Route exploration method, system and readable storage medium for unmanned aerial vehicle

Abstract

The application discloses a route exploration method and system of an unmanned aerial vehicle and a readable storage medium. The method comprises the following steps: acquiring route data of the unmanned aerial vehicle; comparing the route data with known routes in historical data to obtain updated data of the known routes and unknown route data; outputting the updated data of the known routes and the unknown route data to a user terminal; and acquiring a return instruction of the user terminal and controlling the unmanned aerial vehicle to navigate based on the return instruction. The application can update the route characteristics of historical known routes according to the route data of the unmanned aerial vehicle, identify unknown routes to establish new routes, mark the routes by predetermined markers, and describe the route characteristics, so as to facilitate the design of a flight task according to the route characteristics and the assignment of the unmanned aerial vehicle.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) operation technology, and more specifically, to a method, system, and readable storage medium for UAV route exploration. Background Technology

[0002] With the continuous development of science and technology, the application of unmanned aerial vehicles (UAVs) has achieved unprecedented growth. Compared with manned aircraft, UAVs are often more suitable for repetitive or dangerous tasks. In the civilian sector, the combination of UAVs and industry applications is the real necessity for UAVs. Their applications in fields such as aerial photography, agriculture, plant protection, miniature selfies, express delivery, disaster relief, wildlife observation, infectious disease monitoring, surveying, news reporting, power line inspection, disaster relief, film and television shooting, and creating romance have greatly expanded the uses of UAVs.

[0003] Meanwhile, with more and more unmanned aerial vehicles (UAVs) being put into use, route planning for UAVs has become a challenge. Route design needs to consider various factors, and there is a problem of slow updates to existing routes, which makes it impossible for dispatched UAVs to achieve their intended mission objectives. There is also a problem of incomplete data in the development of new routes. Summary of the Invention

[0004] The purpose of this invention is to provide a method, system, and readable storage medium for unmanned aerial vehicle (UAV) route exploration. This method can update the route characteristics of historically known routes based on the route data of the UAV, identify unknown routes to establish new routes, and mark routes with predetermined markers to describe the route characteristics. This facilitates the design of flight missions and the assignment of UAVs by users based on the route characteristics.

[0005] The first aspect of this invention provides a method for reconnaissance of flight paths by an unmanned aerial vehicle, comprising the following steps:

[0006] Obtain the flight path data of the currently described unmanned aerial vehicle;

[0007] By comparing the route data with known routes in historical data, updated data of known routes and data of unknown routes are obtained.

[0008] The updated data of the known routes and the data of the unknown routes are output to the user terminal.

[0009] Obtain the return command from the user terminal, and control the unmanned aerial vehicle to navigate based on the return command.

[0010] In this solution, obtaining the current flight path data of the unmanned aerial vehicle specifically includes:

[0011] Image data is identified based on the image acquisition device installed on the unmanned aerial vehicle;

[0012] Geographic data is identified based on the positioning data of the unmanned aerial vehicle;

[0013] The flight route data is obtained based on the image data and the geographic data.

[0014] In this solution, the comparison between the route data and known routes in historical data specifically includes:

[0015] Based on the known flight path corresponding to the historical data of the current unmanned aerial vehicle;

[0016] Based on the image data collected by the unmanned aerial vehicle, the known route is updated by updating the feature points to obtain the updated data of the known route;

[0017] Remove duplicate geographical data from the current flight path data of the unmanned aerial vehicle that are identical to the known flight path, and use the remaining flight path data of the unmanned aerial vehicle as the unknown flight path data.

[0018] In this solution, the step of matching the known flight path corresponding to the historical data of the current unmanned aerial vehicle specifically includes:

[0019] Identify the flight mission data of the currently described unmanned aerial vehicle;

[0020] Identify route attribute values ​​based on the flight mission data;

[0021] The known routes are obtained by matching the route attribute values ​​with the route database in the historical data.

[0022] In this solution, obtaining the known route by matching the route attribute value with the route database in the historical data specifically includes:

[0023] Based on the route attribute value, obtain the route with the same attribute in the route database;

[0024] Based on the flight routes of the currently described unmanned aerial vehicle, the matching degree value of each route is obtained by matching the routes of the same attribute.

[0025] Based on the matching degree values, the routes are sorted in descending order, and the route corresponding to the first matching degree value is extracted as the known route. The known route is dynamically adjusted according to the currently flown routes.

[0026] In this scheme, the unmanned aerial vehicle is controlled to perform a second investigation on the updated data based on the return command from the user terminal.

[0027] A second aspect of the present invention also provides a route exploration system for an unmanned aerial vehicle (UAV), comprising a memory and a processor. The memory includes a route exploration method program for the UAV, which, when executed by the processor, performs the following steps:

[0028] Obtain the flight path data of the currently described unmanned aerial vehicle;

[0029] By comparing the route data with known routes in historical data, updated data of known routes and data of unknown routes are obtained.

[0030] The updated data of the known routes and the data of the unknown routes are output to the user terminal.

[0031] Obtain the return command from the user terminal, and control the unmanned aerial vehicle to navigate based on the return command.

[0032] In this solution, obtaining the current flight path data of the unmanned aerial vehicle specifically includes:

[0033] Image data is identified based on the image acquisition device installed on the unmanned aerial vehicle;

[0034] Geographic data is identified based on the positioning data of the unmanned aerial vehicle;

[0035] The flight route data is obtained based on the image data and the geographic data.

[0036] In this solution, the comparison between the route data and known routes in historical data specifically includes:

[0037] Based on the known flight path corresponding to the historical data of the current unmanned aerial vehicle;

[0038] Based on the image data collected by the unmanned aerial vehicle, the known route is updated by updating the feature points to obtain the updated data of the known route;

[0039] Remove duplicate geographical data from the current flight path data of the unmanned aerial vehicle that are identical to the known flight path, and use the remaining flight path data of the unmanned aerial vehicle as the unknown flight path data.

[0040] In this solution, the step of matching the known flight path corresponding to the historical data of the current unmanned aerial vehicle specifically includes:

[0041] Identify the flight mission data of the currently described unmanned aerial vehicle;

[0042] Identify route attribute values ​​based on the flight mission data;

[0043] The known routes are obtained by matching the route attribute values ​​with the route database in the historical data.

[0044] In this solution, obtaining the known route by matching the route attribute value with the route database in the historical data specifically includes:

[0045] Based on the route attribute value, obtain the route with the same attribute in the route database;

[0046] Based on the flight routes of the currently described unmanned aerial vehicle, the matching degree value of each route is obtained by matching the routes of the same attribute.

[0047] Based on the matching degree values, the routes are sorted in descending order, and the route corresponding to the first matching degree value is extracted as the known route. The known route is dynamically adjusted according to the currently flown routes.

[0048] In this scheme, the unmanned aerial vehicle is controlled to perform a second investigation on the updated data based on the return command from the user terminal.

[0049] A third aspect of the present invention provides a computer-readable storage medium comprising a method program for route exploration of an unmanned aerial vehicle (UAV), wherein when executed by a processor, the method program implements the steps of a route exploration method for an UAV as described in any of the preceding claims.

[0050] This invention discloses a method, system, and readable storage medium for unmanned aerial vehicle (UAV) route exploration. It can update the route characteristics of historical known routes based on the route data of the UAV, identify unknown routes to establish new routes, and mark them with predetermined markers to describe the route characteristics, so as to facilitate users to design flight missions and assign UAVs based on the route characteristics. Attached Figure Description

[0051] Figure 1 A flowchart of a method for route exploration of an unmanned aerial vehicle according to the present invention is shown;

[0052] Figure 2 A block diagram of a flight path reconnaissance system for an unmanned aerial vehicle according to the present invention is shown. Detailed Implementation

[0053] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0054] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0055] Figure 1 A flowchart of a method for route exploration of an unmanned aerial vehicle according to this application is shown.

[0056] like Figure 1 As shown, this application discloses a method for route exploration of an unmanned aerial vehicle, including the following steps:

[0057] S102, Obtain the current flight path data of the unmanned aerial vehicle;

[0058] S104, Based on the comparison between the route data and the known routes in the historical data, updated data of the known routes and unknown route data are obtained;

[0059] S106, output the updated data of the known routes and the data of the unknown routes to the user terminal;

[0060] S108: Obtain the return command from the user terminal, and control the unmanned aerial vehicle to navigate based on the return command.

[0061] It should be noted that, in this embodiment, during flight, the unmanned aerial vehicle acquires its flight path data, and then compares the current flight path data with known paths in historical data to obtain updated data of known paths and unknown path data. The unmanned aerial vehicle is currently navigating based on a user-defined flight path, which can be a known path, an unknown path, or a combination of known and unknown paths.

[0062] Furthermore, at regular intervals, the updated data of the known routes and the data of the unknown routes are output to the user terminal for analysis and judgment. Then, the user terminal receives the return command, and the unmanned aerial vehicle can be controlled to fly based on the return command. The flight can continue by flying according to the updated path or by returning to the landing point.

[0063] According to an embodiment of the present invention, obtaining the current flight path data of the unmanned aerial vehicle specifically includes:

[0064] Image data is identified based on the image acquisition device installed on the unmanned aerial vehicle;

[0065] Geographic data is identified based on the positioning data of the unmanned aerial vehicle;

[0066] The flight route data is obtained based on the image data and the geographic data.

[0067] It should be noted that, in this embodiment, the route data acquired by the unmanned aerial vehicle during flight includes at least image data and geographic data. The image data is obtained by an image acquisition device installed on the unmanned aerial vehicle, which may be a high-definition camera. The geographic data is obtained by the positioning data of the unmanned aerial vehicle, which includes at least the current latitude and longitude coordinates and flight altitude of the unmanned aerial vehicle. The latitude and longitude coordinates may be obtained by GPS data or Beidou navigation data, and the flight altitude may be obtained by an altimeter installed on the unmanned aerial vehicle.

[0068] According to an embodiment of the present invention, the comparison based on the route data and known routes in historical data specifically includes:

[0069] Based on the known flight path corresponding to the historical data of the current unmanned aerial vehicle;

[0070] Based on the image data collected by the unmanned aerial vehicle, the known route is updated by updating the feature points to obtain the updated data of the known route;

[0071] Remove duplicate geographical data from the current flight path data of the unmanned aerial vehicle that are identical to the known flight path, and use the remaining flight path data of the unmanned aerial vehicle as the unknown flight path data.

[0072] It should be noted that, in this embodiment, when comparing the known routes in the flight path data with the known routes in the historical data, updated data of the known routes and unknown route data will be obtained. The updated data is obtained by updating the feature points of the known routes based on the image data. The feature points are, for example, preset calibration objects or target reference objects. The unknown route data is determined by the geographic data. The geographic data that is duplicated with the known routes in the current flight path data of the unmanned aerial vehicle is removed, and the remaining flight path data of the unmanned aerial vehicle is taken as the unknown route data.

[0073] According to an embodiment of the present invention, the step of matching the known flight path corresponding to the historical data of the current unmanned aerial vehicle specifically includes:

[0074] Identify the flight mission data of the currently described unmanned aerial vehicle;

[0075] Identify route attribute values ​​based on the flight mission data;

[0076] The known routes are obtained by matching the route attribute values ​​with the route database in the historical data.

[0077] It should be noted that, in this embodiment, matching the known routes in the historical data is specifically achieved by identifying the route attribute values ​​in the current flight mission data of the unmanned aerial vehicle, and then matching the route attribute values ​​with the route database to obtain the known routes. For example, if the route attribute value in the flight mission data of a certain unmanned aerial vehicle is "abx", where "a" and "b" correspond to different segments of known routes, and "x" corresponds to an unknown route, then the known routes obtained by matching the route attribute values ​​with the route database in the historical data are the segments of the known routes corresponding to "a" and "b".

[0078] According to an embodiment of the present invention, obtaining the known route based on matching the route attribute value with the route database in the historical data specifically includes:

[0079] Based on the route attribute value, obtain the route with the same attribute in the route database;

[0080] Based on the flight routes of the currently described unmanned aerial vehicle, the matching degree value of each route is obtained by matching the routes of the same attribute.

[0081] Based on the matching degree values, the routes are sorted in descending order, and the route corresponding to the first matching degree value is extracted as the known route. The known route is dynamically adjusted according to the currently flown routes.

[0082] It should be noted that, in this embodiment, as explained in the above embodiments, the corresponding known routes can be obtained based on the route attribute values. However, there are many known routes with the "a, b" segments. Therefore, it is necessary to filter out the known routes from the many routes with the same attribute that have the "a, b" segments. Specifically, the matching degree value of each route is obtained by matching the routes with the same attribute based on the flight routes of the current unmanned aerial vehicle. The matching degree values ​​are sorted in descending order, and the route corresponding to the first matching degree value is extracted as the known route. For example, there are three routes with the same attribute that have the "a, b" segments: "L1, L2, L3", and the corresponding matching degree values ​​are "θ1, θ2, θ3" respectively. After sorting the matching degree values ​​in descending order, they are "θ2, θ3, θ1", so the corresponding known route is L2.

[0083] According to an embodiment of the present invention, the unmanned aerial vehicle is controlled to perform a secondary exploration of the updated data based on the return command from the user terminal.

[0084] It should be noted that, in this embodiment, the return command from the user terminal may include instructions such as requiring the unmanned aerial vehicle to return to the landing point, performing a second flight on a previously flown path, or continuing the current predetermined flight mission. In this case, performing a second flight on a previously flown path corresponds to controlling the unmanned aerial vehicle to perform a second exploration of the updated data, thereby more accurately determining the preset markers in the known route and thus accurately updating the known route.

[0085] It is worth mentioning that the matching degree value obtained by matching the currently flown routes of the unmanned aerial vehicle with the routes of the same attribute specifically includes:

[0086] Obtain the flight count value of the preset marker below the flight path;

[0087] Obtain the statistical quantity values ​​of the preset markers for each route in the corresponding route segment within routes of the same attribute;

[0088] The matching degree value is obtained by calculating the ratio of the number of flights to the number of statistics.

[0089] It should be noted that, in this embodiment, each flight path is provided with a corresponding preset marker. The matching degree value is obtained by comparing the flight count of the preset marker below the flight path of the current unmanned aerial vehicle with the predetermined statistical count of each flight path of the same attribute. The preset marker can be a brightly colored flag or a wireless sensor.

[0090] It is worth mentioning that the method also includes recognition based on the image data within a periodic time, specifically including:

[0091] Target object identification is performed based on the image data;

[0092] Extracting anomalous factors from target object identification results;

[0093] The anomaly type below the current flight path is determined based on the anomaly factor.

[0094] It should be noted that, in this embodiment, when the UAV is flying based on a predetermined flight path, it will acquire image data below through an image acquisition device. It can then identify target objects based on the image data to identify abnormal factors in the image below, such as fire factors or rescue factors. Based on the different abnormal factors, it can determine the type of abnormality below the current flight path. The corresponding abnormality types include fire abnormality, distress signal abnormality, etc.

[0095] It is worth mentioning that the method also includes changing the communication mechanism based on the current exception type.

[0096] It should be noted that, in this embodiment, as described in the above embodiments, the user terminal communicates only at regular intervals. However, when an abnormal fire type or an abnormal distress signal type is detected, the communication mechanism is changed to immediately output the corresponding abnormality to the user terminal so that the user terminal can respond in a timely manner.

[0097] Figure 2 A block diagram of a flight path reconnaissance system for an unmanned aerial vehicle according to the present invention is shown.

[0098] like Figure 2 As shown, this invention discloses a route exploration system for unmanned aerial vehicles (UAVs), including a memory and a processor. The memory includes a route exploration method program for UAVs. When the UAV route exploration method program is executed by the processor, it performs the following steps:

[0099] Obtain the flight path data of the currently described unmanned aerial vehicle;

[0100] By comparing the route data with known routes in historical data, updated data of known routes and data of unknown routes are obtained.

[0101] The updated data of the known routes and the data of the unknown routes are output to the user terminal.

[0102] Obtain the return command from the user terminal, and control the unmanned aerial vehicle to navigate based on the return command.

[0103] It should be noted that, in this embodiment, during flight, the unmanned aerial vehicle acquires its flight path data, and then compares the current flight path data with known paths in historical data to obtain updated data of known paths and unknown path data. The unmanned aerial vehicle is currently navigating based on a user-defined flight path, which can be a known path, an unknown path, or a combination of known and unknown paths.

[0104] Furthermore, at regular intervals, the updated data of the known routes and the data of the unknown routes are output to the user terminal for analysis and judgment. Then, the user terminal receives the return command, and the unmanned aerial vehicle can be controlled to fly based on the return command. The flight can continue by flying according to the updated path or by returning to the landing point.

[0105] According to an embodiment of the present invention, obtaining the current flight path data of the unmanned aerial vehicle specifically includes:

[0106] Image data is identified based on the image acquisition device installed on the unmanned aerial vehicle;

[0107] Geographic data is identified based on the positioning data of the unmanned aerial vehicle;

[0108] The flight route data is obtained based on the image data and the geographic data.

[0109] It should be noted that, in this embodiment, the route data acquired by the unmanned aerial vehicle during flight includes at least image data and geographic data. The image data is obtained by an image acquisition device installed on the unmanned aerial vehicle, which may be a high-definition camera. The geographic data is obtained by the positioning data of the unmanned aerial vehicle, which includes at least the current latitude and longitude coordinates and flight altitude of the unmanned aerial vehicle. The latitude and longitude coordinates may be obtained by GPS data or Beidou navigation data, and the flight altitude may be obtained by an altimeter installed on the unmanned aerial vehicle.

[0110] According to an embodiment of the present invention, the comparison based on the route data and known routes in historical data specifically includes:

[0111] Based on the known flight path corresponding to the historical data of the current unmanned aerial vehicle;

[0112] Based on the image data collected by the unmanned aerial vehicle, the known route is updated by updating the feature points to obtain the updated data of the known route;

[0113] Remove duplicate geographical data from the current flight path data of the unmanned aerial vehicle that are identical to the known flight path, and use the remaining flight path data of the unmanned aerial vehicle as the unknown flight path data.

[0114] It should be noted that, in this embodiment, when comparing the known routes in the flight path data with the known routes in the historical data, updated data of the known routes and unknown route data will be obtained. The updated data is obtained by updating the feature points of the known routes based on the image data. The feature points are, for example, preset calibration objects or target reference objects. The unknown route data is determined by the geographic data. The geographic data that is duplicated with the known routes in the current flight path data of the unmanned aerial vehicle is removed, and the remaining flight path data of the unmanned aerial vehicle is taken as the unknown route data.

[0115] According to an embodiment of the present invention, the step of matching the known flight path corresponding to the historical data of the current unmanned aerial vehicle specifically includes:

[0116] Identify the flight mission data of the currently described unmanned aerial vehicle;

[0117] Identify route attribute values ​​based on the flight mission data;

[0118] The known routes are obtained by matching the route attribute values ​​with the route database in the historical data.

[0119] It should be noted that, in this embodiment, matching the known routes in the historical data is specifically achieved by identifying the route attribute values ​​in the current flight mission data of the unmanned aerial vehicle, and then matching the route attribute values ​​with the route database to obtain the known routes. For example, if the route attribute value in the flight mission data of a certain unmanned aerial vehicle is "abx", where "a" and "b" correspond to different segments of known routes, and "x" corresponds to an unknown route, then the known routes obtained by matching the route attribute values ​​with the route database in the historical data are the segments of the known routes corresponding to "a" and "b".

[0120] According to an embodiment of the present invention, obtaining the known route based on matching the route attribute value with the route database in the historical data specifically includes:

[0121] Based on the route attribute value, obtain the route with the same attribute in the route database;

[0122] Based on the flight routes of the currently described unmanned aerial vehicle, the matching degree value of each route is obtained by matching the routes of the same attribute.

[0123] Based on the matching degree values, the routes are sorted in descending order, and the route corresponding to the first matching degree value is extracted as the known route. The known route is dynamically adjusted according to the currently flown routes.

[0124] It should be noted that, in this embodiment, as explained in the above embodiments, the corresponding known routes can be obtained based on the route attribute values. However, there are many known routes with the "a, b" segments. Therefore, it is necessary to filter out the known routes from the many routes with the same attribute that have the "a, b" segments. Specifically, the matching degree value of each route is obtained by matching the routes with the same attribute based on the flight routes of the current unmanned aerial vehicle. The matching degree values ​​are sorted in descending order, and the route corresponding to the first matching degree value is extracted as the known route. For example, there are three routes with the same attribute that have the "a, b" segments: "L1, L2, L3", and the corresponding matching degree values ​​are "θ1, θ2, θ3" respectively. After sorting the matching degree values ​​in descending order, they are "θ2, θ3, θ1", so the corresponding known route is L2.

[0125] According to an embodiment of the present invention, the unmanned aerial vehicle is controlled to perform a secondary exploration of the updated data based on the return command from the user terminal.

[0126] It should be noted that, in this embodiment, the return command from the user terminal may include instructions such as requiring the unmanned aerial vehicle to return to the landing point, performing a second flight on a previously flown path, or continuing the current predetermined flight mission. In this case, performing a second flight on a previously flown path corresponds to controlling the unmanned aerial vehicle to perform a second exploration of the updated data, thereby more accurately determining the preset markers in the known route and thus accurately updating the known route.

[0127] It is worth mentioning that the matching degree value obtained by matching the currently flown routes of the unmanned aerial vehicle with the routes of the same attribute specifically includes:

[0128] Obtain the flight count value of the preset marker below the flight path;

[0129] Obtain the statistical quantity values ​​of the preset markers for each route in the corresponding route segment within routes of the same attribute;

[0130] The matching degree value is obtained by calculating the ratio of the number of flights to the number of statistics.

[0131] It should be noted that, in this embodiment, each flight path is provided with a corresponding preset marker. The matching degree value is obtained by comparing the flight count of the preset marker below the flight path of the current unmanned aerial vehicle with the predetermined statistical count of each flight path of the same attribute. The preset marker can be a brightly colored flag or a wireless sensor.

[0132] It is worth mentioning that the method also includes recognition based on the image data within a periodic time, specifically including:

[0133] Target object identification is performed based on the image data;

[0134] Extracting anomalous factors from target object identification results;

[0135] The anomaly type below the current flight path is determined based on the anomaly factor.

[0136] It should be noted that, in this embodiment, when the UAV is flying based on a predetermined flight path, it will acquire image data below through an image acquisition device. It can then identify target objects based on the image data to identify abnormal factors in the image below, such as fire factors or rescue factors. Based on the different abnormal factors, it can determine the type of abnormality below the current flight path. The corresponding abnormality types include fire abnormality, distress signal abnormality, etc.

[0137] It is worth mentioning that the method also includes changing the communication mechanism based on the current exception type.

[0138] It should be noted that, in this embodiment, as described in the above embodiments, the user terminal communicates only at regular intervals. However, when an abnormal fire type or an abnormal distress signal type is detected, the communication mechanism is changed to immediately output the corresponding abnormality to the user terminal so that the user terminal can respond in a timely manner.

[0139] A third aspect of the present invention provides a computer-readable storage medium including a route exploration method program for an unmanned aerial vehicle (UAV), wherein when the UAV route exploration method program is executed by a processor, it implements the steps of a route exploration method for an UAV as described in any of the preceding claims.

[0140] This invention discloses a method, system, and readable storage medium for unmanned aerial vehicle (UAV) route exploration. It can update the route characteristics of historical known routes based on the route data of the UAV, identify unknown routes to establish new routes, and mark them with predetermined markers to describe the route characteristics, so as to facilitate users to design flight missions and assign UAVs based on the route characteristics.

[0141] In the several 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 illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0142] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0143] In addition, in the various embodiments of the present invention, each functional unit can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0144] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0145] Alternatively, if the integrated units of this invention are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this invention, or the parts that contribute to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROM, RAM, magnetic disks, or optical disks.

Claims

1. A method for reconnaissance of flight paths by an unmanned aerial vehicle, characterized in that, Includes the following steps: Obtain the flight path data of the currently described unmanned aerial vehicle; By comparing the route data with known routes in historical data, updated data of known routes and data of unknown routes are obtained. The updated data of the known routes and the data of the unknown routes are output to the user terminal. Obtain the return command from the user terminal, and control the unmanned aerial vehicle to navigate based on the return command; Specifically, the comparison between the route data and known routes in historical data includes: The process of matching the known flight route in the historical data of the current unmanned aerial vehicle (UAV) specifically includes: identifying the flight mission data of the current UAV; identifying the flight route attribute value based on the flight mission data; and matching the flight route attribute value with the flight route database in the historical data to obtain the known flight route. Based on the image data collected by the unmanned aerial vehicle, the known route is updated by updating the feature points to obtain the updated data of the known route; Remove duplicate geographical data from the current flight path data of the unmanned aerial vehicle that are identical to the known flight path, and use the remaining flight path data of the unmanned aerial vehicle as the unknown flight path data; Specifically, obtaining the known route by matching the route attribute value with the route database in the historical data includes: Based on the route attribute value, obtain the route with the same attribute in the route database; The matching degree value for each route is obtained by matching the routes of the same attribute with the routes already flown by the unmanned aerial vehicle. Specifically, this includes: obtaining the number of flights of the preset markers below the flown routes; obtaining the statistical number of preset markers in the corresponding route segments of each route of the same attribute; and calculating the ratio of the number of flights to the statistical number to obtain the matching degree value. Based on the matching degree values, the routes are sorted in descending order, and the route corresponding to the first matching degree value is extracted as the known route. The known route is dynamically adjusted according to the currently flown routes.

2. The method for route reconnaissance of an unmanned aerial vehicle according to claim 1, characterized in that, The acquisition of the current flight path data of the unmanned aerial vehicle specifically includes: Image data is identified based on the image acquisition device installed on the unmanned aerial vehicle; Geographic data is identified based on the positioning data of the unmanned aerial vehicle; The flight route data is obtained based on the image data and the geographic data.

3. The method for route reconnaissance of an unmanned aerial vehicle according to claim 1, characterized in that, Based on the return command from the user terminal, the unmanned aerial vehicle is controlled to perform a second investigation on the updated data.

4. A route reconnaissance system for unmanned aerial vehicles, characterized in that, The system includes a memory and a processor. The memory contains a route exploration method program for an unmanned aerial vehicle (UAV). When the processor executes the route exploration method program, the UAV performs the following steps: Obtain the flight path data of the currently described unmanned aerial vehicle; By comparing the route data with known routes in historical data, updated data of known routes and data of unknown routes are obtained. The updated data of the known routes and the data of the unknown routes are output to the user terminal. Obtain the return command from the user terminal, and control the unmanned aerial vehicle to navigate based on the return command; Specifically, the comparison between the route data and known routes in historical data includes: The process of matching the known flight route in the historical data of the current unmanned aerial vehicle (UAV) specifically includes: identifying the flight mission data of the current UAV; identifying the flight route attribute value based on the flight mission data; and matching the flight route attribute value with the flight route database in the historical data to obtain the known flight route. Based on the image data collected by the unmanned aerial vehicle, the known route is updated by updating the feature points to obtain the updated data of the known route; Remove duplicate geographical data from the current flight path data of the unmanned aerial vehicle that are identical to the known flight path, and use the remaining flight path data of the unmanned aerial vehicle as the unknown flight path data; Specifically, obtaining the known route by matching the route attribute value with the route database in the historical data includes: Based on the route attribute value, obtain the route with the same attribute in the route database; The matching degree value for each route is obtained by matching the routes of the same attribute with the routes already flown by the unmanned aerial vehicle. Specifically, this includes: obtaining the number of flights of the preset markers below the flown routes; obtaining the statistical number of preset markers in the corresponding route segments of each route of the same attribute; and calculating the ratio of the number of flights to the statistical number to obtain the matching degree value. Based on the matching degree values, the routes are sorted in descending order, and the route corresponding to the first matching degree value is extracted as the known route. The known route is dynamically adjusted according to the currently flown routes.

5. The route reconnaissance system for an unmanned aerial vehicle according to claim 4, characterized in that, The acquisition of the current flight path data of the unmanned aerial vehicle specifically includes: Image data is identified based on the image acquisition device installed on the unmanned aerial vehicle; Geographic data is identified based on the positioning data of the unmanned aerial vehicle; The flight route data is obtained based on the image data and the geographic data.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a route exploration method program for an unmanned aerial vehicle (UAV), which, when executed by a processor, implements the steps of a route exploration method for an UAV as described in any one of claims 1 to 3.

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