Unmanned aerial vehicle flight path effective coverage area detection method, device, equipment and medium

Abstract

The application discloses a kind of unmanned aerial vehicle route effective coverage area detection method, device, equipment and medium, applied to computer field, the method includes: in time sequence, the flight point information of all flight points in unmanned aerial vehicle route is received by data access interface, and the flight point information is used to determine the flight route coverage area corresponding to unmanned aerial vehicle route;Flight route coverage area is abstracted as several plane geometric figures, the number of the graphic composition element in the plane geometric figure is counted;Plane geometric figure is composed of several numbers of graphic composition elements;The area of the plane geometric figure is determined based on the number and the preset size of graphic composition element, to obtain the effective coverage area of unmanned aerial vehicle route.It can be seen from this that the flight route coverage area is abstracted as plane geometric figure, and the area of plane figure is calculated by graphic composition element, to obtain the effective coverage area of unmanned aerial vehicle route, can real-time detect unmanned aerial vehicle route effective coverage area.

Description

Technical Field

[0001] This invention relates to the field of computers, and in particular to a method, apparatus, equipment, and medium for detecting the effective coverage area of ​​a drone flight path. Background Technology

[0002] Currently, drone technology is developing rapidly and is finding applications in many fields. For example, drone spraying technology is maturing and being used in pest control or large-scale precision application of pesticides. In existing technologies, the drone's flight path is used as the boundary of the land to be measured, and the land enclosed by the boundary is calculated. This method can only calculate the effective coverage area of ​​the drone after the boundary is determined; it cannot detect the effective coverage area of ​​the drone's flight path in real time.

[0003] In conclusion, how to detect the effective coverage area of ​​drone flight paths in real time is an urgent problem to be solved. Summary of the Invention

[0004] In view of this, the purpose of this invention is to provide a method, apparatus, device, and medium for detecting the effective coverage area of ​​a drone flight path, capable of detecting the effective coverage area of ​​a drone flight path in real time. The specific solution is as follows:

[0005] Firstly, this application discloses a method for detecting the effective coverage area of ​​a UAV flight path, including:

[0006] In chronological order, the waypoint information of all waypoints in the UAV route is received through the data access interface, and the route coverage area corresponding to the UAV route is determined based on the waypoint information.

[0007] The coverage area of ​​the flight route is abstracted into several planar geometric figures, and the number of graphic components in all the planar geometric figures is counted, wherein the planar geometric figures are composed of a number of graphic components.

[0008] Based on the quantity and the preset size of the graphic components, the area of ​​all the planar geometric figures is determined to obtain the effective coverage area of ​​the UAV flight path.

[0009] Optionally, the step of receiving waypoint information of all waypoints in the UAV flight path through a data access interface in chronological order, and determining the flight path coverage area corresponding to the UAV flight path based on the waypoint information, includes:

[0010] In chronological order, the waypoint information of all waypoints in the UAV flight path is received through the data access interface; wherein, the waypoint information includes latitude and longitude, altitude and downward coverage angle;

[0011] The latitude and longitude are converted into coordinate values ​​in the Earth's plane coordinate system, and the flight path coverage area corresponding to the UAV flight path is determined according to the coordinate values, the corresponding altitude, and the downward coverage angle in chronological order.

[0012] Optionally, converting the latitude and longitude to coordinates in the Earth's plane coordinate system includes:

[0013] The latitude and longitude are converted into coordinate values ​​in the Earth's plane coordinate system based on map projection transformation and the Lambert projection formula.

[0014] Optionally, the step of abstracting the flight route coverage area into several planar geometric figures and counting the number of graphic components in all the planar geometric figures includes:

[0015] The route coverage area is abstracted into several planar geometric figures, and a pre-set target calculation area including the abstracted route coverage area is determined.

[0016] If the area value corresponding to the target calculation region is greater than the preset area threshold, the target calculation region is divided into regions based on the preset area threshold to obtain a number of target calculation sub-regions. Then, the number of graphic components in all the planar geometric figures in each target calculation sub-region is counted.

[0017] Accordingly, determining the area of ​​all the planar geometric figures based on the quantity and the area size of the graphic components to obtain the effective coverage area of ​​the UAV flight path includes:

[0018] The area of ​​all planar geometric figures in each target calculation sub-region is determined based on the number of graphic components in all the planar geometric figures in each target calculation sub-region and the preset size of the graphic components. The areas are then summed to obtain the effective coverage area of ​​the UAV flight path.

[0019] Optionally, the step of abstracting the flight route coverage area into several planar geometric figures and counting the number of graphic components in all the planar geometric figures includes:

[0020] The route coverage area is abstracted into several planar geometric figures, and a pre-set target calculation area including the abstracted route coverage area is determined.

[0021] If the area value corresponding to the target calculation region is not greater than the preset area threshold, then the target calculation region is determined as the target calculation sub-region, and then the number of graphic components in all the planar geometric figures in the target calculation sub-region is counted.

[0022] Accordingly, determining the area of ​​all the planar geometric figures based on the quantity and the area size of the graphic components to obtain the effective coverage area of ​​the UAV flight path includes:

[0023] Based on the quantity and the area size of the graphic components, the area of ​​all the planar geometric figures in the target calculation sub-region is determined, and the area is determined as the effective coverage area of ​​the UAV flight path.

[0024] Optionally, before counting the number of graphic elements in all the planar geometric figures, the method further includes:

[0025] According to the preset graphic segmentation rules, each target calculation sub-region is divided into a number of graphic components; wherein the size of each graphic component is a preset fixed size.

[0026] Optionally, the step of counting the number of graphic components in all the planar geometric figures includes:

[0027] Determine the graphic components contained in all the plane geometric figures, and mark the determined graphic components to obtain the marked graphic components;

[0028] The number of the marked graphic components is counted, and the number of the marked graphic components is determined as the number of graphic components contained in all the planar geometric figures.

[0029] Secondly, this application discloses a device for detecting the effective coverage area of ​​a UAV flight path, comprising:

[0030] The information receiving module is used to receive waypoint information of all waypoints in the UAV route through the data access interface in chronological order, and to determine the route coverage area corresponding to the UAV route based on the waypoint information.

[0031] The quantity statistics module is used to abstract the coverage area of ​​the flight route into several planar geometric figures, and to count the number of graphic components in all the planar geometric figures, wherein the planar geometric figures are composed of a number of graphic components.

[0032] An area determination module is used to determine the area of ​​all the planar geometric figures based on the quantity and the preset size of the graphic components, so as to obtain the effective coverage area of ​​the UAV flight path.

[0033] Thirdly, this application discloses an electronic device, including a processor and a memory; wherein, when the processor executes a computer program stored in the memory, it implements the aforementioned method for detecting the effective coverage area of ​​a UAV flight path.

[0034] Fourthly, this application discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the aforementioned method for detecting the effective coverage area of ​​a UAV flight path.

[0035] As can be seen, this application receives waypoint information for all waypoints along a UAV flight path via a data access interface in chronological order, and determines the flight path coverage area based on the waypoint information. The flight path coverage area is abstracted into several planar geometric figures, and the number of constituent elements in each of these figures is counted. Each planar geometric figure is composed of a number of these constituent elements. Based on the number of these constituent elements and their preset sizes, the area of ​​each planar geometric figure is determined to obtain the effective coverage area of ​​the UAV flight path. Therefore, this application abstracts the flight path coverage area into several planar geometric figures, enabling the detection of any flight path coverage area and expanding the application scope of the detection method. This application uses the number and area of ​​the constituent elements to obtain the effective coverage area of ​​the UAV flight path, resulting in a small deviation in the calculation. Furthermore, this application can detect the effective coverage area of ​​the UAV flight path in real time. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0037] Figure 1 A flowchart of a method for detecting the effective coverage area of ​​a UAV flight path is provided in this application;

[0038] Figure 2 An abstract schematic diagram of the route coverage area provided in this application;

[0039] Figure 3 A flowchart of a specific method for detecting the effective coverage area of ​​a UAV flight path is provided in this application;

[0040] Figure 4 A schematic diagram of a target sub-computation region provided in this application;

[0041] Figure 5 A flowchart of a specific method for detecting the effective coverage area of ​​a UAV flight path is provided in this application;

[0042] Figure 6 A schematic diagram of a method for detecting the effective coverage area of ​​a UAV flight path provided in this application;

[0043] Figure 7 A schematic diagram of the structure of an effective coverage area detection device for a UAV flight path provided in this application;

[0044] Figure 8 This application provides a structural diagram of an electronic device. Detailed Implementation

[0045] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] Currently, there is no complete algorithm in the fields of drones or computers for calculating this type of coverage area. To overcome the above problems, this application provides a drone flight path effective coverage area detection scheme, which can detect the effective coverage area of ​​the drone flight path in real time.

[0047] See Figure 1 As shown in the figure, this application discloses a method for detecting the effective coverage area of ​​a UAV flight path, the method comprising:

[0048] Step S11: Receive waypoint information of all waypoints in the UAV route through the data access interface in chronological order, and determine the route coverage area corresponding to the UAV route based on the waypoint information.

[0049] In this application embodiment, in the application scenario of coverage operation within the area implemented by the UAV, its flight track can be obtained by equipping a GPS (Global Positioning System) tracker, and it is necessary to statistically analyze its total coverage area after the operation. That is, based on the GPS flight path coordinates of the UAV, the area of ​​the area it passes through is accumulated and its overlapping coverage area is ignored, and the final effective area coverage area is calculated.

[0050] In this embodiment, waypoint information for all waypoints along the UAV flight path is received via a data access interface in chronological order. The waypoint information includes latitude and longitude, altitude, and downward coverage angle. Specifically, this application provides a data access interface to handle the input of waypoints for the UAV flight path. Required input data includes: waypoint latitude and longitude (B, L); waypoint altitude H; and UAV downward coverage angle α. This data can be defined according to the actual application and is mainly used to calculate the width occupied by the UAV flight path. Furthermore, the input data must be reliable and ordered chronologically.

[0051] In this embodiment, after receiving waypoint information, the latitude and longitude need to be converted into coordinates in the Earth's plane coordinate system. Then, based on the coordinates, altitude, and downward coverage angle, the coverage area corresponding to the UAV's flight path is determined according to the chronological order. Specifically, after obtaining the latitude and longitude coordinates corresponding to the UAV's three-dimensional latitude and longitude, map projection transformation technology is used to convert them into suitable planar coordinates for calculation. The latitude and longitude are converted into coordinates in the Earth's plane coordinate system based on map projection transformation and the Lambert projection formula; where map projection means establishing a mapping relationship between Earth's latitude and longitude coordinates (B, L) and plane rectangular coordinates (X, Y).

[0052] The general formula for Lambert projection is as follows:

[0053] X = r * sinθ;

[0054] Y = r0 - r*cosθ;

[0055] r = r earth *F*t n ;

[0056] θ = n(L - L0);

[0057]

[0058]

[0059]

[0060]

[0061] In the above formula, (B, L) are the longitude and latitude values ​​of the UAV, in degrees; (X, Y) are the converted Cartesian coordinates, where X represents the north-south direction and Y represents the east-west direction, in meters; (B0, L0) are the longitude and latitude of the custom Cartesian coordinate origin, in degrees; B1 is standard latitude line 1, selected as 25 degrees North latitude, and B2 is standard latitude line 2, selected as 47 degrees North latitude; r earthThe Earth's equatorial radius is chosen to be 6,378,137 meters; r0 is the r value at the origin latitude. and These are the m values ​​for standard latitude line 1 and standard latitude line 2, respectively. and These are the t values ​​for standard latitude line 1 and standard latitude line 2, respectively.

[0062] In this embodiment, after obtaining the waypoint coordinates in the planar coordinate system, it is necessary to convert the set of waypoints into a set of area regions according to their sequential order. That is, the coverage area corresponding to the UAV's flight path is determined according to the coordinate values, the corresponding altitude, and the downward coverage angle, following the chronological order. It should be noted that the UAV covers vertically downwards during operation, and its coverage range is determined by the UAV's altitude H and the downward coverage angle α. If the UAV's downward coverage is not vertical, corresponding coverage geometry corrections can be made.

[0063] Step S12: Abstract the coverage area of ​​the flight route into several planar geometric figures, and count the number of graphic components in all the planar geometric figures; wherein, the planar geometric figures are composed of a number of graphic components.

[0064] In this embodiment of the application, the flight path coverage area is abstracted into several planar geometric figures, and different planar geometric figure abstraction transformations can be performed on the UAV flight path coverage area according to the actual use scenario.

[0065] In one specific embodiment, such as Figure 2 As shown, two adjacent waypoints are expanded into a rectangle. The length of the rectangle is the distance between the two waypoints plus the downward coverage diameter of the drone, and the width of the rectangle is the downward coverage diameter of the drone. Figure 2 In this diagram, H is the drone's altitude above the ground, α is the drone's downward coverage angle, d is the diameter of the drone's downward coverage area, and L is the distance between adjacent waypoints. The calculation formula is shown below:

[0066]

[0067]

[0068] In the above formula, H is the altitude of the UAV above the ground, in meters; α is the downward coverage angle of the UAV, in radians; (x1, y1) are the plane rectangular coordinates of the forward waypoint, in meters; and (x2, y2) are the plane rectangular coordinates of the backward waypoint, in meters.

[0069] It is understandable that after abstracting the flight path coverage area into several planar geometric figures, the number of graphic components in all of these planar geometric figures is counted; the graphic components can be pixels. It should be noted that before counting the number of graphic components in all of these planar geometric figures, each planar geometric figure needs to be divided into a number of graphic components according to a preset graphic segmentation rule; wherein the size of each graphic component is a preset fixed size. When the graphic component is a pixel, the preset fixed size can be 1mm. 2 The square pixels.

[0070] In this embodiment of the application, the specific process of counting the number of graphic components in all the planar geometric figures is as follows: determine the graphic components contained in all the planar geometric figures respectively, and mark the determined graphic components to obtain marked graphic components; count the number of marked graphic components, and determine the number of marked graphic components as the number of graphic components contained in all the planar geometric figures.

[0071] In one specific embodiment, the graphic components are pixels. It is necessary to iterate through all planar geometric shapes representing the coverage area of ​​the flight path, count the pixels occupied by each geometric shape, and set the Byte value of already occupied pixels to true, eliminating the need for repeated checks on pixel occupancy. After the iteration is complete, the total number of pixels set to true is calculated. Using this total number and the preset fixed size of the pixels, the total area covered by the unit square region can be obtained.

[0072] In this embodiment of the application, when counting the number of graphic components in all the planar geometric figures, the planar geometric figure contains the graphic component when any vertex of the graphic component is located within the planar geometric figure, and / or when any vertex of the planar geometric figure is located within the graphic component.

[0073] In this embodiment of the application, when counting the number of graphic components in all the planar geometric figures, a vector method can be used to determine whether the planar geometric figure contains the graphic component. Specifically, when the graphic component is a pixel, and the planar geometric figure is a rectangle, the vertices of the rectangle are set as A, B, C, and D, and the rectangle is represented by rectangle ABCD. The pixel is represented by pixel P. If P is inside ABCD, then the following formula should be satisfied:

[0074]

[0075] If the above formula is not satisfied, then point P is outside of ABCD.

[0076] Step S14: Determine the area of ​​all the planar geometric figures based on the quantity and the area size of the graphic components to obtain the effective coverage area of ​​the UAV flight path.

[0077] In this embodiment, the area of ​​all the planar geometric figures can be obtained by multiplying the quantity and the area of ​​the graphic components. Alternatively, the area calculation error of each target sub-region can be calculated separately. The worst case occurs when the flight path is only a straight line and its UAV coverage width just results in two extra rows of graphic components at the edge of the flight path. In this case, the accuracy of the area calculation is:

[0078]

[0079] In the above formula, d is the diameter of the downward coverage area of ​​the drone, in meters. For example, when d is 2m, the calculation accuracy E = 99.9%.

[0080] As can be seen, this application receives waypoint information for all waypoints along a UAV flight path via a data access interface in chronological order. The waypoint information includes latitude, longitude, altitude, and downward coverage angle. The latitude and longitude are converted to coordinates in the Earth's plane coordinate system, and the flight path coverage area is determined according to the coordinates, altitude, and downward coverage angle in chronological order. The flight path coverage area is abstracted into several planar geometric figures, and the number of constituent elements in each geometric figure is counted. Each geometric figure is composed of a number of constituent elements. The area of ​​each geometric figure is determined based on the number and the area of ​​each constituent element to obtain the effective coverage area of ​​the UAV flight path. Therefore, this application abstracts the flight path coverage area into several planar geometric figures, enabling the detection of any flight path coverage area and expanding the application scope of the detection method. This application uses the number and area of ​​the constituent elements to obtain the effective coverage area of ​​the UAV flight path, resulting in a small deviation in the calculation. Furthermore, this application can detect the effective coverage area of ​​the UAV flight path in real time.

[0081] See Figure 3 As shown in the figure, this application discloses a specific method for detecting the effective coverage area of ​​a UAV flight path, the method including:

[0082] Step S21: Receive waypoint information of all waypoints in the UAV route through the data access interface in chronological order, and determine the route coverage area corresponding to the UAV route based on the waypoint information.

[0083] For a more detailed description of the process of step S21, please refer to the relevant content disclosed in the foregoing embodiments, which will not be repeated here.

[0084] Step S22: Abstract the route coverage area into several planar geometric figures, and determine a pre-set target calculation area that includes the abstracted route coverage area.

[0085] In this embodiment of the application, when detecting the effective coverage area of ​​the UAV flight path, after obtaining the flight path coverage area, in order to facilitate calculation, the flight path coverage area is abstracted into several planar geometric figures. Then, when calculating the area of ​​the planar geometric figures using the constituent elements of the figures, it is necessary to first determine a pre-set target calculation area that includes the abstracted flight path coverage area.

[0086] Step S23: If the area value corresponding to the target calculation region is greater than the preset area threshold, the target calculation region is divided into several target calculation sub-regions based on the preset area threshold. Then, the number of graphic components in all the planar geometric figures in each target calculation sub-region is counted.

[0087] In this embodiment, the flight route coverage area has a corresponding target computing region. Considering the memory of the host machine, when the target computing region is too large, the number of graphic components is large, requiring excessive host memory. Therefore, it is necessary to divide the target computing region into target computing sub-regions. Specifically, if the area value corresponding to the target computing region, including the flight route coverage area, is greater than a preset area threshold, the target computing region is divided based on the preset area threshold to obtain a number of target computing sub-regions. If the area value corresponding to the target computing region, including the flight route coverage area, is not greater than the preset area threshold, the target computing region is determined as a target computing sub-region.

[0088] In one specific embodiment, when the graphic component is 1mm 2 When the number of pixels is such that each pixel occupies one byte, 1m 2 The computational region requires (1000*1000) / 1024 / 1024 = 0.95Mb of memory. Without region partitioning, computing a 100m*100m region would require pixels alone occupying 9.3Gb of memory, which is clearly excessive. Therefore, the entire target computational region can be divided into 1m... 2 The set of target calculation sub-regions for unit blocks; at this time, the preset area threshold is 1m. 2It should be noted that a single bit (binary dig) can be used to represent a pixel, which can save 7 / 8 of the memory space.

[0089] In this embodiment, after dividing the target computation sub-region into several target computation sub-regions, it is necessary to calculate the number of graphic components in each target computation sub-region. Before counting the number of graphic components contained in the planar geometry of each target computation sub-region, it is necessary to divide all target computation sub-regions containing the planar geometry into several graphic components according to a preset graphic segmentation rule; wherein, the size of each graphic component is a preset fixed size; then, the graphic components contained in the planar geometry of each target computation sub-region are determined, and the determined graphic components are marked to obtain marked graphic components; the number of marked graphic components is counted, and the number of marked graphic components is determined as the number of graphic components contained in the planar geometry of each target computation sub-region.

[0090] In one specific embodiment of this application, taking a target computational sub-region as an example, such as... Figure 4 As shown, the constituent elements of the graphic are 1mm. 2 The target calculation sub-region contains two rectangles, and it is necessary to count the number of pixels occupied by each rectangle within the target calculation sub-region. It should be noted that the overlapping portion of the two rectangles can only be counted once.

[0091] Step S24: Determine the area of ​​all planar geometric figures in each target calculation sub-region based on the number of graphic components in all planar geometric figures in each target calculation sub-region and the preset size of the graphic components, and sum the areas to obtain the effective coverage area of ​​the UAV flight path.

[0092] In this embodiment, the sum of the areas of all planar geometric figures is the effective coverage area of ​​the UAV flight path. Since the target calculation sub-regions are calculated separately, the area of ​​each target calculation sub-region must be calculated separately, and then the areas are summed to obtain the effective coverage area of ​​the UAV flight path.

[0093] As can be seen, this application receives waypoint information of all waypoints in the UAV flight path through a data access interface in chronological order, and determines the flight path coverage area corresponding to the UAV flight path based on the waypoint information; the flight path coverage area is abstracted into several planar geometric figures, and a pre-set target calculation area including the abstracted flight path coverage area is determined; if the area value corresponding to the target calculation area is greater than a preset area threshold, the target calculation area is divided into several target calculation sub-regions based on the preset area threshold, and then the number of graphic components in all the planar geometric figures in each target calculation sub-region is counted; the area of ​​all the planar geometric figures in each target calculation sub-region is determined based on the number of graphic components in all the planar geometric figures in each target calculation sub-region and the preset size of the graphic components, and the areas are accumulated to obtain the effective coverage area of ​​the UAV flight path. Therefore, this application abstracts the flight path coverage area into a number of planar geometric figures, which can detect any flight path coverage area and expand the application scope of the detection method. This application uses the number of the constituent elements of the figures and the area of ​​the constituent elements to obtain the effective coverage area of ​​the UAV flight path. The calculation result has a small deviation, and this application can detect the effective coverage area of ​​the UAV flight path in real time. In addition, the target calculation area is divided into several target calculation sub-regions, and then the target calculation sub-regions are detected separately to ensure that the calculation area meets the host memory capacity requirements.

[0094] See Figure 5 As shown in the figure, this application discloses a specific method for detecting the effective coverage area of ​​a UAV flight path, the method including:

[0095] Step S31: Receive waypoint information of all waypoints in the UAV route through the data access interface in chronological order, and determine the route coverage area corresponding to the UAV route based on the waypoint information.

[0096] For a more detailed description of the process of step S31, please refer to the relevant content disclosed in the foregoing embodiments, which will not be repeated here.

[0097] Step S32: Abstract the route coverage area into several planar geometric figures, and determine a pre-set target calculation area that includes the abstracted route coverage area.

[0098] For a more detailed description of the process of step S32, please refer to the relevant content disclosed in the foregoing embodiments, which will not be repeated here.

[0099] Step S33: If the area value corresponding to the target calculation region is not greater than the preset area threshold, then the target calculation region is determined as the target calculation sub-region, and then the number of graphic components in all the planar geometric figures in the target calculation sub-region is counted.

[0100] In this embodiment of the application, the route coverage area has a corresponding target calculation area. Considering the host memory, when the area value corresponding to the target calculation area is not greater than a preset area threshold, the target calculation area can be determined as a target calculation sub-region. Then, the number of graphic components in all the planar geometric figures in the target calculation sub-region is counted.

[0101] Step S34: Based on the quantity and the area size of the graphic components, determine the area of ​​all the planar geometric figures in the target calculation sub-region, and determine the area as the effective coverage area of ​​the UAV flight path.

[0102] In this embodiment, the area of ​​all the planar geometric figures in the target calculation sub-region is determined based on the quantity and the area size of the graphic components. In addition, in this embodiment, there is only one target calculation sub-region, so the area of ​​the target calculation sub-region is the effective coverage area of ​​the UAV flight path.

[0103] As can be seen, this application receives waypoint information of all waypoints in the UAV flight path through a data access interface in chronological order, and determines the flight path coverage area corresponding to the UAV flight path based on the waypoint information; the flight path coverage area is abstracted into several planar geometric figures, and a pre-set target calculation area including the abstracted flight path coverage area is determined; if the area value corresponding to the target calculation area is not greater than a preset area threshold, the target calculation area is determined as a target calculation sub-region, and then the number of graphic components in all the planar geometric figures in the target calculation sub-region is counted; based on the number and the area size of the graphic components, the area of ​​all the planar geometric figures in the target calculation sub-region is determined, and the area is determined as the effective coverage area of ​​the UAV flight path. Therefore, this application abstracts the flight path coverage area into several planar geometric figures, enabling the detection of any flight path coverage area and expanding the application scope of the detection method; this application uses the number and area size of the graphic components to obtain the effective coverage area of ​​the UAV flight path, with a small deviation in the calculation result, and this application can detect the effective coverage area of ​​the UAV flight path in real time.

[0104] like Figure 6As shown, a specific method for detecting the effective coverage area of ​​a UAV flight path is disclosed. The graphic components used are pixels. Specifically, the external interface receives waypoint information of all waypoints in the UAV flight path, including longitude, latitude, altitude above ground, and the UAV's downward coverage angle. The longitude and latitude of all UAV waypoints are converted into coordinate values ​​in the Earth's plane coordinate system through coordinate transformation. Then, combined with the UAV's downward coverage angle, the coverage area of ​​the entire flight path is determined, and the flight path coverage area is abstracted and extracted as a combination of planar geometric figures. Then, a pre-set target calculation area containing the abstracted flight path coverage area is determined. When the target calculation area is larger than a preset area threshold, the target calculation area is segmented to obtain target calculation sub-regions. Then, the area of ​​the planar geometric image in each target calculation sub-region is determined according to the number of pixels and the preset size corresponding to the pixels, and the areas are accumulated to obtain the area of ​​all planar geometric figures. The area of ​​all planar geometric figures is used as the total area of ​​the flight path coverage area. When the target calculation region is not larger than a preset area threshold, the target calculation region is taken as the target calculation sub-region. Then, the area of ​​the planar geometric image in the target calculation sub-region is determined according to the number of pixels and the preset size corresponding to the pixels, and this area is taken as the total area of ​​the flight path coverage area. The flight path coverage area is determined to be a planar geometric shape because, among all planar geometric shapes, the area calculation of polygonal geometric shapes is the most universal and convenient. Therefore, in the process of planar geometric abstraction, polygons should be used as the final abstract object as much as possible.

[0105] See Figure 7 As shown in the figure, this application discloses a device for detecting the effective coverage area of ​​a UAV flight path, comprising:

[0106] The information receiving module 11 is used to receive waypoint information of all waypoints in the UAV route through the data access interface in chronological order, and to determine the route coverage area corresponding to the UAV route based on the waypoint information.

[0107] The quantity statistics module 12 is used to abstract the coverage area of ​​the flight route into several planar geometric figures and count the number of graphic components in all the planar geometric figures; wherein, the planar geometric figures are composed of a number of graphic components.

[0108] The area determination module 13 is used to determine the area of ​​all the planar geometric figures based on the quantity and the preset size of the graphic components, so as to obtain the effective coverage area of ​​the UAV flight path.

[0109] For more detailed information on the working process of each of the above modules, please refer to the relevant content disclosed in the foregoing embodiments, which will not be repeated here.

[0110] As can be seen, this application receives waypoint information for all waypoints along a UAV flight path via a data access interface in chronological order, and determines the flight path coverage area based on the waypoint information. The flight path coverage area is abstracted into several planar geometric figures, and the number of constituent elements in each of these figures is counted. Each planar geometric figure is composed of a number of these constituent elements. Based on the number of these constituent elements and their preset sizes, the area of ​​each planar geometric figure is determined to obtain the effective coverage area of ​​the UAV flight path. Therefore, this application abstracts the flight path coverage area into several planar geometric figures, enabling the detection of any flight path coverage area and expanding the application scope of the detection method. This application uses the number and area of ​​the constituent elements to obtain the effective coverage area of ​​the UAV flight path, resulting in a small deviation in the calculation. Furthermore, this application can detect the effective coverage area of ​​the UAV flight path in real time.

[0111] Furthermore, embodiments of this application also provide an electronic device. Figure 8 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content of the diagram should not be construed as limiting the scope of this application.

[0112] Figure 8 This is a schematic diagram of the structure of an electronic device 20 provided in an embodiment of this application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, an input / output interface 24, a communication interface 25, and a communication bus 26. The memory 22 stores a computer program, which is loaded and executed by the processor 21 to implement the relevant steps of the UAV flight path effective coverage area detection method disclosed in any of the foregoing embodiments.

[0113] In this embodiment, the power supply 23 is used to provide operating voltage for each hardware device on the electronic device 20; the communication interface 25 can create a data transmission channel between the electronic device 20 and external devices, and the communication protocol it follows can be any communication protocol applicable to the technical solution of this application, and is not specifically limited here; the input / output interface 24 is used to acquire external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs, and is not specifically limited here.

[0114] In addition, the memory 22, as a carrier for resource storage, can be a read-only memory, random access memory, disk or optical disk, etc. The memory 22 can be a random access memory that can be used as running memory and a non-volatile memory used for external memory storage. The storage resources on it include operating system 221, computer program 222, etc., and the storage method can be temporary storage or permanent storage.

[0115] The operating system 221 is used to manage and control the various hardware devices on the electronic device 20 on the source host and the computer program 222. The operating system 221 can be Windows, Unix, Linux, etc. In addition to the computer program that can be used to perform the UAV flight path effective coverage area detection method executed by the electronic device 20 as disclosed in any of the foregoing embodiments, the computer program 222 may further include computer programs that can be used to perform other specific tasks.

[0116] In this embodiment, the input / output interface 24 may include, but is not limited to, a USB interface, a hard disk read interface, a serial interface, a voice input interface, a fingerprint input interface, etc.

[0117] Furthermore, embodiments of this application also disclose a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the aforementioned method for detecting the effective coverage area of ​​a UAV flight path.

[0118] For the specific steps of this method, please refer to the relevant content disclosed in the foregoing embodiments, which will not be repeated here.

[0119] The computer-readable storage medium referred to herein includes random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disks, magnetic disks, optical disks, or any other form of storage medium known in the art. When the computer program is executed by a processor, it implements the aforementioned method for detecting the effective coverage area of ​​a UAV flight path. Specific steps of this method can be found in the corresponding content disclosed in the foregoing embodiments, and will not be repeated here.

[0120] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method for detecting the effective coverage area of ​​a UAV flight path disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0121] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0122] The steps of the algorithm described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0123] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0124] The above provides a detailed description of the method, apparatus, equipment, and medium for detecting the effective coverage area of ​​a UAV flight path provided by the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for detecting the effective coverage area of ​​a UAV flight path, characterized in that, include: In chronological order, the waypoint information of all waypoints in the UAV route is received through the data access interface, and the route coverage area corresponding to the UAV route is determined based on the waypoint information. The coverage area of ​​the flight route is abstracted into several planar geometric figures, and the number of graphic components in all the planar geometric figures is counted; wherein, the planar geometric figures are composed of a certain number of graphic components. The area of ​​all the planar geometric figures is determined based on the quantity and the preset size of the graphic components, so as to obtain the effective coverage area of ​​the UAV flight path; The step of abstracting the flight route coverage area into several planar geometric figures and counting the number of graphic components in all the planar geometric figures includes: The route coverage area is abstracted into several planar geometric figures, and a pre-set target calculation area including the abstracted route coverage area is determined. If the area value corresponding to the target calculation region is greater than the preset area threshold, the target calculation region is divided into regions based on the preset area threshold to obtain a number of target calculation sub-regions. Then, the number of graphic components in all the planar geometric figures in each target calculation sub-region is counted. If the area value corresponding to the target calculation region is not greater than the preset area threshold, then the target calculation region is determined as the target calculation sub-region, and then the number of graphic components in all the planar geometric figures in the target calculation sub-region is counted. Accordingly, determining the area of ​​all the planar geometric figures based on the quantity and the area size of the graphic components to obtain the effective coverage area of ​​the UAV flight path includes: If the area value corresponding to the target calculation region is greater than the preset area threshold, the area of ​​all the planar geometric figures in each target calculation sub-region is determined based on the number of graphic elements in all the planar geometric figures in each target calculation sub-region and the preset size of the graphic elements, and the areas are accumulated to obtain the effective coverage area of ​​the UAV flight path. If the area value corresponding to the target calculation region is not greater than the preset area threshold, then the area of ​​all the planar geometric figures in the target calculation sub-region is determined based on the quantity and the area size of the graphic components, and the area is determined as the effective coverage area of ​​the UAV flight path.

2. The method for detecting the effective coverage area of ​​a UAV flight path according to claim 1, characterized in that, The process of receiving waypoint information for all waypoints along the UAV flight path in chronological order via a data access interface, and determining the flight path coverage area based on the waypoint information, includes: In chronological order, the waypoint information of all waypoints in the UAV flight path is received through the data access interface; wherein, the waypoint information includes latitude and longitude, altitude and downward coverage angle; The latitude and longitude are converted into coordinate values ​​in the Earth's plane coordinate system, and the flight path coverage area corresponding to the UAV flight path is determined according to the coordinate values, the corresponding altitude, and the downward coverage angle in chronological order.

3. The method for detecting the effective coverage area of ​​a UAV flight path according to claim 2, characterized in that, The process of converting the latitude and longitude into coordinate values ​​in the Earth's plane coordinate system includes: The latitude and longitude are converted into coordinate values ​​in the Earth's plane coordinate system based on map projection transformation and the Lambert projection formula.

4. The method for detecting the effective coverage area of ​​a UAV flight path according to claim 1, characterized in that, Before counting the number of graphic components in all the plane geometric figures, the method further includes: According to the preset graphic segmentation rules, each target calculation sub-region is divided into a number of graphic components; wherein the size of each graphic component is a preset fixed size.

5. The method for detecting the effective coverage area of ​​a UAV flight path according to any one of claims 1, characterized in that, The counting of the number of graphic components in all the plane geometric figures includes: Determine the graphic components contained in all the plane geometric figures, and mark the determined graphic components to obtain the marked graphic components; The number of the marked graphic components is counted, and the number of the marked graphic components is determined as the number of graphic components contained in all the planar geometric figures.

6. A device for detecting the effective coverage area of ​​a UAV flight path, characterized in that, include: The information receiving module is used to receive waypoint information of all waypoints in the UAV route through the data access interface in chronological order, and to determine the route coverage area corresponding to the UAV route based on the waypoint information. The quantity statistics module is used to abstract the coverage area of ​​the flight route into several planar geometric figures, and to count the number of graphic components in all the planar geometric figures; wherein, the planar geometric figures are composed of a number of graphic components. An area determination module is used to determine the area of ​​all the planar geometric figures based on the quantity and the preset size of the graphic components, so as to obtain the effective coverage area of ​​the UAV flight path; Specifically, the quantity statistics module is used to abstract the route coverage area into several planar geometric figures and determine a pre-set target calculation area that includes the abstracted route coverage area. If the area value corresponding to the target calculation region is greater than the preset area threshold, the target calculation region is divided into regions based on the preset area threshold to obtain a number of target calculation sub-regions. Then, the number of graphic components in all the planar geometric figures in each target calculation sub-region is counted. If the area value corresponding to the target calculation region is not greater than the preset area threshold, then the target calculation region is determined as the target calculation sub-region, and then the number of graphic components in all the planar geometric figures in the target calculation sub-region is counted. Accordingly, the area determination module is specifically used to determine the area of ​​all planar geometric figures in each target calculation sub-region based on the number of graphic elements in all planar geometric figures in each target calculation sub-region and the preset size of the graphic elements if the area value corresponding to the target calculation region is greater than the preset area threshold, and to accumulate the areas to obtain the effective coverage area of ​​the UAV flight path. If the area value corresponding to the target calculation region is not greater than the preset area threshold, then the area of ​​all the planar geometric figures in the target calculation sub-region is determined based on the quantity and the area size of the graphic components, and the area is determined as the effective coverage area of ​​the UAV flight path.

7. An electronic device, characterized in that, It includes a processor and a memory; wherein, when the processor executes a computer program stored in the memory, it implements the method for detecting the effective coverage area of ​​a UAV flight path as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, Used to store computer programs; wherein, when the computer programs are executed by a processor, they implement the method for detecting the effective coverage area of ​​a UAV flight path as described in any one of claims 1 to 5.

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