A method, device, equipment and storage medium for planning a flight path of an unmanned aerial vehicle

Abstract

The present application provides a method, device, equipment and storage medium for planning the flight path of an unmanned aerial vehicle (UAV), which is applied to the field of UAV observation data processing technology. The method includes marking at least four key inspection points and the inspection range including the flight starting point according to the UAV's inspection mission before the UAV performs an inspection mission; judging whether the four marked key inspection points meet the inspection execution conditions according to the task points of the inspection records in the inspection database; if the inspection execution conditions are met, curve fitting is performed on the coordinates of the four marked key inspection points using a polynomial fitting function to obtain the fitting result as the first planned path of the UAV. The present application analyzes the data changes of the safe, feasible and optimal path between the flight starting point of the unknown route and the marked key inspection points through the polynomial fitting function, objectively reflecting the UAV's understanding of the regularity of things and phenomena in an unknown environment, and can prevent UAV accidents and reduce the risks of inspection missions.

Description

Technical Field

[0001] The present application relates to the technical field of drone observation data processing technology, and specifically to a drone flight path planning method, device, equipment and storage medium. Background Art

[0002] The basic goal of UAV route planning is to autonomously obtain a flight path that can avoid threats and reach the target safely. Data prediction of UAV flight path refers to the analysis of existing data to obtain data changes between future target points, or the correspondence between variables outside a certain range. In engineering design and scientific experiments, inspection tasks are performed according to pre-set flight paths. The data obtained is often a table of discrete data points. There is no analytical expression to describe the relationship between variables. The curve drawn according to the given data is called an irregular curve. Therefore, it is urgent to propose a calculation method for a continuous fitting function so that the error value of the data to the functional relationship is minimized, thereby obtaining predicted data for a safe, feasible and optimal flight path. Summary of the Invention

[0003] In view of this, an embodiment of the present application provides a method for planning the flight path of a drone. Through a polynomial fitting function, the data changes of a safe, feasible, and optimal path between the starting point of an unknown route flight and the marked key inspection points are analyzed, and the correspondence between variables outside a certain range is obtained. It objectively reflects the drone's understanding of the regularity of things and phenomena in an unknown environment, can provide ideas for optimization, and can also prevent drone accidents and reduce the risks of inspection tasks.

[0004] In a first aspect, an embodiment of the present application provides a method for planning a flight path of a drone, comprising:

[0005] Before the drone performs an inspection mission, mark at least four key inspection points and the inspection range, including the flight starting point, according to the drone's inspection mission.

[0006] According to the task points of the inspection records in the inspection database, it is determined whether the four marked inspection key points meet the inspection execution conditions;

[0007] If the inspection execution conditions are met, the coordinates of the four marked inspection key points are fitted with a polynomial fitting function, and the fitting result is used as the first planning path of the UAV.

[0008] In conjunction with the first aspect, the present application provides a first possible implementation of the first aspect, wherein, before the drone performs an inspection mission, at least four inspection key points and an inspection range, including a flight starting point, are marked according to the drone's inspection mission, including:

[0009] According to the drone's body coordinate system and the inspection mission, starting from the drone's flight starting point, the coordinates and inspection ranges of at least four key inspection points are marked at certain time intervals.

[0010] In combination with the first possible implementation of the first aspect, an embodiment of the present application provides a second possible implementation of the first aspect, wherein, based on the task points of the inspection records in the inspection database, determining whether the four marked inspection key points meet the inspection execution conditions includes:

[0011] Match the four marked inspection key points with the task points of the inspection records in the inspection database one by one;

[0012] If the coordinates matching the four inspection key points do not exist in the inspection database, it is determined that the inspection mission of the drone meets the inspection execution conditions;

[0013] If there are coordinates matching the four inspection key points in the inspection database, it is determined that the inspection mission of the drone does not meet the inspection execution conditions.

[0014] In combination with the first possible implementation or the second possible implementation of the first aspect, the embodiment of the present application provides a third possible implementation of the first aspect, wherein, if the inspection execution condition is met, a polynomial fitting function is used to perform curve fitting on the coordinates of the four marked inspection key points, and the fitting result is obtained as the first planned path of the drone, including:

[0015] According to the coordinates of the four selected inspection key points P1 (x1, y1), P2 (x2, y2), P3 (x3, y3), P4 (x4, y4), a set of simultaneous equations is determined. The expression of the set of equations is:

[0016]

[0017] The simultaneous equations of the coordinates of the four inspection key points are converted into a matrix equation form. The matrix equation XA-Y expression is:

[0018]

[0019] Where X represents the determinant, which conforms to the fourth-order Vandermonde determinant. The mathematical induction method is used to prove the principle and solve it, and the inverse matrix A = X is obtained. -1 Y;

[0020] The first determinant of the inverse matrix obtained by the above matrix equation is X -1Substitute the coordinates of the four key inspection points P1 (x1, y1), P2 (x2, y2), P3 (x3, y3), P4 (x4, y4) to obtain the coefficients a, b, c, d of the polynomial fitting function, and determine the polynomial fitting function y = ax based on the coefficients 3 +bx 2 +cx+d;

[0021] Use polynomial fitting function y=ax 3 +bx 2 +cx+d performs curve fitting on the coordinates of the four marked inspection key points P1(x1,y1), P2(x2,y2), P3(x3,y3), and P4(x4,y4), and obtains the fitting result as the first planned path of the UAV.

[0022] In combination with the first possible implementation or the second possible implementation of the first aspect, the embodiment of the present application provides a fourth possible implementation of the first aspect, wherein, after curve fitting is performed on the coordinates of the four marked inspection key points using a polynomial fitting function and the fitting result is obtained as the first planned path of the drone, the method further includes:

[0023] Determine whether the distance between the first planned path of the drone and the edge of the inspection range is less than a preset threshold;

[0024] If it is less than a preset threshold, the first planned path of the UAV is used as the optimal path for this inspection mission.

[0025] In combination with the first possible implementation or the second possible implementation of the first aspect, the embodiment of the present application provides a fifth possible implementation of the first aspect, wherein determining whether the distance between the first planned path of the target drone and the edge of the inspection range is less than a preset threshold further includes:

[0026] If it is greater than a preset threshold, a quadratic function fitting is performed on the coordinates of a plurality of key points to be inspected that are adjacent to the four key inspection points according to a quadratic function fitting formula;

[0027] Y=y+t1x 3 +t2x 2 +t3x+t4+t5e x +t6lnx;

[0028] Generating a piecewise fitting curve as a second planning path according to the quadratic function fitting;

[0029] Among them, y represents the polynomial fitting function of the four key inspection points, t1x 3 , t2x 2, t3x, t4 represent multiple key points to be inspected adjacent to the four key inspection points, t5e x , t6lnx represents the derivative correction value of the key point to be inspected.

[0030] In combination with the first possible implementation or the second possible implementation of the first aspect, the embodiment of the present application provides a sixth possible implementation of the first aspect, wherein:

[0031] After the drone completes the inspection mission, the first planned path is visualized through the front-end display window, and the first planned path is stored in the inspection database for safety analysis of the drone inspection mission;

[0032] or:

[0033] The two planned paths are visualized through a front-end display window, and the second planned paths are stored in an inspection database for safety analysis of UAV inspection tasks.

[0034] In a second aspect, an embodiment of the present application further provides a device for planning a flight path of a drone, the device comprising:

[0035] The marking module is used to mark at least four key inspection points including the flight starting point according to the inspection mission of the drone before the drone performs the inspection mission;

[0036] A judgment module, configured to judge whether the four marked inspection key points meet the inspection execution conditions according to the task points of the inspection records in the inspection database;

[0037] The fitting module is used to use a polynomial fitting function to perform curve fitting on the coordinates of the four marked inspection key points if the inspection execution conditions are met, and obtain the fitting result as the first planned path of the UAV.

[0038] In a third aspect, an embodiment of the present application further provides a computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the method for planning the flight path of a drone described above are implemented.

[0039] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of a method for planning a drone flight path are executed.

[0040] A method for planning a flight path for a drone provided in an embodiment of the present application, compared with the prior art which uses a pre-set flight path to perform inspection tasks, this solution can provide regular data changes of unknown flight routes, provide ideas for optimizing the flight path of inspection tasks, prevent the risk of possible accidents, and reduce the risk of inspection tasks; before the drone performs an inspection task, this method marks at least four inspection key points including the flight starting point and the inspection range according to the drone's inspection task; based on the task points of the inspection records in the inspection database, it is judged whether the four marked inspection key points meet the inspection execution conditions; if the inspection execution conditions are met, a polynomial fitting function is used to perform curve fitting on the coordinates of the four marked inspection key points, and the fitting result is obtained as the first planned path of the drone. Specifically, by obtaining the coordinates of the drone's flight starting point to the marked inspection key points during the inspection mission, and then searching the inspection records in the inspection database to see whether there are coordinates consistent with the four inspection key points, if the same inspection key point coordinates are not found, the coordinates of the four marked inspection key points are curve fitted based on the polynomial fitting function. The polynomial fitting function is used to analyze the data changes of the safe, feasible and optimal path between the flight starting point of the unknown route to the marked inspection key points, and the corresponding relationship between variables outside a certain range is obtained, which objectively reflects the drone's understanding of the regularity of things and phenomena in an unknown environment, can provide ideas for optimizing flight routes, and can also prevent drone accidents and reduce the risk of inspection missions.

[0041] Furthermore, the method for planning a UAV flight path provided by the embodiment of the present application also includes: determining whether the distance between the first planned path of the UAV and the edge of the inspection range is less than a preset threshold; if it is less than the preset threshold, the first planned path of the UAV is used as the optimal path for this inspection task; if it is greater than the preset threshold, a quadratic function fitting is performed on the coordinates of multiple key points to be inspected adjacent to the four key inspection points according to the quadratic function fitting formula, and a segmented fitting curve is generated based on the quadratic function fitting as the second planned path. Specifically, when the flight observation data of the first planned path is inaccurate, a segmented fitting curve is generated as the second planned path by selecting the coordinates of multiple key points to be inspected adjacent to the four key inspection points for quadratic function fitting, which can describe the flight complexity and real-time nature of the inspection environment to be performed. At the same time, the regular data changes of the unknown route are analyzed for the generated segmented fitting curve, which effectively avoids repeated calculations of other key inspection points, reduces the amount of calculation, and ensures the prediction accuracy and efficiency of the flight path.

[0042] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0044] Figure 1 A flowchart of a UAV flight path planning provided by an embodiment of the present application is shown.

[0045] Figure 2 A schematic diagram of the process of marking key inspection points in a method for planning a drone flight path provided in an embodiment of the present application is shown.

[0046] Figure 3 A schematic diagram of a process for fitting a first planned path using a polynomial fitting function in a method for planning a flight path of a drone provided in an embodiment of the present application is shown.

[0047] Figure 4 A schematic diagram of a process for determining an optimal path in a method for planning a drone flight path provided in an embodiment of the present application is shown.

[0048] Figure 5 A schematic diagram of a process for generating a second planned path in a method for planning a drone flight path provided in an embodiment of the present application is shown.

[0049] Figure 6 A schematic diagram of the structure of a UAV flight path planning device provided in an embodiment of the present application is shown.

[0050] Figure 7 A schematic structural diagram of a computer device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application for protection, but merely represents the 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 making creative work are within the scope of protection of this application.

[0052] Considering that currently in engineering design, the form of a double fitting function is not used to analyze discrete data points to describe the relationship between variables, so as to determine the fitting curve; based on this, an embodiment of the present application provides a method for planning the flight path of a drone, which is described below through an embodiment.

[0053] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0054] Figure 1 FIG. 1 is a flow chart showing a method for planning a flight path of a drone provided in an embodiment of the present application; FIG. Figure 1 As shown, the following steps are included:

[0055] Step S10: Before the UAV performs an inspection mission, at least four inspection key points including a flight starting point and an inspection range are marked according to the UAV's inspection mission.

[0056] During the specific implementation of step S10, before the UAV performs the inspection task, it responds to the technician's operating instructions, based on the UAV's body coordinate system, that is, the X-axis represents the forward direction of the nose, the Y-axis points from the origin to the right side of the UAV, and the Z-axis is determined by the right-hand rule of the Cartesian coordinate system and the UAV needs to inspect key locations in this inspection task. In combination with the total flight distance, starting from the flight starting point, at a certain time interval, the coordinates of at least four key inspection points including the flight starting point are marked in sequence, as well as the inspection range of the inspection task preset here.

[0057] Step S20: judging whether the four marked inspection key points meet the inspection execution conditions according to the task points of the inspection records in the inspection database.

[0058] During the specific implementation of step S20, the task points of the inspection records in the inspection database are matched one by one with the coordinates of the four inspection key points marked at a certain time interval starting from the flight starting point. If the coordinates matching the four inspection key points do not exist in the inspection database, it is determined that the inspection mission of the drone meets the inspection execution conditions, that is, the inspection is performed on an unknown environment. If the coordinates matching the four inspection key points exist in the inspection database, it is determined that the inspection of the drone does not meet the inspection execution conditions and is a non-unknown environment.

[0059] In step S30, if the inspection execution conditions are met, a polynomial fitting function is used to perform curve fitting on the coordinates of the four marked inspection key points, and the fitting result is obtained as the first planned path of the UAV.

[0060] In the specific implementation of step S30, if there are no coordinates matching the four inspection key points in the inspection database, it is determined that the inspection mission of the drone meets the inspection execution conditions. According to the coordinates of the four selected inspection key points P1 (x1, y1), P2 (x2, y2), P3 (x3, y3), P4 (x4, y4), the simultaneous equations are determined, and the coordinates of the four inspection key points are converted into the matrix equation form XA = Y, where X represents the determinant which conforms to the fourth-order Vandermonde determinant characteristics. The mathematical induction method is used to prove the principle and solve it to obtain the inverse matrix A = X -1 Y, the first determinant of the inverse matrix obtained above is X -1 Substitute the coordinates of the four key inspection points P1 (x1, y1), P2 (x2, y2), P3 (x3, y3), P4 (x4, y4) to obtain the coefficients a, b, c, d of the polynomial fitting function, and determine the polynomial fitting function y = ax based on the coefficients 3 +bx 2 +cx+d, use the polynomial fitting function to perform curve fitting on the coordinates of the four marked inspection key points, and get the fitting result as the first planning path of the UAV.

[0061] In a feasible implementation, in step S10, before the drone performs the inspection mission, at least four inspection key points including the flight starting point and the inspection range are marked according to the drone's inspection mission, including:

[0062] Step 101 : Based on the drone's body coordinate system and the inspection mission, starting from the drone's flight starting point, the coordinates and inspection ranges of at least four key inspection points are marked at certain time intervals.

[0063] Step 101. During the specific implementation, the drone navigation system is used to respond to the technician's operating instructions. According to the drone's body coordinate system, that is, the X-axis represents the forward direction of the nose, the Y-axis points from the origin to the right side of the drone, and the Z-axis is determined by the right-hand rule of the Cartesian coordinate system and the drone needs to inspect key locations in this inspection mission. Combined with the total flight distance, starting from the flight starting point, at a certain time interval, the coordinates of at least four inspection key points including the flight starting point are marked in sequence, namely P1 (x1, y1), P2 (x2, y2), P3 (x3, y3), P4 (x4, y4), and the inspection range of the inspection mission preset here. The starting coordinates of the above inspection range are the coordinates of the inspection key point at the flight starting point, and the end coordinates of the inspection range are the coordinates of the last inspection key point combined with the preset flight time of 30 minutes after the target point.

[0064] In one possible implementation, Figure 2A schematic diagram of a process for marking inspection key points in a method for planning a drone flight path provided by an embodiment of the present application is shown; in the above step S20, based on the task points of the inspection records in the inspection database, it is determined whether the four marked inspection key points meet the inspection execution conditions, including:

[0065] Step S201 : matching the four marked inspection key points with the task points of the inspection records in the inspection database one by one.

[0066] Step S202: If there are no coordinates matching the four inspection key points in the inspection database, it is determined that the inspection mission of the drone meets the inspection execution conditions.

[0067] In step S203, if there are coordinates matching the four inspection key points in the inspection database, it is determined that the inspection mission of the drone does not meet the inspection execution conditions.

[0068] During the specific implementation of steps S201, S202, and S203, the task points of the inspection records in the inspection database are matched one by one with the coordinates of the four inspection key points P1 (x1, y1), P2 (x2, y2), P3 (x3, y3), and P4 (x4, y4) marked at a certain time interval starting from the starting point of the flight. If there are no coordinates matching the four inspection key points in the inspection database, it is determined that the inspection mission of the drone meets the inspection execution conditions, that is, the inspection is performed on an unknown environment. If there are coordinates matching the four inspection key points in the inspection database, it is determined that the inspection of the drone does not meet the inspection execution conditions and is a non-unknown environment, and the coordinates of the four inspection key points are updated to the inspection database with the current marking timestamp.

[0069] In one possible implementation, Figure 3 A schematic diagram of a process for fitting a first planned path using a polynomial fitting function in a method for planning a flight path for a drone provided in an embodiment of the present application is shown; in the above step S30, if the inspection execution condition is met, the coordinates of the four marked inspection key points are curve fitted using the polynomial fitting function to obtain a fitting result as the first planned path for the drone, including:

[0070] Step S301 , determining a set of simultaneous equations based on the coordinates of the four selected inspection key points P1 (x1, y1), P2 (x2, y2), P3 (x3, y3), and P4 (x4, y4).

[0071] Step S302: convert the simultaneous equations of the coordinates of the four key inspection points into a matrix equation form.

[0072] Step S303: The first determinant X of the inverse matrix obtained by the above matrix equation is -1Substitute the coordinates of the four key inspection points P1 (x1, y1), P2 (x2, y2), P3 (x3, y3), P4 (x4, y4) to obtain the coefficients a, b, c, d of the polynomial fitting function, and determine the polynomial fitting function y = ax based on the coefficients 3 +bx 2 +cx+d.

[0073] Step S304: Use polynomial fitting function y=ax 3 +bx 2 +cx+d performs curve fitting on the coordinates of the four marked inspection key points P1(x1,y1), P2(x2,y2), P3(x3,y3), and P4(x4,y4), and obtains the fitting result as the first planned path of the UAV.

[0074] In the specific implementation of steps S301, S302, S303, and S304, if there are no coordinates matching the four inspection key points in the inspection database, it is determined that the inspection mission of the drone meets the inspection execution conditions. According to the coordinates of the four selected inspection key points P1(x1, y1), P2(x2, y2), P3(x3, y3), and P4(x4, y4), the simultaneous equations are expressed as follows:

[0075]

[0076] The simultaneous equations for determining the coordinates of the four inspection key points are converted into a matrix equation form XA=Y. The matrix equation XA=Y is expressed as follows:

[0077]

[0078] Right now

[0079] The above matrix equation is XA=Y, where X represents the determinant, which conforms to the characteristics of the fourth-order Vandermonde determinant. The principle can be proved by mathematical induction;

[0080] Since |X|=|X T |=∏ 1≤j＜i≤4 (x i -x j )≠0, so there exists an inverse matrix X of X. -1 , multiply both sides of the above matrix equation XA=Y by X -1 , we get A=X -1 Y, X -1Substitute the coordinates of the four key inspection points P1 (x1, y1), P2 (x2, y2), P3 (x3, y3), P4 (x4, y4), and obtain the coefficients a, b, c, d of the polynomial fitting function based on the product of all differences of n numbers. Determine the polynomial fitting function y = ax based on the coefficients 3 +bx 2 +cx+d;

[0081] Among them, the inverse matrix X of X is calculated based on the adjoint matrix method -1 Specifically include:

[0082] According to the principle of adjoint matrix method, |X|=∏ 1≤j＜i≤4 (x i -x j );

[0083]

[0084] Calculate X according to the following formula * ;

[0085]

[0086]

[0087]

[0088]

[0089]

[0090]

[0091]

[0092]

[0093]

[0094]

[0095]

[0096]

[0097]

[0098]

[0099]

[0100]

[0101] Use polynomial fitting function y=ax 3 +bx 2 +cx+d performs curve fitting on the coordinates of the four marked inspection key points P1(x1,y1), P2(x2,y2), P3(x3,y3), and P4(x4,y4), and obtains the fitting result as the first planned path of the UAV.

[0102] In one possible implementation, Figure 4 A schematic diagram of a process for determining an optimal path in a method for planning a flight path for a drone provided in an embodiment of the present application is shown; in the above step S30, after curve fitting is performed on the coordinates of the four marked inspection key points using a polynomial fitting function and the fitting result is obtained as the first planned path for the drone, the following further comprises:

[0103] Step S401: determine whether the distance between the first planned path of the drone and the edge of the inspection range is less than a preset threshold.

[0104] Step S402: If the value is less than the preset threshold, the first planned path of the UAV is used as the optimal path for this inspection task.

[0105] During the specific implementation of steps S401 and S402, based on the coordinates of the four key inspection points carried in the first planned path, it is determined whether the actual distance between the coordinate points of the four key inspection points carried and the edge of the inspection range of the drone's inspection task here is less than a preset threshold. The preset threshold is between 5 meters and 10 meters. If the actual distance between the coordinate points of the four key inspection points carried and the edge of the inspection range of the drone's inspection task here is less than the preset threshold, the first planned path of the drone is used as the optimal path for this inspection task.

[0106] In one possible implementation, Figure 5 A schematic diagram of a process for generating a second planned path in a method for planning a drone flight path provided in an embodiment of the present application is shown; in the above step S401, determining whether the distance between the first planned path of the drone and the edge of the inspection range is less than a preset threshold further includes:

[0107] Step S501: If the value is greater than a preset threshold, a quadratic function fitting is performed on the coordinates of a plurality of key points to be inspected that are adjacent to the four key inspection points according to a quadratic function fitting formula;

[0108] Y=y+t1x 3 +t2x 2 +t3x+t4+t5e x +t6lnx.

[0109] Step S502: Generate a piecewise fitting curve as a second planned path based on quadratic function fitting.

[0110] In the specific implementation of step S501, if the actual distance between the coordinates of the four inspection key points carried by the drone corresponding to the inspection range edge of the inspection task here is greater than the preset threshold, then according to the quadratic curve fitting formula Y=y+t1x 3 +t2x 2 +t3x+t4+t5e x +t6lnx, select the coordinates of other viewpoints to be detected that are adjacent to the coordinates of the four key points P1(x1,y1), P2(x2,y2), P3(x3,y3), and P4(x4,y4). Here, select the adjacent coordinate points in the forward direction of the drone for quadratic function fitting to obtain the quadratic function fitting result, which is used as the second planning path.

[0111] In a feasible implementation scheme, the above planning method also includes:

[0112] Step 601: After the drone completes the inspection mission, the first planned path is visualized through the front-end display window, and the first planned path is stored in the inspection database for safety analysis of the drone inspection mission.

[0113] Step 602: Visually display the two planned paths through the front-end display window, and store the planned paths in the inspection database for safety analysis of the UAV inspection mission.

[0114] During the specific implementation of steps 601 and 602, after obtaining the first planned path and the second planned path, the UAV inspection mission is completed. The first planned path of the UAV obtained based on the polynomial fitting function is visualized through the front-end display window of the UAV navigation system, and the first planned path is stored in the inspection database for the safety analysis of the UAV inspection mission. The second planned path obtained based on the quadratic fitting function is visualized through the front-end display window of the UAV navigation system, and the planned path is stored in the inspection database for the safety analysis of the UAV inspection mission, providing an observation basis for the UAV when performing the inspection mission.

[0115] Figure 6 A schematic diagram of the structure of a UAV flight path planning device provided in an embodiment of the present application is shown. Figure 6 As shown, the above-mentioned planning device includes:

[0116] The marking module 701 is used to mark at least four inspection key points including the flight starting point according to the inspection mission of the drone before the drone performs the inspection mission;

[0117] The judgment module 702 is used to judge whether the four marked inspection key points meet the inspection execution conditions based on the task points of the inspection records in the inspection database;

[0118] The fitting module 703 is used to perform curve fitting on the coordinates of the four marked inspection key points using a polynomial fitting function if the inspection execution condition is met, and obtain the fitting result as the first planned path of the UAV.

[0119] Corresponding to Figure 1 The method for planning the flight path of a UAV in the present application also provides a computer device 80, Figure 7 ,like Figure 7 As shown, the device includes a memory 801, a processor 802, and a computer program stored in the memory 801 and executable on the processor 802, wherein the processor 802 implements the above method when executing the above computer program.

[0120] Before the drone performs an inspection mission, mark at least four key inspection points, including the flight starting point, based on the drone's inspection mission.

[0121] According to the task points of the inspection records in the inspection database, determine whether the four marked inspection key points meet the inspection execution conditions;

[0122] If the inspection execution conditions are met, the coordinates of the four marked inspection key points are fitted with a polynomial fitting function, and the fitting result is used as the first planning path of the UAV.

[0123] Corresponding to Figure 1 In the method for planning a flight path of a drone, an embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, which performs the following steps when executed by a processor:

[0124] Before the drone performs an inspection mission, mark at least four key inspection points, including the flight starting point, based on the drone's inspection mission.

[0125] According to the task points of the inspection records in the inspection database, determine whether the four marked inspection key points meet the inspection execution conditions;

[0126] If the inspection execution conditions are met, the coordinates of the four marked inspection key points are fitted with a polynomial fitting function, and the fitting result is used as the first planning path of the UAV.

[0127] Based on the above analysis, it can be seen that compared with the related technology that uses a pre-set flight path to perform inspection tasks, the embodiment of the present application provides a method of analyzing the data changes of a safe, feasible, and satisfactory path between the unknown route flight starting point and the marked inspection key points through a polynomial fitting function, and obtaining the correspondence between variables outside a certain range. It can describe the flight complexity and real-time performance of the drone in performing the inspection task, avoid a large number of inspection key point calculations, and at the same time ensure the prediction accuracy and prediction efficiency of the flight path. In addition, it objectively reflects the drone's understanding of the regularity of things and phenomena in an unknown environment, can provide ideas for optimization, and can also prevent drone accidents and reduce the risk of inspection tasks.

[0128] The drone flight path planning device provided in the embodiment of the present application can be specific hardware on the device or software or firmware installed on the device. The implementation principle and technical effects of the device provided in the embodiment of the present application are the same as those of the aforementioned method embodiment. For the sake of brief description, any part not mentioned in the device embodiment can be referred to the corresponding content in the aforementioned method embodiment. Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the devices and units described above can all refer to the corresponding processes in the aforementioned method embodiment, and will not be repeated here.

[0129] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interface, the indirect coupling or communication connection of the device or unit can be electrical, mechanical or other forms.

[0130] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0131] In addition, each functional unit in the embodiments provided in the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0132] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0133] It should be noted that similar numbers and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and are not to be understood as indicating or implying relative importance.

[0134] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The scope of protection of the present application is not limited thereto. Although the present application has been described in detail with reference to the above-described embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-described embodiments within the technical scope disclosed in the present application, or make equivalent replacements for some of the technical features thereof. However, these modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present application. They should all be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for planning a flight path of an unmanned aerial vehicle, characterized in that: include: Before the drone performs an inspection mission, mark at least four key inspection points and the inspection range, including the flight starting point, according to the drone's inspection mission. According to the task points of the inspection records in the inspection database, it is determined whether the four marked inspection key points meet the inspection execution conditions; If the inspection execution conditions are met, the coordinates of the four marked inspection key points are fitted with a polynomial fitting function, and the fitting result is used as the first planned path of the UAV; According to the task points of the inspection records in the inspection database, it is determined whether the four marked inspection key points meet the inspection execution conditions, including: Match the four marked inspection key points with the task points of the inspection records in the inspection database one by one; If the inspection database does not contain coordinates matching the four inspection key points, it means that the four inspection key points are in an unknown environment, and it is determined that the inspection mission of the drone meets the inspection execution conditions; If the inspection database contains coordinates matching the four inspection key points, it indicates that the four inspection key points are not in an unknown environment, and it is determined that the inspection mission of the drone does not meet the inspection execution conditions. The coordinates of the four marked inspection key points are fitted with a polynomial fitting function. After obtaining the fitting result as the first planned path of the UAV, the following steps are also included: Determine whether the distance between the first planned path of the drone and the edge of the inspection range is less than a preset threshold; If it is less than the preset threshold, the first planned path of the UAV is used as the optimal path for this inspection mission; Determining whether the distance between the first planned path of the drone and the edge of the inspection range is less than a preset threshold also includes: If it is greater than a preset threshold, a quadratic function fitting is performed on the coordinates of a plurality of key points to be inspected that are adjacent to the four key inspection points according to a quadratic function fitting formula; ； Generating a piecewise fitting curve as a second planning path according to the quadratic function fitting; in, Represents the polynomial fitting function of the four key inspection points, Indicates multiple key points to be inspected adjacent to the four key inspection points. 、 Indicates the derivative correction amount of the key point to be inspected.

2. The method according to claim 1, characterized in that Before the drone performs an inspection mission, it should mark at least four inspection key points and inspection ranges, including the flight starting point, based on the inspection mission, including: According to the drone's body coordinate system and the inspection mission, starting from the drone's flight starting point, the coordinates and inspection ranges of at least four key inspection points are marked at certain time intervals.

3. The method according to claim 1, characterized in that If the inspection execution conditions are met, the coordinates of the four marked inspection key points are fitted with a polynomial fitting function, and the fitting result is used as the first planned path of the UAV, including: According to the coordinates of the four selected inspection key points , , , Determine the system of simultaneous equations, which is expressed as: ； The simultaneous equations of the coordinates of the four inspection key points are converted into a matrix equation form. The expression is: ； in, X It represents the determinant, which conforms to the fourth-order Vandermonde determinant. The mathematical induction method is used to prove the principle and solve it to obtain the inverse matrix ; The first determinant of the inverse matrix obtained by the above matrix equation is Substitute into the coordinates of the four inspection key points , , , , find the coefficients of the polynomial fitting function , , , , determine the polynomial fitting function based on the coefficient ; Fitting functions using polynomials The coordinates of the four key inspection points marked , , , Perform curve fitting and obtain the fitting result as the first planning path of the UAV.

4. The method according to claim 1, wherein The method further comprises: After the drone completes the inspection mission, the first planned path is visualized through the front-end display window, and the first planned path is stored in the inspection database for safety analysis of the drone inspection mission; or: The second planned path is visualized through the front-end display window, and the second planned path is stored in the inspection database for safety analysis of the UAV inspection mission.

5. A device for planning a flight path of an unmanned aerial vehicle, characterized in that: The device comprises: The marking module is used to mark at least four key inspection points including the flight starting point according to the inspection mission of the drone before the drone performs the inspection mission; A judgment module, configured to judge whether the four marked inspection key points meet the inspection execution conditions according to the task points of the inspection records in the inspection database; The fitting module is used to use a polynomial fitting function to perform curve fitting on the coordinates of the four marked inspection key points if the inspection execution conditions are met, and obtain the fitting result as the first planned path of the UAV; When the judgment module is used to judge whether the four marked inspection key points meet the inspection execution conditions according to the task points of the inspection records in the inspection database, it is specifically used to: Match the four marked inspection key points with the task points of the inspection records in the inspection database one by one; If the inspection database does not contain coordinates matching the four inspection key points, it means that the four inspection key points are in an unknown environment, and it is determined that the inspection mission of the drone meets the inspection execution conditions; If the inspection database contains coordinates matching the four inspection key points, it indicates that the four inspection key points are not in an unknown environment, and it is determined that the inspection mission of the drone does not meet the inspection execution conditions. The fitting module is used to perform curve fitting on the coordinates of the four marked inspection key points using a polynomial fitting function, and obtain the fitting result as the first planned path of the UAV, and is further used to: Determine whether the distance between the first planned path of the drone and the edge of the inspection range is less than a preset threshold; If it is less than the preset threshold, the first planned path of the UAV is used as the optimal path for this inspection mission; When the fitting module is used to determine whether the distance between the first planned path of the drone and the edge of the inspection range is less than a preset threshold, it is specifically used to: If it is greater than a preset threshold, a quadratic function fitting is performed on the coordinates of a plurality of key points to be inspected that are adjacent to the four key inspection points according to a quadratic function fitting formula; ； Generating a piecewise fitting curve as a second planning path according to the quadratic function fitting; in, Represents the polynomial fitting function of the four key inspection points, Indicates multiple key points to be inspected adjacent to the four key inspection points. 、 Indicates the derivative correction amount of the key point to be inspected.

6. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

7. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are executed.

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