flight path can comprise at least one operation flight segment, and each operation flight segment comprises a segment starting waypoint, for example, Figure 2 (a) a, b, c, and d represent operation flight segments, and A, B, C, and D represent segment starting waypoints of the operation flight segments a, b, c, and d, respectively. The operation flight segments can be flexibly set by a user according to actual conditions.

[0050] As an implementation, each operation flight segment has a corresponding segment number, for example, Figure 2 (a) a, b, c, and d. For an operation flight segment, only the corresponding segment number and the position information of the segment starting waypoint need to be recorded. For example, an array waypoint_array can be used to save the information of the operation flight segment, and the array element is a structure body WaypointStruct, and the data structure is as follows:

[0051]

[0052] In this embodiment, the initial height table corresponding to the operation flight path comprises a plurality of interpolation points on the operation flight path and an interpolation height of each interpolation point. For the operation flight path of the region to be operated, interpolation can be performed at a certain interval (for example, every 1 m) to obtain a plurality of interpolation points, for example, Figure 2 (b) 1, 2, 3, and 4 represent four interpolation points on the operation flight path 1. Then, the highest point in a certain region is searched as the center of each interpolation point, and the region is generally larger than the size of the UAV itself, for example, the size of the UAV itself plus a safety distance as the search region, and the elevation of the highest point in the search region is taken as the interpolation height of the interpolation point. The interpolation height can be obtained through a three-dimensional map, or a point cloud map, or an isohypse and a two-dimensional map, etc. Hereinafter, a three-dimensional map is taken as an example for description.

[0053] The three-dimensional map is obtained by first using a surveying and mapping unmanned aerial vehicle to take aerial pictures of the region to be operated and sending the aerial pictures to a server / ground station, and the server / ground station processes the aerial pictures using a three-dimensional reconstruction algorithm. The three-dimensional map can be saved in the form of three-dimensional voxels, or in the form of recording the elevation data of each planar point for each grid. Each point in the three-dimensional map has position information, that is, the three-dimensional coordinates of each point, including longitude, latitude, and altitude.

[0054] As an implementation, the way to obtain the initial height table corresponding to the operation route can include: first, determining a plurality of interpolation points on the operation route using an equidistant interpolation method, for example, making an interpolation every 1 m on the operation route; then, in the three-dimensional map, querying the highest point terrain height within a circle with a preset radius (for example, 1.5 m) and the current interpolation point as the center, and taking the highest point terrain height as the interpolation height of the current interpolation point. The highest point terrain height can be the altitude in the position information of the highest point in the three-dimensional map, for example, Figure 2 (b) In the circle with interpolation point 1 as the center and a radius of 1.5 meters, the altitude in the position information of the highest point is 50 m, so the interpolation height of interpolation point 1 is 50 m.

[0055] The information of the interpolation points can be represented based on the information of the corresponding operation segments, for example, an array interpolation array can be used to save the information of the interpolation points, and the array elements are InterpolationHeight structures, and the data structure is as follows:

[0056]

[0057] According to the segment number of each array element InterpolationHeight in the array interpolation array, the information of the corresponding operation segment can be obtained from the array waypoint array, and the coordinates of each interpolation point can be calculated according to the distance from the starting waypoint of the segment.

[0058] In step S102, the maximum vertical speed and the maximum vertical acceleration of the unmanned aerial vehicle in the height direction are obtained.

[0059] In this embodiment, the initial height table is determined according to the terrain height, for example, Figure 3 (a) shows Figure 2(b) the interpolation height of each interpolation point, obviously, the UAV needs to frequently ascend or descend when flying according to the interpolation height, and each interpolation point on the operation route is obtained according to the equal interval interpolation method, that is, the horizontal distance between any two adjacent interpolation points is determined (for example, 1 m), if the interpolation height difference between two adjacent interpolation points is too large, for example, Figure 3 (a) interpolation point 1 and interpolation point 2, in order to ensure the operation efficiency of the UAV, the UAV needs to rapidly descend from the interpolation height H1 to the interpolation height H2 in a very short time, which requires that the vertical speed of the UAV is very large, even greater than the maximum vertical speed of the UAV in the height direction, and the corresponding vertical acceleration is also very large, even greater than the maximum vertical acceleration of the UAV in the height direction, which obviously does not meet the flight performance requirements of the UAV, and therefore, the interpolation height in the initial height table needs to be optimized.

[0060] In the embodiment, the maximum vertical acceleration and the maximum vertical speed are related to the performance of the UAV itself, and therefore, are pre-set by engineers according to the performance of the UAV, the maximum vertical acceleration can be a pre-set constant value, for example, 1 m / s2; the maximum vertical speed can be a plurality of pre-set values, and is provided to the user in the form of options, and the user can select from the options, for example, three options are provided to the user, which are 1 m / s, 1.5 m / s and 2 m / s; the maximum vertical speed can be represented by v max , and the maximum vertical acceleration can be represented by a max .

[0061] In step S103, the interpolation height of each interpolation point in the initial height table is adjusted according to the maximum vertical speed, so that the vertical speed of the UAV flying between any two adjacent interpolation points is less than the maximum vertical speed, and a reference height table is obtained, the reference height table includes a plurality of interpolation points and the reference height of each interpolation point.

[0062] In the embodiment, in order to meet the flight performance requirements of the UAV, it is necessary to first ensure that the vertical speed of the UAV flying between any two adjacent interpolation points is less than the maximum vertical speed, and therefore, the interpolation height of each interpolation point in the initial height table can be adjusted based on this principle, and since it is necessary to ensure the operation efficiency of the UAV, that is, the UAV needs to ascend / descend from the interpolation height of one interpolation point to the interpolation height of another interpolation point in a very short time, it is only possible to reduce the height difference between any two adjacent interpolation points. Meanwhile, when adjusting the height, the height of the lower one can be increased, and the height of the higher one cannot be decreased, because the lower one can be the ground or a point with lower crops, and the adjustment will not affect the safety of the UAV, and the higher one can be the height of the crops (for example, trees), and if the height of the higher one is decreased, the UAV can collide with the crops, and danger can occur.

[0063] In the embodiment, assuming that there are N interpolation points in the initial height table, in order to avoid missing some interpolation points in the height adjustment process, the interpolation height of two adjacent interpolation points in the initial height table can be adjusted in turn from the first interpolation point, for example, the interpolation height of the first interpolation point and the second interpolation point is adjusted first, then the interpolation height of the second interpolation point and the third interpolation point is adjusted, and so on, until the interpolation height of the N-1th interpolation point and the Nth interpolation point is adjusted; after the first round of adjustment is completed, if there are still adjacent interpolation points with a height difference that does not meet the condition, the second round of adjustment is performed, until the height difference between any two adjacent interpolation points meets the condition, that is, the vertical speed of the unmanned aerial vehicle flying between any two adjacent interpolation points is less than the maximum vertical speed, and a reference height table including a plurality of interpolation points and the reference height of each interpolation point is obtained.

[0064] On the basis of Figure 1 , step S103 can include: Figure 4

[0065] Sub-step S1030, acquiring the maximum horizontal speed of the unmanned aerial vehicle flying along the operation route.

[0066] In the embodiment, the maximum horizontal speed of the unmanned aerial vehicle flying along the operation route is a constant value, which is related to the performance of the unmanned aerial vehicle itself.

[0067] Sub-step S1031, calculating the flight time of the unmanned aerial vehicle flying at the maximum horizontal speed for the preset interpolation distance according to the maximum horizontal speed and the preset interpolation distance between the two adjacent interpolation points.

[0068] In the embodiment, each interpolation point on the operation route is obtained in an equal interval interpolation manner, that is, the distance of any two adjacent interpolation points on the two-dimensional route is the same (for example, 1 m), and the preset interpolation distance is the distance of any two adjacent interpolation points on the two-dimensional route. In the case where the maximum horizontal speed and the preset interpolation distance are obtained, the flight time of the unmanned aerial vehicle flying at the maximum horizontal speed for the preset interpolation distance can be calculated, for example, assuming that the preset interpolation distance is 1 m, then the flight time v_max is the maximum horizontal speed.

[0069] Sub-step S1032, acquiring the first interpolation height of the first interpolation point in the initial height table and the second interpolation height of the interpolation point adjacent to the first interpolation point.

[0070] Sub-step S1033, calculating the vertical speed of the unmanned aerial vehicle flying from the first interpolation point to the adjacent interpolation point within the flight time according to the flight time, the first interpolation height and the second interpolation height.

[0071] ​In the embodiment, assuming that the first interpolation height is H(n-1) and the second interpolation height is H(n), the vertical speed of the UAV from the first interpolation point to the next interpolation point in the flight time t is

[0072] Sub-step S1034, judging whether the vertical speed is less than the maximum vertical speed.

[0073] In the embodiment, if the vertical speed is not less than the maximum vertical speed, sub-step S1035 is executed, and if the vertical speed is less than the maximum vertical speed, sub-step S1036 is executed. That is, judging whether is established, if not, sub-step S1035 is executed, and if yes, sub-step S1036 is executed.

[0074] Since the speed is a vector, assuming that the vertical upward is the positive direction, when the UAV flies from low to high, the maximum vertical speed is positive, and it is needed to judge whether is established; when the UAV flies from high to low, the maximum vertical speed is negative, and it is needed to judge whether is established.

[0075] Sub-step S1035, adjusting the lower one of the first interpolation height and the second interpolation height.

[0076] In the embodiment, if the vertical speed is not less than the maximum vertical speed, it indicates that the height difference of the first interpolation height and the second interpolation height is too large, and it is needed to adjust the height difference of any two adjacent interpolation points, and in order to ensure the safe flight of the UAV, the lower one of the first interpolation height and the second interpolation height can be adjusted.

[0077] As an implementation mode, the way of adjusting the lower one of the first interpolation height and the second interpolation height can include:

[0078] If the first interpolation height is greater than the second interpolation height, it indicates that the UAV flies from high to low, that is, is not established, at this time, the second interpolation height needs to be adjusted, and it can be obtained that H(n) = H(n-1) - vt max , that is, the second interpolation height is adjusted to H(n) = H(n-1) - vt max , wherein H(n) represents the second interpolation height, H(n-1) represents the first interpolation height, v max represents the maximum vertical speed, and t represents the flight time;

[0079] If the first interpolation height is less than the second interpolation height, it indicates that the UAV flies from low to high, that is, is not established, at this time, the first interpolation height needs to be adjusted, and it can be obtained that H(n-1) = H(n) - v max * t, i.e., adjusting the first interpolation height to H(n-1) = H(n) - v max * t.

[0080] Sub-step S1036, judging whether the next interpolation point is the last interpolation point in the initial height table.

[0081] In the embodiment, if the next interpolation point is not the last interpolation point in the initial height table, sub-step S1037 is executed, and if the next interpolation point is the last interpolation point in the initial height table, sub-step S1038 is executed.

[0082] Sub-step S1037, replacing the first interpolation point with the next interpolation point and executing sub-step S1032 until the next interpolation point is the last interpolation point in the initial height table.

[0083] Sub-step S1038, judging whether the vertical speed of the unmanned aerial vehicle flying between any two adjacent interpolation points in the plurality of interpolation points after the height adjustment is less than the maximum vertical speed.

[0084] In the embodiment, since the interpolation height of two adjacent interpolation points in the initial height table is adjusted in turn from the first interpolation point, when the previous round of adjustment is performed, the following situation may occur: assuming that Figure 3 (a) the height difference between the interpolation point 4 and the interpolation point 5 satisfies the condition and no height adjustment is performed; and the height difference between the interpolation point 5 and the interpolation point 6 does not satisfy the condition and the interpolation height of the interpolation point 5 is adjusted to be higher, as shown in Figure 3 (b), the height difference between the interpolation point 5 and the interpolation point 6 satisfies the condition after the adjustment, but the height difference between the interpolation point 4 and the interpolation point 5 does not satisfy the condition, and therefore, multiple rounds of adjustment are required to make the height difference between any two adjacent interpolation points satisfy the condition, that is, the vertical speed of the unmanned aerial vehicle flying between any two adjacent interpolation points is less than the maximum vertical speed.

[0085] In the embodiment, if the vertical speed of the unmanned aerial vehicle flying between any two adjacent interpolation points in the plurality of interpolation points after the height adjustment is not less than the maximum vertical speed, sub-step S1032 is executed until the vertical speed of the unmanned aerial vehicle flying between any two adjacent interpolation points in the plurality of interpolation points after the height adjustment is less than the maximum vertical speed, and the reference height table is obtained; if the vertical speed of the unmanned aerial vehicle flying between any two adjacent interpolation points in the plurality of interpolation points after the height adjustment is less than the maximum vertical speed, sub-step S1039 is executed, that is, the reference height table is obtained.

[0086] Sub-step S1039, obtaining the reference height table.

[0087] In this embodiment, the initial height table is adjusted to obtain the reference height table according to the maximum vertical speed, and the reference height table includes a plurality of interpolation points and a reference height of each interpolation point. Figure 3 (c), the vertical speed of the UAV flying between any two adjacent interpolation points is less than the maximum vertical speed, that is, the vertical speed meets the flight performance requirements of the UAV, but the UAV may still need to accelerate or decelerate frequently, that is, the vertical acceleration does not meet the flight performance requirements of the UAV, and therefore, the reference height in the reference height table needs to be adjusted according to the maximum vertical acceleration.

[0088] In step S104, the reference height of the interpolation point in the reference height table is adjusted according to the maximum vertical acceleration, so that the vertical acceleration of the UAV flying between any three adjacent interpolation points is less than the maximum vertical acceleration, to obtain a target height table, and the target height table includes a plurality of interpolation points and a target height of each interpolation point.

[0089] In this embodiment, if the vertical acceleration of the UAV during flight meets the flight performance requirements of the UAV, it is necessary to ensure that the vertical acceleration of the UAV flying between any three adjacent interpolation points is less than the maximum vertical acceleration, and therefore, the reference height of the interpolation point in the reference height table can be adjusted based on this principle. At the same time, in order to ensure the flight safety of the UAV, the height can only be adjusted to be higher when the height is low, and cannot be adjusted to be lower when the height is high.

[0090] In this embodiment, it is assumed that there are N interpolation points in the reference height table, and in order to avoid missing some interpolation points during height adjustment, the reference height of three adjacent interpolation points in the reference height table can be adjusted in turn from the first interpolation point, for example, the first interpolation point, the second interpolation point and the third interpolation point are adjusted first, then the second interpolation point, the third interpolation point and the fourth interpolation point are adjusted, and so on, until the N-2th interpolation point, the N-1th interpolation point and the Nth interpolation point are adjusted. After the first round of adjustment, if there are still adjacent reference points with height difference that does not meet the condition, the second round of adjustment is performed, until the height difference of any three adjacent interpolation points meets the condition, that is, the vertical acceleration of the UAV flying between any three adjacent interpolation points is less than the maximum vertical acceleration, to obtain a target height table including a plurality of interpolation points and a target height of each interpolation point.

[0091] On the basis of Figure 1 , please refer to Figure 5 , step S104 can include:

[0092] In sub-step S1041, the second reference height of the second interpolation point in the reference height table, the first reference height of the previous interpolation point adjacent to the second interpolation point, and the third reference height of the next interpolation point adjacent to the second interpolation point are obtained.

[0093] In sub-step S1042, the vertical acceleration of the UAV from the previous interpolation point to the next interpolation point via the second interpolation point is calculated according to the time of flight, the first reference height, the second reference height, and the third reference height.

[0094] In this embodiment, it is assumed that the first reference height is H n-1 , the second reference height is H n , and the third reference height is H n+1 . Then, the vertical velocity of the UAV from the previous interpolation point to the second interpolation point is The vertical velocity of the UAV from the second interpolation point to the next interpolation point is Then, the vertical acceleration of the UAV from the previous interpolation point to the next interpolation point via the second interpolation point is

[0095] In sub-step S1043, it is determined whether the vertical acceleration is less than the maximum vertical acceleration.

[0096] In this embodiment, if the vertical acceleration is not less than the maximum vertical acceleration, sub-step S1044 is performed, and if the vertical acceleration is less than the maximum vertical acceleration, sub-step S1045 is performed. That is, it is determined whether is true or not. If it is not true, sub-step S1044 is performed, and if it is true, sub-step S1045 is performed.

[0097] Since acceleration is a vector, it is assumed that the vertical upward direction is the positive direction. Then, when flying from high to low and then to high, the maximum vertical acceleration is positive, and it is necessary to determine whether is true or not. When the UAV flies from low to high and then to low, the maximum vertical acceleration is negative, and it is necessary to determine whether is true or not.

[0098] In sub-step S1044, the lowest one of the first reference height, the second reference height, and the third reference height is increased.

[0099] In this embodiment, if the vertical acceleration is not less than the maximum vertical acceleration, it indicates that the height difference of the first reference height, the second reference height, and the third reference height is too large, and it is necessary to decrease the height difference of any three adjacent interpolation points. In order to ensure the safe flight of the UAV, the lowest one of the first reference height, the second reference height, and the third reference height is increased.

[0100] As an implementation mode, the way of increasing the lowest one of the first reference height, the second reference height, and the third reference height can include:

[0101] If the first reference height and the third reference height are both greater than the second reference height, it indicates that the UAV flies from high to low and then from high to low, i.e. is not true, in which case the second reference height needs to be adjusted, which can be set as Thus, i.e., the second reference height is adjusted to where H n represents the second reference height, H n-1 represents the first reference height, and H n+1 represents the third reference height, a max represents the maximum vertical acceleration, and t represents the flight time.

[0102] If the second reference height is greater than the first reference height and the third reference height, and the third reference height is greater than the first reference height, it indicates that the UAV flies from low to high and then from low to high, i.e. is not true, in which case the first reference height needs to be adjusted, which can be set as Thus, n-1 = -a max *t 2 + 2H n -H n+1 i.e., the first reference height is adjusted to

[0103] If the second reference height is greater than the first reference height and the third reference height, and the third reference height is less than or equal to the first reference height, it indicates that the UAV flies from low to high and then from low to high, i.e. is not true, in which case the third reference height needs to be adjusted, which can be set as Thus, n+1 = -a max *t 2 + 2H n -H n-1 i.e., the third reference height is adjusted to n+1 = -a max *t 2 + 2H n -H n-1 .

[0104] In sub-step S1045, it is determined whether the next interpolation point is the last interpolation point in the reference height table.

[0105] In this embodiment, if the next interpolation point is not the last interpolation point in the reference height table, sub-step S1046 is performed, and if the next interpolation point is the last interpolation point in the reference height table, sub-step S1047 is performed.

[0106] Sub-step S1046, the last interpolation point is replaced by the next interpolation point, and sub-step S1041 is executed until the last interpolation point in the reference height table is reached.

[0107] Sub-step S1047, it is judged whether the vertical acceleration of the UAV flying between any three adjacent interpolation points in the plurality of interpolation points after the height adjustment is less than the maximum vertical acceleration.

[0108] In this embodiment, if the vertical acceleration of the UAV flying between any three adjacent interpolation points in the plurality of interpolation points after the height adjustment is not less than the maximum vertical acceleration, sub-step S1041 is executed until the vertical acceleration of the UAV flying between any three adjacent interpolation points in the plurality of interpolation points after the height adjustment is less than the maximum vertical acceleration, and the target height table is obtained; if the vertical acceleration of the UAV flying between any three adjacent interpolation points in the plurality of interpolation points after the height adjustment is less than the maximum vertical acceleration, sub-step S1048 is executed, that is, the target height table is obtained, as shown in (d). Figure 3

[0109] Sub-step S1048, the target height table is obtained.

[0110] In this embodiment, after the target height table including the plurality of interpolation points and the target height of each interpolation point is obtained by optimizing the initial height table according to the maximum vertical speed and the maximum vertical acceleration of the UAV in the height direction, if the electronic device is in communication connection with the UAV, such as a terminal, a server, a ground station, etc., the work route and the target height table corresponding to the work route can be sent to the UAV. The UAV starts work, and in the flight process, the flight controller of the UAV queries the target height of the corresponding interpolation point in the target height table according to the segment number of the current work segment and the distance from the segment start point, and flies at the current flight height.

[0111] In a possible case, the user can edit the height of some work segments, because some work segments may not be work areas, such as water surface, etc., and frequent height adjustment in these work segments will waste the energy reserves of the UAV, therefore, on the basis of Figure 1 , the user can edit the height of some work segments, and the height of the work segments edited by the user is not adjusted in the target height table. Figure 6 Another flowchart of the route height adjustment method provided by the embodiment of the application is shown, please refer to Figure 6 , after step S104, the route height adjustment method further includes:

[0112] Step S105, in response to the route editing instruction, a target work segment is determined from the at least one work segment.

[0113] ​In this embodiment, the target operation segment is the operation segment within the operation route that the user selects and whose altitude needs to be edited. The route editing command can be a user's point-and-click operation on the target operation segment, or it can be the segment number of the target operation segment entered by the user. For example, combined with... Figure 2 In (b), users can select the leftmost operation segment or enter 'a' to determine the target operation segment 'a'.

[0114] Step S106: Set the height of each interpolation point on the target operation segment to a preset height, where the height is any one of the interpolation height, reference height, or target height.

[0115] In this embodiment, the preset altitude is the minimum altitude value of the target operation segment entered by the user after selecting the target operation segment. For example, it is combined with... Figure 2 In (b), the target operational segment a corresponds to the water surface and does not require frequent altitude adjustments. Therefore, the altitude of each interpolation point on the target operational segment a is set to a preset altitude. The preset altitude is the sum of the water surface terrain altitude and the set distance from the water surface. For example, please refer to... Figure 3 (e) After the user edits the code, Figure 3 (e) The heights of interpolation points 2, 3, 4, and 5 are all set to the preset heights.

[0116] In addition, the user's editing operation on the operation segment can be an editing operation on any of the interpolated altitude, reference altitude, and target altitude. If it is an interpolated altitude, then steps S105 to S106 are... Figure 1 Execute after step S101; if it is a reference height, then steps S105 to S106 are performed later. Figure 1 Execute after step S103; if it is the target height, then steps S105-S106 are performed later. Figure 1 Execute after step S104.

[0117] In one possible scenario, certain consecutive interpolation points on the operational flight segment share the same interpolation altitude. For these interpolation points, the UAV's flight controller does not need to frequently query the target altitude table to determine the current flight altitude. Therefore, in Figure 1 On this basis, Figure 7 This diagram illustrates another flowchart of the flight path altitude adjustment method provided in this application embodiment. Please refer to... Figure 7 Following step S104, the route altitude adjustment method further includes:

[0118] Step S107: Determine whether the target heights of any three adjacent interpolation points among the multiple interpolation points are equal.

[0119] In the embodiment, if the target heights of any three adjacent interpolation points in the plurality of interpolation points are equal, step S108 is performed, and if the target heights of any three adjacent interpolation points in the plurality of interpolation points are all unequal, step S109 is performed.

[0120] In step S108, the middle one of the three adjacent interpolation points is deleted, and step S130 is repeatedly performed until the target heights of any three adjacent interpolation points in the plurality of interpolation points are all unequal.

[0121] For example, in combination with Figure 3 In (e), the target heights of interpolation points 2, 3, 4 and 5 are all equal, interpolation points 3 and 4 are deleted, and the target height table shown in Figure 3 is obtained.

[0122] In step S109, the target heights of any three adjacent interpolation points in the plurality of interpolation points are all unequal.

[0123] It should be noted that steps S107-S109 can also be performed after step S106 in the flight path height adjustment method shown in Figure 6 .

[0124] Please refer to Figure 8 , Figure 8 A flowchart of a UAV operation method provided by an embodiment of the present application is shown. The UAV operation method is applied to an electronic device, which can be a UAV. The UAV operation method comprises the following steps:

[0125] In step S201, an operation flight path and a target height table corresponding to the operation flight path are obtained, wherein the target height table is obtained according to the flight path height adjustment method.

[0126] In the embodiment, if the electronic device performing the flight path height adjustment method is a terminal, a server, a ground station or the like, the operation flight path and the target height table corresponding to the operation flight path can be sent to the UAV by the terminal, the server, the ground station or the like; if the electronic device performing the flight path height adjustment method is a UAV, the operation flight path and the target height table corresponding to the operation flight path can be obtained from the memory of the UAV.

[0127] In step S202, flight is performed according to the operation flight path and the target height table.

[0128] In the embodiment, after the UAV obtains the operation flight path and the target height table corresponding to the operation flight path, in the flight process, the flight controller of the UAV queries the target height of the corresponding interpolation point in the target height table according to the flight section number of the current operation flight section and the distance from the starting point of the flight section, and uses the target height as the current flight height to perform flight.

[0129] Compared with the prior art, the embodiments of the application have the following beneficial effects:

[0130] Firstly, the initial height table is optimized by the maximum vertical speed and the maximum vertical acceleration of the unmanned aerial vehicle in the height direction, to obtain a target height table including multiple interpolation points and a target height of each interpolation point, so that when the unmanned aerial vehicle flies according to the operation route and the target height table, the vertical speed of flight between any two adjacent interpolation points is less than the maximum vertical speed, and the vertical acceleration of flight between any three adjacent interpolation points is less than the maximum vertical acceleration, that is, the unmanned aerial vehicle can always meet the flight performance requirements during flight.

[0131] Secondly, when adjusting the height, only the height is raised, and the height is not lowered, so as to avoid the unmanned aerial vehicle colliding with the high crops and ensure the safe flight of the unmanned aerial vehicle.

[0132] Thirdly, the editing function of the user to the operation section is provided, so as to avoid the unmanned aerial vehicle frequently adjusting the height in some sections which may not be the operation area, and save the energy reserve of the unmanned aerial vehicle.

[0133] Fourthly, the operation section is compressed for multiple continuous interpolation points with the same interpolation height, so as to avoid the flight controller of the unmanned aerial vehicle frequently querying the target height table to determine the current flight height, and improve the operation efficiency.

[0134] In order to execute the above-mentioned route height adjustment method embodiments and the corresponding steps in each possible implementation, an implementation of a route height adjustment device is given below. Please refer to Figure 9 , Figure 9 A block schematic diagram of a route height adjustment device 100 provided by the embodiments of the application is shown. The route height adjustment device 100 is applied to an electronic device, which can be a terminal, a server, a ground workstation, an unmanned aerial vehicle, etc., and the terminal can be a smart phone, a tablet computer, a portable notebook computer, a desktop computer, etc. The route height adjustment device 100 includes a first acquisition module 101, a first adjustment module 102 and a second adjustment module 103.

[0135] The first acquisition module 101 is used for acquiring an operation route and an initial height table corresponding to the operation route, wherein the initial height table includes multiple interpolation points on the operation route and an interpolation height of each interpolation point.

[0136] Optionally, the first obtaining module 101 performs the manner of obtaining the initial height table corresponding to the work flight path, comprising: determining a plurality of interpolation points on the work flight path by using an equidistant interpolation manner; in the three-dimensional map, querying the highest point terrain height in a circle with the current interpolation point as the center and a preset radius, and taking the highest point terrain height as the interpolation height of the current interpolation point; traversing each interpolation point to obtain the interpolation height of each interpolation point.

[0137] The first obtaining module 101 is further configured to obtain a maximum vertical speed and a maximum vertical acceleration of the unmanned aerial vehicle in the height direction.

[0138] The first adjusting module 102 is configured to adjust the interpolation height of the interpolation points in the initial height table according to the maximum vertical speed, so that the vertical speed of the unmanned aerial vehicle flying between any two adjacent interpolation points is less than the maximum vertical speed, to obtain a reference height table, the reference height table comprising a plurality of interpolation points and a reference height of each interpolation point.

[0139] Optionally, the first adjusting module 102 is specifically configured to: obtain a maximum horizontal speed of the unmanned aerial vehicle flying according to the work flight path; calculate a flight time of the unmanned aerial vehicle flying at the maximum horizontal speed for a preset interpolation distance between two adjacent interpolation points according to the maximum horizontal speed and the preset interpolation distance; obtain a first interpolation height of a first interpolation point in the initial height table and a second interpolation height of a next interpolation point adjacent to the first interpolation point; calculate a vertical speed of the unmanned aerial vehicle flying from the first interpolation point to the next interpolation point within the flight time according to the flight time, the first interpolation height and the second interpolation height; determine whether the vertical speed is less than the maximum vertical speed; if not, adjust the lower one of the first interpolation height and the second interpolation height to be higher; determine whether the next interpolation point is the last interpolation point in the initial height table; if not, replace the first interpolation point with the next interpolation point and perform the steps of obtaining the first interpolation height of the first interpolation point in the initial height table and the second interpolation height of the next interpolation point adjacent to the first interpolation point until the next interpolation point is the last interpolation point in the initial height table; determine whether the vertical speed of the unmanned aerial vehicle flying between any two adjacent interpolation points in the plurality of interpolation points after the height adjustment is less than the maximum vertical speed; if not, perform the steps of obtaining the first interpolation height of the first interpolation point in the initial height table and the second interpolation height of the next interpolation point adjacent to the first interpolation point until the vertical speed of the unmanned aerial vehicle flying between any two adjacent interpolation points in the plurality of interpolation points after the height adjustment is less than the maximum vertical speed, to obtain the reference height table.

[0140] Optionally, the first adjusting module 102 performs the manner of adjusting the lower one of the first interpolation height and the second interpolation height to be higher, comprising: if the first interpolation height is greater than the second interpolation height, adjusting the second interpolation height to be H(n) = H(n-1) - v maxH (n) = H (n-1) - v * t, wherein H (n) represents the second interpolation height, H (n-1) represents the first interpolation height, v represents the maximum vertical acceleration, and t represents the flight time max represents the maximum vertical velocity, and t represents the flight time; if the first interpolation height is less than the second interpolation height, the first interpolation height is adjusted to H (n-1) = H (n) - v * t max .

[0141] The second adjustment module 103 is configured to adjust the reference height of the interpolation point in the reference height table according to the maximum vertical acceleration, so that the vertical acceleration of the unmanned aerial vehicle flying between any three adjacent interpolation points is less than the maximum vertical acceleration, and obtain a target height table. The target height table includes a plurality of interpolation points and a target height of each interpolation point.

[0142] Optionally, the second adjustment module 103 is specifically configured to: obtain a second reference height of a second interpolation point, a first reference height of a previous interpolation point adjacent to the second interpolation point, and a third reference height of a next interpolation point adjacent to the second interpolation point in the reference height table; calculate a vertical acceleration of the unmanned aerial vehicle flying from the previous interpolation point to the next interpolation point through the second interpolation point within the flight time according to the flight time, the first reference height, the second reference height, and the third reference height; determine whether the vertical acceleration is less than the maximum vertical acceleration; if not, the lowest one of the first reference height, the second reference height, and the third reference height is adjusted to be higher; determine whether the next interpolation point is the last interpolation point in the reference height table; if not, the next interpolation point is used to replace the second interpolation point, and the above steps are executed until the next interpolation point is the last interpolation point in the reference height table; determine whether the vertical acceleration of the unmanned aerial vehicle flying between any three adjacent interpolation points in the plurality of interpolation points after the height adjustment is less than the maximum vertical acceleration; if not, the above steps are repeatedly executed until the vertical acceleration of the unmanned aerial vehicle flying between any three adjacent interpolation points in the plurality of interpolation points after the height adjustment is less than the maximum vertical acceleration, and the target height table is obtained.

[0143] Optionally, the second adjustment module 103 executes the manner of adjusting the lowest one of the first reference height, the second reference height, and the third reference height to be higher, including: if the first reference height and the third reference height are both greater than the second reference height, the second reference height is adjusted to be wherein H n represents the second reference height, H n-1 represents the first reference height, H n+1 represents the third reference height, a max represents the maximum vertical acceleration, and t represents the flight time; if the second reference height is greater than the first reference height and the third reference height, and the third reference height is greater than the first reference height, the first reference height is adjusted to H n-1 = -a max *t2 + 2H n - H n+1 ; if the second reference height is greater than the first reference height and the third reference height, and the third reference height is less than or equal to the first reference height, then adjusting the third reference height to H n+1 = -a max * t 2 + 2H n - H n-1 .

[0144] Optionally, the work flight path comprises at least one work flight segment, and the flight path height adjustment apparatus 100 further comprises a processing module 104, which is configured to: in response to a flight path editing instruction, determine a target work flight segment from the at least one work flight segment; and set the height of each interpolation point on the target work flight segment to a preset height, wherein the height is any one of an interpolation height, a reference height, and a target height.

[0145] Optionally, the processing module 104 is further configured to: determine whether the target heights of any three adjacent interpolation points in the plurality of interpolation points are equal; if yes, delete the middle one of the three adjacent interpolation points; and repeat the above steps until the target heights of any three adjacent interpolation points in the plurality of interpolation points are all unequal.

[0146] In order to execute the corresponding steps in the above-mentioned unmanned aerial vehicle work method embodiments and various possible implementations, an implementation of an unmanned aerial vehicle work apparatus is given below. Please refer to Figure 10 , Figure 10 A block schematic diagram of an unmanned aerial vehicle work apparatus 200 provided by an embodiment of the present application is shown. The unmanned aerial vehicle work apparatus 200 is applied to an electronic device, which can be an unmanned aerial vehicle. The unmanned aerial vehicle work apparatus 200 comprises a second acquisition module 201 and an execution module 202.

[0147] The second acquisition module 201 is configured to acquire a work flight path and a target height table corresponding to the work flight path, wherein the target height table is obtained according to the above-mentioned flight path height adjustment method.

[0148] The execution module 202 is configured to fly according to the work flight path and the target height table.

[0149] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-mentioned flight path height adjustment apparatus 100 and unmanned aerial vehicle work apparatus 200 can refer to the corresponding processes in the foregoing method embodiments, which will not be described here again.

[0150] Please refer to Figure 11 , Figure 11A block diagram of the electronic device 10 is shown. The electronic device 10 includes a processor 11, a memory 12 and a bus 13. The processor 11 is connected to the memory 12 through the bus 13.

[0151] The memory 12 is configured to store programs, for example Figure 9 The flight path height adjustment device 100 shown, or Figure 10 The UAV operation device 200 shown, or Figure 9 The flight path height adjustment device 100 shown and Figure 10 The UAV operation device 200 shown, the flight path height adjustment device 100 and the UAV operation device 200 each include at least one software function module which can be stored in the memory 12 in the form of software or firmware or solidified in the operating system (OS) of the electronic device 10. After receiving an execution instruction, the processor 11 executes the programs to implement the flight path height adjustment method or the UAV operation method disclosed in the above embodiments.

[0152] The memory 12 can include a high-speed random access memory (RAM) and can also include a non-volatile memory (NVM).

[0153] The processor 11 can be an integrated circuit chip with signal processing capability. In the implementation process, each step of the above method can be completed by the integrated logic circuit of hardware or the instruction in the form of software in the processor 11. The processor 11 described above can be a general-purpose processor, including a central processing unit (CPU), a microcontroller unit (MCU), a complex programmable logic device (CPLD), a field programmable gate array (FPGA), an embedded ARM, etc.

[0154] The embodiments of the present application also provide a computer readable storage medium, which stores a computer program. When the computer program is executed by the processor 11, the flight path height adjustment method, or the UAV operation method, or the flight path height adjustment method and the UAV operation method disclosed in the above embodiments are implemented.

[0155] To sum up, the application provides a flight route height adjustment method, a UAV operation method and related devices. The flight route height adjustment method comprises: obtaining an operation flight route and an initial height table corresponding to the operation flight route, wherein the initial height table comprises a plurality of interpolation points on the operation flight route and interpolation heights of each interpolation point; obtaining a maximum vertical speed and a maximum vertical acceleration of the UAV in the height direction; adjusting the interpolation heights of the interpolation points in the initial height table according to the maximum vertical speed, so that the vertical speed of the UAV flying between any two adjacent interpolation points is less than the maximum vertical speed, obtaining a reference height table, and the reference height table comprises a plurality of interpolation points and reference heights of each interpolation point; adjusting the reference heights of the interpolation points in the reference height table according to the maximum vertical acceleration, so that the vertical acceleration of the UAV flying between any three adjacent interpolation points is less than the maximum vertical acceleration, obtaining a target height table, and the target height table comprises a plurality of interpolation points and target heights of each interpolation point. The UAV operation method comprises: obtaining an operation flight route and a target height table corresponding to the operation flight route, wherein the target height table is obtained according to the flight route height adjustment method; and flying according to the operation flight route and the target height table. The application optimizes the initial height table according to the maximum vertical speed and the maximum vertical acceleration of the UAV in the height direction, obtains the target height table comprising a plurality of interpolation points and target heights of each interpolation point, so that when the UAV flies according to the operation flight route and the target height table, the vertical speed of the UAV flying between any two adjacent interpolation points is less than the maximum vertical speed, and the vertical acceleration of the UAV flying between any three adjacent interpolation points is less than the maximum vertical acceleration, that is, the UAV can always meet the flight performance requirements in the flight process.

[0156] In several embodiments provided in the application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are only schematic, for example, the flowcharts and block diagrams in the drawings show the possible implementation architectures, functions and operations of the devices, methods and computer program products according to the embodiments of the application. In this regard, each block in the flowcharts or block diagrams can represent a module, a program segment or a part of code, which contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in different orders from those noted in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and sometimes they can be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and the combination of blocks in the block diagrams and / or flowcharts, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0157] In addition, the function modules in various embodiments of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0158] If the functions are realized in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the parts that contribute to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes. It should be noted that in this paper, relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the processes, methods, articles or devices that include a series of elements not only include those elements, but also include other elements not explicitly listed or inherent to such processes, methods, articles or devices. Without more limitations, the element defined by the statement "includes a" does not exclude the presence of other identical elements in the process, method, article or device that includes the element.

[0159] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be limited by the protection scope of the claims.

[0160] Industrial applicability

[0161] The flight route height adjustment method, the unmanned aerial vehicle operation method and the related device provided by the present application can ensure that the unmanned aerial vehicle can always meet the flight performance requirements during flight.

Claims

1. A method for adjusting flight path altitude, characterized in that, The method includes: Obtain the operation route and the initial altitude table corresponding to the operation route, wherein the initial altitude table includes multiple interpolation points on the operation route and the interpolation altitude of each interpolation point; Obtain the maximum vertical velocity and maximum vertical acceleration of the drone in the altitude direction; Based on the maximum vertical speed, the interpolation heights of the interpolation points in the initial altitude table are adjusted so that the vertical speed of the UAV flying between any two adjacent interpolation points is less than the maximum vertical speed, thus obtaining a reference altitude table, which includes the plurality of interpolation points and the reference height of each interpolation point; Based on the maximum vertical acceleration, the reference altitude of the interpolation points in the reference altitude table is adjusted so that the vertical acceleration of the UAV flying between any three adjacent interpolation points is less than the maximum vertical acceleration, thereby obtaining a target altitude table, which includes the plurality of interpolation points and the target altitude of each interpolation point; The step of adjusting the interpolation altitude of the interpolation points in the initial altitude table based on the maximum vertical speed, so that the vertical speed of the UAV flying between any two adjacent interpolation points is less than the maximum vertical speed, to obtain the reference altitude table includes: Obtain the maximum horizontal speed of the UAV as it flies along the operational route; Based on the maximum horizontal speed and the preset interpolation distance between two adjacent interpolation points, the flight time for the UAV to fly the preset interpolation distance at the maximum horizontal speed is calculated. Obtain the first interpolated height of the first interpolated point in the initial height table and the second interpolated height of the next interpolated point adjacent to the first interpolated point; Based on the flight time, the first interpolation altitude, and the second interpolation altitude, the vertical velocity of the UAV from the first interpolation point to the next interpolation point within the flight time is calculated. Determine whether the vertical velocity is less than the maximum vertical velocity; If not, then increase the lower of the first interpolation height and the second interpolation height.

2. The method as described in claim 1, characterized in that, The method further includes: Determine whether the next interpolation point is the last interpolation point in the initial height table; If not, then the first interpolation point is replaced by the second interpolation point and the steps of obtaining the first interpolation height of the first interpolation point in the initial height table and the second interpolation height of the second interpolation point adjacent to the first interpolation point are executed until the second interpolation point is the last interpolation point in the initial height table. Determine whether the vertical speed of the UAV flying between any two adjacent interpolation points is less than the maximum vertical speed among multiple interpolation points after adjusting the altitude. If not, then the steps of obtaining the first interpolation height of the first interpolation point in the initial altitude table and the second interpolation height of the next interpolation point adjacent to the first interpolation point are performed until, among the multiple interpolation points after altitude adjustment, the vertical speed of the UAV flying between any two adjacent interpolation points is less than the maximum vertical speed, and the reference altitude table is obtained.

3. The method as described in claim 1, characterized in that, The step of increasing the lower of the first interpolation height and the second interpolation height includes: If the first interpolation height is greater than the second interpolation height, then the second interpolation height is adjusted to H(n) = H(n-1) - v max *t, where H(n) represents the second interpolation height, H(n-1) represents the first interpolation height, and v max The maximum vertical velocity is represented by t, and the flight time is represented by t. If the first interpolation height is less than the second interpolation height, then the first interpolation height is adjusted to H(n-1) = H(n) - v max *t.

4. The method as described in claim 1, characterized in that, The step of adjusting the reference altitude of the interpolation points in the reference altitude table based on the maximum vertical acceleration, so that the vertical acceleration of the UAV flying between any three adjacent interpolation points is less than the maximum vertical acceleration, to obtain a target altitude table, wherein the target altitude table includes the plurality of interpolation points and the target altitude of each interpolation point, includes: Obtain the second reference height of the second interpolation point in the reference height table, the first reference height of the previous interpolation point adjacent to the second interpolation point, and the third reference height of the next interpolation point adjacent to the second interpolation point; Based on the flight time, the first reference altitude, the second reference altitude, and the third reference altitude, the vertical acceleration of the UAV from the previous interpolation point through the second interpolation point to the next interpolation point is calculated. Determine whether the vertical acceleration is less than the maximum vertical acceleration; If not, then raise the lowest of the first reference height, the second reference height, and the third reference height; Determine whether the next interpolation point is the last interpolation point in the reference height table; If not, then use the next interpolation point to replace the second interpolation point and perform the above steps until the next interpolation point is the last interpolation point in the reference height table; Determine whether the vertical acceleration of the UAV flying between any three adjacent interpolation points after adjusting the altitude is less than the maximum vertical acceleration among multiple interpolation points. If not, repeat the above steps until, among the multiple interpolation points after altitude adjustment, the vertical acceleration of the UAV flying between any three adjacent interpolation points is less than the maximum vertical acceleration, and obtain the target altitude table.

5. The method as described in claim 4, characterized in that, The step of raising the lowest of the first reference height, the second reference height, and the third reference height includes: If both the first reference height and the third reference height are greater than the second reference height, then the second reference height is adjusted to... Among them, H n H represents the second reference height. n-1 H represents the first reference height. n+1 Indicates the third reference height, a max The maximum vertical acceleration is represented by t, and the flight time is represented by t. If the second reference height is greater than both the first reference height and the third reference height, and the third reference height is greater than the first reference height, then the first reference height is adjusted to H. n-1 =-a max *t 2 +2H n -H n+1 ; If the second reference height is greater than the first reference height and the third reference height, and the third reference height is less than or equal to the first reference height, then the third reference height is adjusted to H. n+1 =-a max *t 2 +2H n -H n-1 .

6. The method as described in claim 1, characterized in that, The operation route includes at least one operation segment, and the method further includes: In response to the route editing command, determine the target operation segment from the at least one operation segment; The altitude of each interpolation point on the target operation segment is set to a preset altitude, wherein the altitude is any one of the interpolation altitude, reference altitude, and target altitude.

7. The method as described in claim 1 or 6, characterized in that, The method further includes: Determine whether the target heights of any three adjacent interpolation points among the plurality of interpolation points are equal; If so, delete the middle interpolation point among the three adjacent interpolation points; Repeat the above steps until the target heights of any three adjacent interpolation points among the multiple interpolation points are not equal.

8. The method as described in claim 1, characterized in that, The step of obtaining the initial altitude table corresponding to the operation route includes: Multiple interpolation points are determined along the operation route using an equal-interval interpolation method. In the 3D map, query the terrain height of the highest point within a circle with the current interpolation point as the center and a preset radius, and use the terrain height of the highest point as the interpolation height of the current interpolation point; Iterate through each interpolation point to obtain the interpolation height of each interpolation point.

9. A method for operating unmanned aerial vehicles (UAVs), characterized in that, The method includes: Obtain the operation route and the target altitude table corresponding to the operation route, wherein the target altitude table is obtained by the route altitude adjustment method according to any one of claims 1-8; Fly according to the described operational route and the described target altimeter.

10. A flight path altitude adjustment device, characterized in that, The device includes: The first acquisition module is used to acquire the operation route and the initial altitude table corresponding to the operation route, wherein the initial altitude table includes multiple interpolation points on the operation route and the interpolation altitude of each interpolation point; The first acquisition module is also used to acquire the maximum vertical velocity and maximum vertical acceleration of the UAV in the altitude direction; The first adjustment module is used to adjust the interpolation height of the interpolation points in the initial altitude table according to the maximum vertical speed, so that the vertical speed of the UAV flying between any two adjacent interpolation points is less than the maximum vertical speed, and to obtain a reference altitude table, wherein the reference altitude table includes the plurality of interpolation points and the reference height of each interpolation point; The second adjustment module is used to adjust the reference height of the interpolation points in the reference altitude table according to the maximum vertical acceleration, so that the vertical acceleration of the UAV flying between any three adjacent interpolation points is less than the maximum vertical acceleration, thereby obtaining a target altitude table, which includes the plurality of interpolation points and the target height of each interpolation point; The first adjustment module is specifically used for: Obtain the maximum horizontal speed of the UAV as it flies along the operational route; Based on the maximum horizontal speed and the preset interpolation distance between two adjacent interpolation points, the flight time for the UAV to fly the preset interpolation distance at the maximum horizontal speed is calculated. Obtain the first interpolated height of the first interpolated point in the initial height table and the second interpolated height of the next interpolated point adjacent to the first interpolated point; Based on the flight time, the first interpolation altitude, and the second interpolation altitude, the vertical velocity of the UAV from the first interpolation point to the next interpolation point within the flight time is calculated. Determine whether the vertical velocity is less than the maximum vertical velocity; If not, then increase the lower of the first interpolation height and the second interpolation height.

11. The apparatus as claimed in claim 10, characterized in that, The first adjustment module is also specifically used for: Determine whether the next interpolation point is the last interpolation point in the initial height table; If not, then the first interpolation point is replaced by the second interpolation point and the steps of obtaining the first interpolation height of the first interpolation point in the initial height table and the second interpolation height of the second interpolation point adjacent to the first interpolation point are executed until the second interpolation point is the last interpolation point in the initial height table. Determine whether the vertical speed of the UAV flying between any two adjacent interpolation points is less than the maximum vertical speed among multiple interpolation points after adjusting the altitude. If not, then the steps of obtaining the first interpolation height of the first interpolation point in the initial altitude table and the second interpolation height of the next interpolation point adjacent to the first interpolation point are performed until, among the multiple interpolation points after altitude adjustment, the vertical speed of the UAV flying between any two adjacent interpolation points is less than the maximum vertical speed, and the reference altitude table is obtained.

12. The apparatus as claimed in claim 10, characterized in that, The first adjustment module performs a method of increasing the lower of the first interpolation height and the second interpolation height, including: If the first interpolation height is greater than the second interpolation height, then the second interpolation height is adjusted to H(n) = H(n-1) - v max *t, where H(n) represents the second interpolation height, H(n-1) represents the first interpolation height, and v max The maximum vertical velocity is represented by t, and the flight time is represented by t. If the first interpolation height is less than the second interpolation height, then the first interpolation height is adjusted to H(n-1) = H(n) - v max *t.

13. The apparatus as claimed in claim 10, characterized in that, The second adjustment module is specifically used for: Obtain the second reference height of the second interpolation point in the reference height table, the first reference height of the previous interpolation point adjacent to the second interpolation point, and the third reference height of the next interpolation point adjacent to the second interpolation point; Based on the flight time, the first reference altitude, the second reference altitude, and the third reference altitude, the vertical acceleration of the UAV from the previous interpolation point through the second interpolation point to the next interpolation point is calculated. Determine whether the vertical acceleration is less than the maximum vertical acceleration; If not, then raise the lowest of the first reference height, the second reference height, and the third reference height; Determine whether the next interpolation point is the last interpolation point in the reference height table; If not, then use the next interpolation point to replace the second interpolation point and perform the above steps until the next interpolation point is the last interpolation point in the reference height table; Determine whether the vertical acceleration of the UAV flying between any three adjacent interpolation points after adjusting the altitude is less than the maximum vertical acceleration among multiple interpolation points. If not, repeat the above steps until, among the multiple interpolation points after altitude adjustment, the vertical acceleration of the UAV flying between any three adjacent interpolation points is less than the maximum vertical acceleration, and obtain the target altitude table.

14. The apparatus as claimed in claim 13, characterized in that, The second adjustment module performs a method of raising the lowest of the first reference height, the second reference height, and the third reference height, including: If both the first reference height and the third reference height are greater than the second reference height, then the second reference height is adjusted to... Among them, H n H represents the second reference height. n-1 H represents the first reference height. n+1 Indicates the third reference height, a max The maximum vertical acceleration is represented by t, and the flight time is represented by t. If the second reference height is greater than both the first reference height and the third reference height, and the third reference height is greater than the first reference height, then the first reference height is adjusted to H. n-1 =-a max *t 2 +2H n -H n+1 ; If the second reference height is greater than the first reference height and the third reference height, and the third reference height is less than or equal to the first reference height, then the third reference height is adjusted to H. n+1 =-a max *t 2 +2H n -H n-1 .

15. The apparatus as claimed in claim 10, characterized in that, The operation route includes at least one operation segment, and the device further includes a processing module, which is used for: In response to the route editing command, determine the target operation segment from the at least one operation segment; The altitude of each interpolation point on the target operation segment is set to a preset altitude, wherein the altitude is any one of the interpolation altitude, reference altitude, and target altitude.

16. The apparatus as claimed in claim 15, characterized in that, The processing module is also used for: Determine whether the target heights of any three adjacent interpolation points among the plurality of interpolation points are equal; If so, delete the middle interpolation point among the three adjacent interpolation points; Repeat the above steps until the target heights of any three adjacent interpolation points among the multiple interpolation points are not equal.

17. The apparatus as claimed in claim 10, characterized in that, The first acquisition module performs the following method to acquire the initial altitude table corresponding to the operation route: Multiple interpolation points are determined along the operation route using an equal-interval interpolation method. In the 3D map, query the terrain height of the highest point within a circle with the current interpolation point as the center and a preset radius, and use the terrain height of the highest point as the interpolation height of the current interpolation point; Iterate through each interpolation point to obtain the interpolation height of each interpolation point.

18. A drone operation device, characterized in that, The device includes: The second acquisition module is used to acquire the operation route and the target altitude table corresponding to the operation route, wherein the target altitude table is obtained by the route altitude adjustment method according to any one of claims 1-8; An execution module is used to fly according to the operational route and the target altimeter.

19. An electronic device, characterized in that, The electronic device includes: One or more processors; A memory for storing one or more programs that, when executed by one or more processors, cause the one or more processors to implement the flight path altitude adjustment method as described in any one of claims 1-8, and / or the unmanned aerial vehicle (UAV) operation method as described in claim 9.

20. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the flight path altitude adjustment method as described in any one of claims 1-8, and / or the unmanned aerial vehicle operation method as described in claim 9.

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