Unmanned Aerial Vehicle Route Planning Method and Device

Abstract

The present application discloses a method and device for unmanned aerial vehicle (UAV) route planning, relating to the technical field of UAVs, and solving the technical problem in the prior art that the UAV executes a relatively large number of useless waypoints during flight, resulting in a reduction in the efficiency of its flight mission and an increase in labor costs and time costs. The UAV route planning method includes: constructing an outer polygon with a preset extension distance from the modeled polygon; determining the minimum circumscribed rectangle of the outer polygon; and setting a plurality of waypoints covering the minimum circumscribed rectangle, ensuring that a good effect can also be obtained in the edge area of the modeled polygon. Compared with the prior art, since the waypoints in the UAV route planning method provided by the embodiments of the present application are set based on the minimum circumscribed rectangle, the number of waypoints is significantly reduced, thereby improving the efficiency of the flight mission and reducing labor and time costs.

Description

Technical Field

[0001] This application relates to the technical field of unmanned aerial vehicles (UAVs), and particularly to a method and device for UAV route planning. Background Art

[0002] In recent years, the continuous maturity of UAV technology has enabled UAVs to appear in more and more industrial scenarios. As UAVs enter various industries, labor costs have been reduced while work efficiency has also been greatly improved.

[0003] In the field of 3D modeling, as a key device for 3D real-scene modeling technology, a UAV conducts oblique photography on 3D objects by carrying a five-eye camera, and finally realizes the three-dimensional reconstruction of the 3D model. In the actual 3D modeling flight mission of a UAV, whether the route planning is reasonable has a direct and close impact on the flight efficiency of the UAV and the task execution efficiency. However, inappropriate route planning will lead to an increase in the number of flight sorties of the UAV, thereby indirectly increasing labor costs and time costs. As Figure 1 shown, Figure 1 the polygon in it is the area that needs to be 3D modeled. The route planned by the existing route planning method is much larger than the modeling area. The UAV executes many useless waypoints during flight, which will lead to a reduction in its flight task efficiency and an increase in labor costs and time costs. Summary of the Invention

[0004] By providing a method and device for UAV route planning in an embodiment of this application, the technical problem in the prior art that the UAV executes many useless waypoints during flight, resulting in a reduction in its flight task efficiency and an increase in labor costs and time costs is solved.

[0005] In a first aspect, this application provides a method for UAV route planning. The method includes: constructing an outer polygon spaced apart from the modeling polygon by a preset extension distance; determining the minimum circumscribed rectangle of the outer polygon; setting a plurality of waypoints covering the minimum circumscribed rectangle, and obtaining a route according to the plurality of waypoints.

[0006] In combination with the first aspect, in a possible implementation manner, the constructing an outer polygon spaced apart from the modeling polygon by a preset extension distance includes: determining the first parallel line equation on the left side and the second parallel line equation on the right side of each line segment of the modeling polygon according to the preset extension distance; solving the adjacent two first parallel line equations to obtain the left intersection point, and solving the adjacent two second parallel line equations to obtain the right intersection point; solving the first area of the polygon formed by the plurality of left intersection points and the second area of the polygon formed by the plurality of right intersection points; comparing the first area and the second area, and determining the polygon corresponding to the larger one as the outer polygon.

[0007] In combination with the first aspect, in a possible implementation manner, the determination of the minimum circumscribed rectangle of the outsourcing polygon includes: using a set of parallel lines of each line segment of the outsourcing polygon to pinch the outsourcing polygon until two parallel lines in each set of parallel lines touch the outsourcing polygon; determining the pinching distance between the two parallel lines that touch the outsourcing polygon in each set of parallel lines; using the slope value corresponding to the minimum value among the multiple pinching distances as the deflection angle, and constructing the minimum circumscribed rectangle with the distance line segment representing the minimum value and in contact with the outsourcing polygon as the base.

[0008] In combination with the first aspect, in a possible implementation manner, the method further includes: when the length of the flight path is greater than the preset flight distance of a single unmanned aerial vehicle (UAV), splitting the minimum circumscribed rectangle into multiple flight areas for the multiple UAVs to fly according to the preset flight distance; the obtaining of the flight path according to the multiple waypoints includes: obtaining the flight path of each flight area according to the waypoints in each flight area.

[0009] In combination with the first aspect, in a possible implementation manner, the method further includes: removing the waypoints located outside the outsourcing polygon.

[0010] In combination with the first aspect, in a possible implementation manner, the method further includes: establishing a two-dimensional array corresponding to all the flight areas; wherein the values in the two-dimensional array represent the number of waypoints in the corresponding flight areas; traversing the two-dimensional array, and when the sum of two adjacent values does not reach a preset critical value, fusing two adjacent flight areas.

[0011] In combination with the first aspect, in a possible implementation manner, the traversing of the two-dimensional array includes: traversing along the row vector direction of the two-dimensional array, and / or, traversing along the column vector direction of the two-dimensional array.

[0012] In a second aspect, an embodiment of the present application provides a UAV flight path planning device, and the device includes: an outsourcing module, configured to construct an outsourcing polygon at a preset expansion distance from the modeling polygon; a wrapping module, configured to determine the minimum circumscribed rectangle of the outsourcing polygon; a waypoint module, configured to set multiple waypoints covering the minimum circumscribed rectangle; and a flight path module, configured to obtain a flight path according to the multiple waypoints.

[0013] In combination with the second aspect, in a possible implementation, the outsourcing module is specifically configured to: determine the first parallel line equation on the left side and the second parallel line equation on the right side of each line segment of the modeling polygon according to the preset extension distance; solve adjacent two of the first parallel line equations to obtain the left intersection point, and solve adjacent two of the second parallel line equations to obtain the right intersection point; solve the first area of the polygon formed by multiple left intersection points and the second area of the polygon formed by multiple right intersection points; compare the first area and the second area, and determine the polygon corresponding to the larger one as the outsourcing polygon.

[0014] In combination with the second aspect, in a possible implementation, the wrapping module is specifically configured to: use a set of parallel lines of each line segment of the outsourcing polygon to pinch the outsourcing polygon until two parallel lines in each set of parallel lines touch the outsourcing polygon; determine the pinching distance between the two parallel lines that touch the outsourcing polygon in each set of parallel lines; construct the minimum circumscribed rectangle with the slope value corresponding to the minimum value among multiple pinching distances as the declination angle and the distance line segment representing the minimum value and in contact with the outsourcing polygon as the base.

[0015] In combination with the second aspect, in a possible implementation, the device further includes a splitting module; the splitting module is configured to, when the length of the flight route is greater than the preset flight distance of a single drone, split the minimum circumscribed rectangle into multiple flight areas for multiple drones to fly according to the preset flight distance; the route module is specifically configured to: obtain the flight route of each flight area according to the waypoints in each flight area.

[0016] In combination with the second aspect, in a possible implementation, the device further includes an elimination module, and the elimination module is configured to eliminate the waypoints located outside the outsourcing polygon.

[0017] In combination with the second aspect, in a possible implementation, the device further includes: an array module, configured to establish a two-dimensional array corresponding to all the flight areas; wherein the values in the two-dimensional array represent the number of waypoints in the corresponding flight areas; a traversal module, configured to traverse the two-dimensional array; a fusion module, configured to fuse adjacent two flight areas when the sum of adjacent two values does not reach the preset critical value.

[0018] In combination with the second aspect, in a possible implementation, the traversal of the two-dimensional array by the traversal module includes: traversing along the row vector direction of the two-dimensional array, and / or traversing along the column vector direction of the two-dimensional array.

[0019] In a third aspect, an embodiment of the present application provides a UAV route planning terminal, including a memory, a processor, a touch screen, and a communication module; the touch screen is used to obtain touch and input operations; the communication module is used to support communication between the UAV route planning terminal and the UAV; the memory is used to store computer-executable instructions; the processor can be used to execute computer program instructions to implement the UAV route planning method described in the first aspect and various possible implementation manners of the first aspect.

[0020] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium storing computer program instructions, which, when executed, cause a computer to implement the UAV route planning method described in the first aspect and various possible implementation manners of the first aspect.

[0021] The technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:

[0022] In the embodiments of the present invention, a UAV route planning method is adopted. This method obtains a route by setting an outer polygon, determining the minimum circumscribed rectangle of the outer polygon, and setting a plurality of rectangles covering the minimum circumscribed rectangle. Since the waypoints cover the minimum circumscribed rectangle of the outer polygon, it ensures that better results can also be obtained in the edge area of the modeled polygon. And compared with the prior art, in the UAV route planning method provided in the embodiments of the present application, since the waypoints are set based on the minimum circumscribed rectangle, the number of waypoints is greatly reduced, thereby improving the efficiency of the flight mission and reducing the labor and time costs. Description of the Drawings

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for describing the embodiments of the present invention or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0024] Figure 1 It is a waypoint distribution diagram of the prior art provided in the embodiments of the present application;

[0025] Figure 2 It is a schematic diagram of constructing an outer polygon provided in the embodiments of the present application;

[0026] Figure 3A It is a schematic diagram of the waypoint distribution set by the UAV route planning method provided in the embodiments of the present application;

[0027] Figure 3B It is a schematic diagram after removing the waypoints located outside the outer polygon provided in the embodiments of the present application;

[0028] Figure 4A Schematic diagram of adjacent flight areas provided by an embodiment of the present application before fusion;

[0029] Figure 4B Schematic diagram of adjacent flight areas provided by an embodiment of the present application after fusion;

[0030] Figure 5 Schematic diagram for determining the minimum bounding rectangle provided by an embodiment of the present application;

[0031] Figure 6 Flowchart of the unmanned aerial vehicle route planning method provided by an embodiment of the present application;

[0032] Figure 7 Flowchart of constructing an outer - enclosed polygon provided by an embodiment of the present application;

[0033] Figure 8 Flowchart of determining the minimum bounding rectangle provided by an embodiment of the present application;

[0034] Figure 9 Flowchart of splitting the minimum bounding rectangle provided by an embodiment of the present application;

[0035] Figure 10 Flowchart of fusing two adjacent flight areas provided by an embodiment of the present application;

[0036] Figure 11 Structural schematic diagram of the unmanned aerial vehicle route planning device provided by an embodiment of the present application;

[0037] Figure 12 Structural schematic diagram of the unmanned aerial vehicle route planning terminal provided by an embodiment of the present application. Detailed implementation manners

[0038] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0039] An embodiment of the present application provides an unmanned aerial vehicle route planning method, which runs on the unmanned aerial vehicle route planning terminal 1200. The unmanned aerial vehicle route planning terminal 1200 provided by the embodiment of the present application refers to Figure 12As shown, it includes a memory 1201, a processor 1202, a touch screen 1203, and a communication module 1204; the touch screen 1203 is used to obtain touch and input operations; the communication module 1204 is used to support communication between the UAV route planning terminal 1200 and the UAV; the memory 1201 is used to store computer-executable instructions; the processor 1202 can be used to execute computer program instructions to implement the UAV route planning method provided in the embodiments of the present application. Among them, the UAV route planning terminal 1200 can specifically be a terminal device such as a mobile phone, a tablet computer, a notebook computer, etc. that can calculate and perform data interaction with the UAV.

[0040] The UAV route planning method provided in the embodiments of the present application is as Figure 6 shown, including S601 to S604.

[0041] S601: Construct an outer polygon at a preset extension distance from the modeled polygon.

[0042] Exemplarily, as Figure 2 shown, the modeled polygon 10 is the area that needs to be three-dimensionally modeled. The UAV route planning terminal 1200 determines the modeled polygon 10 by sequentially connecting the key points 10a, 10b, 10c, 10d, 10e, 10f obtained through acquiring the key points for modeling. These key points 10a, 10b, 10c, 10d, 10e, 10f for modeling can be determined by a modeler manually inputting coordinate values on the touch screen 1203 of the UAV route planning terminal 1200, or can be determined by clicking on the touch screen 1203 of the UAV route planning terminal 1200.

[0043] The outer key points 20a, 20b, 20c, 20d, 20e, 20f are sequentially connected to form the outer polygon 20 of the modeled polygon 10. And there is a preset extension distance between each line segment of the outer polygon 20 and the corresponding line segment of the modeled polygon 10. The preset extension distance is set in advance by humans and can be 15m, 10m, 12m, etc.

[0044] The embodiments of the present application give a specific implementation manner for constructing the outer polygon, as Figure 7 shown, including S701 to S704.

[0045] S701: Determine the first parallel line equation on the left side and the second parallel line equation on the right side of each line segment of the modeled polygon according to the preset extension distance.

[0046] Continue to refer to Figure 2As shown, the modeling polygon 10 is composed of six line segments, namely: the first line segment formed by connecting key point 10a and key point 10b, the second line segment formed by connecting key point 10b and key point 10c, the third line segment formed by connecting key point 10c and key point 10d, the fourth line segment formed by connecting key point 10d and key point 10e, the fifth line segment formed by connecting key point 10e and key point 10f, and the sixth line segment formed by connecting key point 10f and key point 10a. Determine the first parallel line equation and the second parallel line equation of the first to sixth line segments in the clockwise or counterclockwise direction along the modeling polygon 10.

[0047] Of course Figure 2 Only the modeling polygon 10 and the outer bounding polygon 20 are shown exemplarily. The shapes of the modeling polygon 10 and the outer bounding polygon 20, as well as the number of line segments each contains, are not limited Figure 2 as shown.

[0048] S702: Solve the adjacent two first parallel line equations to obtain the left intersection points, and solve the adjacent two second parallel line equations to obtain the right intersection points.

[0049] Taking Figure 2 the clockwise direction of the modeling polygon 10 in [reference] as an example, solving the adjacent two first parallel line equations gives the left intersection points 20a, 20b, 20c, 20d, 20e, 20f, and solving the adjacent two second parallel line equations gives the right intersection points 30a, 30b, 30c, 30d, 30e, 30f.

[0050] S703: Solve the first area of the polygon formed by multiple left intersection points and the second area of the polygon formed by multiple right intersection points.

[0051] Specifically, still taking Figure 2 the clockwise direction of the modeling polygon 10 in [reference] as an example, multiple left intersection points 20a, 20b, 20c, 20d, 20e, 20f enclose polygon 20, and the first area is the area of polygon 20; multiple right intersection points 30a, 30b, 30c, 30d, 30e, 30f enclose polygon 30, and the second area is the area of polygon 30.

[0052] S704: Compare the first area and the second area, and determine the polygon corresponding to the larger one as the outer bounding polygon.

[0053] In Figure 2 the example case, still taking the clockwise direction of the modeling polygon 10 as an example, at this time the first area is greater than the second area, so the polygon 20 corresponding to the first area is the outer bounding polygon 20.

[0054] It should be noted that the above S701 to S704 are only a specific implementation manner of constructing the circumscribed polygon 20 that is preset to extend a distance from the polygon 10 for construction and modeling in this application. This application is not limited thereto, and other implementation manners can also be used to construct the circumscribed polygon 20.

[0055] S602: Determine the minimum circumscribed rectangle of the circumscribed polygon.

[0056] As Figure 3A shown, the minimum circumscribed rectangle 40 wraps the circumscribed polygon 20, and the flight route of the drone covering the minimum circumscribed rectangle 40 can cover the circumscribed polygon 20.

[0057] This application embodiment gives a specific implementation manner for determining the minimum circumscribed rectangle of the circumscribed polygon. As Figure 8 shown, it includes S801 to S803.

[0058] S801: Use a set of parallel lines of each line segment of the circumscribed polygon to pinch the circumscribed polygon until the two parallel lines in each set of parallel lines touch the circumscribed polygon.

[0059] Figure 5 Exemplarily shows the process described in S801. Figure 5 In, the polygon with hatched lines is the circumscribed polygon 20. The first parallel line L1 and the second parallel line L2 are two parallel lines of one line segment of the circumscribed polygon 20, and the first parallel line L1 and the second parallel line L2 touch the circumscribed polygon 20.

[0060] S802: Determine the pinch distance between the two parallel lines that touch the circumscribed polygon in each set of parallel lines.

[0061] Still taking the graph in Figure 5 as an example for description, the distance between the first parallel line L1 and the second parallel line L2 is the length of the distance line segment L3, and the distance line segment L3 is perpendicular to the first parallel line L1 and the second parallel line L2. Of course, Figure 5 only shows the pinch distance between the two parallel lines that touch the circumscribed polygon 20 of one line segment of the circumscribed polygon 20. The pinch distances between the two parallel lines that touch the circumscribed polygon 20 of the other line segments of the circumscribed polygon 20 are the same as those shown in Figure 5 and will not be repeatedly shown and described.

[0062] S803: Use the slope value corresponding to the minimum value among the multiple pinch distances as the deflection angle, and construct the minimum circumscribed rectangle with the distance line segment representing the minimum value and in contact with the circumscribed polygon as the base.

[0063] Figure 5The distance line segment L3 representing the clamping distance between the first parallel line L1 and the second parallel line L2 contacts the outer circumscribed polygon 20. If the clamping distance between the first parallel line L1 and the second parallel line L2 is the minimum among multiple clamping distances of the outer circumscribed polygon 20, then a minimum circumscribed rectangle 40 is constructed with the slope value of the distance line segment L3 as the deflection angle and the distance line segment L3 as the base.

[0064] Figure 8 S801 to S803 shown are only one implementation for determining the minimum circumscribed rectangle 40, and this application is not limited thereto, and other implementation manners may also be adopted.

[0065] S603: Set multiple waypoints covering the minimum circumscribed rectangle. Refer to Figure 3A as shown.

[0066] S604: Obtain a flight route according to the multiple waypoints.

[0067] The UAV flight route planning method provided by the embodiment of this application sets multiple waypoints to cover the minimum circumscribed rectangle of the outer circumscribed polygon, ensuring that better results can also be obtained in the edge area of the modeled polygon. And compared with the prior art, since the waypoints of the UAV flight route planning method provided by the embodiment of this application are set based on the minimum circumscribed rectangle, the number of waypoints is greatly reduced, thereby improving the efficiency of the flight mission and reducing the labor and time costs.

[0068] The UAV flight route planning method provided by the embodiment of this application further includes S901 and S902 as Figure 9 shown. When the length of the flight route is greater than the preset flight distance of a single UAV, S901 and S902 are executed.

[0069] S901: Split the minimum circumscribed rectangle into multiple flight areas for multiple UAVs to fly according to the preset flight distance.

[0070] As Figure 3A shown, the minimum circumscribed rectangle 40 is split into six flight areas 41, 42, 43, 44, 45, 46 according to the preset flight distance, and six UAVs respectively correspond to the six flight areas 41, 42, 43, 44, 45, 46. Of course Figure 3A the number of splits is only exemplary, and this application is not limited thereto. In the actual splitting process, it may also be split into other numbers such as four, seven, ten, etc.

[0071] The so-called preset flight distance can be artificially determined according to the maximum navigation distance of the UAV. For example, the preset flight distance can be determined as 80% of the maximum navigation distance of the UAV. The minimum bounding rectangle 20 is split according to the preset flight distance, which will be illustrated by way of example below. For example, if the preset flight distance can cover 50 waypoints and there are 120 waypoints in the minimum bounding rectangle 20, then the minimum bounding rectangle 20 can be split into five flight areas, and the number of waypoints in the five flight areas are as follows: 50, 50, 50, 50, and 20.

[0072] At this time, obtaining the flight path according to multiple waypoints includes: obtaining the flight path of each flight area according to the waypoints in each flight area.

[0073] S902: Remove the waypoints located outside the outer polygon.

[0074] Exemplarily, Figure 3B shows the situation after removing the waypoints outside the outer polygon in Figure 3A . The remaining waypoints only cover the outer polygon 20. After removing the waypoints located outside the outer polygon 20, the number of waypoints is less, which further improves the efficiency of the flight mission and reduces the labor and time costs.

[0075] Of course, when the length of the flight path is greater than the preset flight distance of a single UAV, only S901 can be executed without executing S902. Or, when flying a single UAV and there is no need to split the minimum bounding rectangle, S902 can also be executed, thereby reducing the number of waypoints of a single UAV flight to further improve the efficiency of the flight mission and reduce the labor and time costs.

[0076] The UAV flight path planning method provided by the embodiments of the present application further includes S1001 to S1005 as shown in Figure 10 .

[0077] S1001: Establish a two-dimensional array corresponding to all flight areas. Wherein, the values in the two-dimensional array represent the number of waypoints in the corresponding flight areas.

[0078] For example, the minimum bounding rectangle is split into 12 flight areas with three rows and four columns. In the order from left to right and from top to bottom, the number of waypoints in the flight areas are: 11, 23, 50, 19, 50, 12, 41, 32, 24, 50, 16, and 33. Then, according to S1001, the following two-dimensional array can be established:

[0079]

[0080] By executing S1001 to use the two-dimensional array to represent multiple flight areas, a mathematical abstraction of the distribution of waypoints is performed, which facilitates the subsequent judgment and fusion processes.

[0081] S1002: Traverse the two-dimensional array. Specifically, traversing the two-dimensional array can be performed by: traversing along the row vector direction of the two-dimensional array, and / or, traversing along the column vector direction of the two-dimensional array. That is, traversing the two-dimensional array can be traversing along the row vector direction of the two-dimensional array; or traversing along the column vector direction of the two-dimensional array; or first traversing along the row vector direction of the two-dimensional array and then traversing along the column vector direction of the two-dimensional array; or first traversing along the column vector direction of the two-dimensional array and then traversing along the row vector direction of the two-dimensional array.

[0082] S1003: Determine whether the sum of two adjacent values reaches a preset critical value. Reaching the preset critical value means being greater than or equal to the preset critical value, and the preset critical value can be the number of waypoints that can be covered by the preset flight distance.

[0083] When the judgment result of S1003 is no, that is, when the sum of two adjacent values does not reach the preset critical value, execute S1004: Merge two adjacent flight areas.

[0084] Since the sum of two adjacent values does not reach the preset critical value, after merging two adjacent flight areas, one drone can complete the coverage, reducing the number of drones, further improving the efficiency of the flight mission, and reducing the human and time costs.

[0085] When the judgment result of S1003 is yes, that is, when the sum of two adjacent values reaches the preset critical value, execute S1005: Do not merge two adjacent flight areas.

[0086] 4A and Figure 4B Exemplarily shows the situation before and after the merger of adjacent flight areas. Figure 4A Is a schematic diagram before the merger of adjacent flight areas. The minimum bounding rectangle 20 has 14 flight areas g, h, i, j, k, l, m, n, o, p, q, r, s, t; Figure 4B Is a schematic diagram after the merger of adjacent flight areas. After the merger, there are a total of 5 flight areas g′, j′, k′, l′, m′. Specifically, flight areas g, h, i are merged into flight area g′, flight areas j, o are merged into flight area j′, flight areas k, p are merged into flight area k′, flight areas l, q are merged into flight area l′, and flight areas m, n, r, s, t are merged into flight area m′.

[0087] Through Figure 8 Shown in S1001 to S1005, some adjacent flight areas are merged, reducing the number of drones used, further improving the efficiency of the flight mission, and reducing the human and time costs.

[0088] Although the present application provides method operation steps as described in the embodiments or flowcharts, more or fewer operation steps may be included based on routine or non-creative labor. The step sequence listed in this embodiment is only one way among the execution sequences of numerous steps and does not represent the only execution sequence. When the actual device or client product is executed, it may be executed in the method sequence shown in this embodiment or the accompanying drawings or in parallel (such as in an environment of parallel processors or multi-threaded processing).

[0089] As Figure 11 shown, the embodiment of the present application further provides an unmanned aerial vehicle (UAV) route planning device 1100. The UAV route planning device 1100 includes an outsourcing module 1101, a wrapping module 1102, a waypoint module 1103, and a route module 1104. The outsourcing module 1101 is used to construct an outsourcing polygon at a preset extension distance from the modeling polygon. The wrapping module 1102 is used to determine the minimum circumscribed rectangle of the outsourcing polygon. The waypoint module 1103 is used to set a plurality of waypoints covering the minimum circumscribed rectangle. The route module 1104 is used to obtain a route based on the plurality of waypoints.

[0090] Specifically, the outsourcing module 1101 is configured to: determine the first parallel line equation on the left side and the second parallel line equation on the right side of each line segment of the modeling polygon according to the preset extension distance; solve the adjacent two first parallel line equations to obtain the left intersection point, and solve the adjacent two second parallel line equations to obtain the right intersection point; solve the first area of the polygon formed by the plurality of left intersection points and the second area of the polygon formed by the plurality of right intersection points; compare the first area and the second area, and determine the polygon corresponding to the larger one as the outsourcing polygon.

[0091] Specifically, the wrapping module 1102 is configured to: use a set of parallel lines of each line segment of the outsourcing polygon to pinch the outsourcing polygon until the two parallel lines in each set of parallel lines touch the outsourcing polygon; determine the pinching distance between the two parallel lines in each set of parallel lines that touch the outsourcing polygon; construct a minimum circumscribed rectangle with the slope value corresponding to the minimum value among the plurality of pinching distances as the deflection angle and the distance line segment representing the minimum value and in contact with the outsourcing polygon as the base.

[0092] The UAV route planning device 1100 provided by the embodiment of the present application further includes a splitting module. The splitting module is used to split the minimum circumscribed rectangle into a plurality of flight areas for multiple UAVs to fly according to the preset flight distance when the length of the route is greater than the preset flight distance of a single UAV; specifically, the route module 1104 is configured to: obtain the route of each flight area according to the waypoints in each flight area.

[0093] The UAV route planning device 1100 provided by the embodiment of the present application further includes an elimination module, and the elimination module is used to eliminate the waypoints located outside the outsourcing polygon.

[0094] The UAV route planning device 1100 provided by the embodiment of the present application further includes an array module, a traversal module, and a fusion module. The array module is used to establish a two-dimensional array corresponding to all flight areas; wherein, the value in the two-dimensional array represents the number of waypoints in the corresponding flight area; the traversal module is used to traverse the two-dimensional array; the fusion module is used to fuse adjacent two flight areas when the sum of two adjacent values does not reach a preset critical value.

[0095] The traversal module traversing the two-dimensional array includes: traversing along the row vector direction of the two-dimensional array, and / or traversing along the column vector direction of the two-dimensional array.

[0096] The device or module illustrated in the above embodiment can be specifically implemented by a computer chip or an entity, or by a product with a certain function. For the convenience of description, the above device is described by dividing it into various modules according to functions. When implementing the present application, the functions of each module can be implemented in one or more software and / or hardware. Of course, the module implementing a certain function can also be implemented by combining multiple sub-modules or sub-units.

[0097] Some modules in the device described in the present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, classes, etc. that execute specific tasks or implement specific abstract data types. The present application can also be practiced in a distributed computing environment, in which tasks are executed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0098] The embodiment of the present application also provides a computer-readable storage medium storing computer program instructions, which, when executed, cause the computer to implement the UAV route planning method provided by the embodiment of the present application.

[0099] The above storage medium includes but is not limited to Random Access Memory (RAM), Read-Only Memory (ROM), Cache, Hard Disk Drive (HDD), or Memory Card. The memory can be used to store computer program instructions.

[0100] The methods, devices or modules described in this application can be implemented in the form of computer-readable program code. The controller can be implemented in any appropriate manner. For example, the controller can take the form of, for example, a microprocessor or a processor, and a computer-readable medium storing computer-readable program code (such as software or firmware) executable by the (micro)processor, logic gates, switches, application specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that in addition to implementing the controller in the form of pure computer-readable program code, the method steps can be logically programmed to enable the controller to be implemented in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, and embedded microcontrollers to achieve the same function. Therefore, such a controller can be regarded as a hardware component, and the devices included therein for implementing various functions can also be regarded as the structures within the hardware component. Or even, the devices for implementing various functions can be regarded as either software modules for implementing the method or structures within the hardware component.

[0101] From the description of the above embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary hardware. Based on such an understanding, the technical solution of this application, in essence, or the part that makes contributions to the prior art, can be embodied in the form of a software product, or can also be reflected in the implementation process of data migration. The computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which can be a personal computer, a mobile terminal, a server, or a network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0102] The various embodiments in this specification are described in a progressive manner. For the same or similar parts between the various embodiments, reference can be made to each other. The key point of each embodiment is to illustrate the differences from other embodiments. All or part of this application can be used in many general-purpose or special-purpose computer system environments or configurations. For example: personal computers, server computers, handheld devices or portable devices, tablet devices, mobile communication terminals, multi-processor systems, microprocessor-based systems, programmable electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, and so on.

[0103] The above embodiments are only used to illustrate the technical solutions of the present application, rather than limiting the present application; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the present application.

Claims

1. A method for unmanned aerial vehicle route planning, characterized in that, Including: Constructing and modeling an outer polygon with a preset extended distance from the polygon; Determining the minimum bounding rectangle of the outer polygon; Setting a plurality of waypoints covering the minimum bounding rectangle and obtaining a flight path based on the plurality of waypoints; The constructing and modeling an outer polygon with a preset extended distance from the polygon includes: Determining the first parallel line equation on the left side and the second parallel line equation on the right side of each line segment of the modeling polygon according to the preset extended distance; Solving adjacent two of the first parallel line equations to obtain left intersection points, and solving adjacent two of the second parallel line equations to obtain right intersection points; Solving the first area of the polygon formed by the plurality of left intersection points and the second area of the polygon formed by the plurality of right intersection points; Comparing the first area and the second area, and determining the polygon corresponding to the larger one as the outer polygon; The determining the minimum bounding rectangle of the outer polygon includes: Using a set of parallel lines of each line segment of the outer polygon to pinch the outer polygon until two parallel lines in each set of parallel lines touch the outer polygon; Determining the pinching distance between the two parallel lines that touch the outer polygon in each set of parallel lines; Constructing the minimum bounding rectangle with the slope value corresponding to the minimum value among the plurality of pinching distances as the deflection angle and with the distance line segment representing the minimum value and in contact with the outer polygon as the base.

2. The method for unmanned aerial vehicle route planning according to claim 1, wherein Further including: When the length of the flight path is greater than the preset flight distance of a single unmanned aerial vehicle, splitting the minimum bounding rectangle into a plurality of flight areas for the plurality of unmanned aerial vehicles to fly according to the preset flight distance; The obtaining a flight path based on the plurality of waypoints includes: obtaining the flight path of each flight area based on the waypoints in each flight area.

3. The drone route planning method according to claim 2, wherein Further including: Removing the waypoints located outside the outer polygon.

4. The drone route planning method according to claim 3, wherein, Further including: Establishing a two-dimensional array corresponding to all the flight areas; wherein, the values in the two-dimensional array represent the number of waypoints in the corresponding flight areas; Traversing the two-dimensional array, and when the sum of two adjacent values does not reach the preset critical value, fusing two adjacent flight areas.

5. The drone route planning method according to claim 4, characterized in that, The traversing the two-dimensional array includes: Traversing along the row vector direction of the two-dimensional array, and / or, traversing along the column vector direction of the two-dimensional array.

6. An unmanned aerial vehicle route planning device, characterized in that, Including: An outer wrapping module for constructing and modeling an outer polygon with a preset extended distance from the polygon; A wrapping module for determining the minimum bounding rectangle of the outer polygon; A waypoint module for setting a plurality of waypoints covering the minimum bounding rectangle; A flight path module for obtaining a flight path based on the plurality of waypoints; The constructing and modeling an outer polygon with a preset extended distance from the polygon includes: Determining the first parallel line equation on the left side and the second parallel line equation on the right side of each line segment of the modeling polygon according to the preset extended distance; Solving adjacent two of the first parallel line equations to obtain left intersection points, and solving adjacent two of the second parallel line equations to obtain right intersection points; Solving the first area of the polygon formed by the plurality of left intersection points and the second area of the polygon formed by the plurality of right intersection points; Compare the first area and the second area, and determine the polygon corresponding to the larger one as the circumscribed polygon; The determination of the minimum circumscribed rectangle of the circumscribed polygon includes: Use a set of parallel lines of each line segment of the circumscribed polygon to pinch the circumscribed polygon until two parallel lines in each set of parallel lines touch the circumscribed polygon; Determine the pinching distance between the two parallel lines in each set of parallel lines that touch the circumscribed polygon; Construct the minimum circumscribed rectangle with the slope value corresponding to the minimum value among multiple pinching distances as the deflection angle and the distance line segment representing the minimum value and in contact with the circumscribed polygon as the base.

7. A UAV route planning terminal, characterized in that, It includes a memory, a processor, a touch screen and a communication module; The touch screen is used to obtain touch and input operations; The communication module is used to support communication between the UAV route planning terminal and the UAV; The memory is used to store computer-executable instructions; The processor can be used to execute computer program instructions to implement the UAV route planning method described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions, and when the program instructions are executed, the computer realizes the UAV route planning method described in any one of claims 1 to 5.

Images