Automatic planning method for avoidance route of threat area of unmanned aerial vehicle

Abstract

The invention relates to an automatic planning method for a threat area avoidance route of an unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicles. Comprising the steps of obtaining a current waypoint and a final waypoint of an unmanned aerial vehicle, determining a starting point and an ending point of avoiding route planning according to the current waypoint and the final waypoint, constructing a middle area according to the starting point and the ending point of avoiding route planning, performing meshing division on the middle area to obtain a plurality of grids, determining the distance between the grids and the center of the threat area to obtain the states of the grids and the threat area, determining the upper and lower boundary grids closest to the threat area in each column in the grid area and the central points of the upper and lower boundary grids through the states, and connecting the central points of the upper and lower boundary grids to form two communicated paths, and optimizing the communication path and selecting the path with the shortest length as the optimal planned path. According to the method, the capability of avoiding temporary threats of the unmanned aerial vehicle is improved, and the flight safety of the unmanned aerial vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to an automatic planning method for evading a threat zone, which is mainly used for automatically avoiding a threat zone during the flight of an unmanned aerial vehicle. Background Art

[0002] Drones have been widely used in wide-area reconnaissance, electronic countermeasures, communication relay, early warning detection, meteorological observation and other fields due to their low cost, long flight time and strong environmental adaptability. However, drones generally have slow flight speeds and poor stealth capabilities, and their radio signals are easily captured. In order to reduce the probability of being discovered, drones generally fly in a silent wireless link mode. Before a drone sets sail, it can avoid threats that are detected or known in advance (including electromagnetic interference areas, etc.) during the initial route planning process. However, for temporary threat sources that appear during the flight to the mission area, the ground control station informs the drone by opening the uplink remote control link for a short period of time. The drone makes its own decisions and avoids them through dynamic route self-planning to avoid being exposed due to the opening of the downlink wireless link.

[0003] At present, the commonly used method to avoid drone threats in engineering is to keep drones flying as far away from threat areas as possible, and adopt ground manual planning, which requires the uplink and downlink to be turned on at the same time. This not only results in long flight distances and high fuel consumption, affecting the execution time of subsequent tasks, but also easily exposes the target and affects flight safety. Summary of the invention

[0004] The technical problems to be solved by the present invention are:

[0005] In order to avoid the shortcomings of the prior art, the present invention provides a method for automatically planning a threat zone avoidance route for an unmanned aerial vehicle, which is used to improve the ability of the unmanned aerial vehicle to avoid temporary threats and enhance the flight safety of the unmanned aerial vehicle.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0007] A method for automatically planning a route to avoid a threat zone of an unmanned aerial vehicle, comprising:

[0008] When the UAV receives information about the threat zone, the current waypoint and the final waypoint of the UAV are obtained, and the starting point and the end point of the avoidance route planning are determined according to the current waypoint and the final waypoint;

[0009] Constructing an intermediate area according to the starting point and the end point of the avoidance route planning, and gridding the intermediate area to obtain a plurality of grids, wherein the plurality of grids form a grid area;

[0010] Calculating the distance between the center point of each grid in the grid area and the center of the threat area, comparing the distance with the radius of the threat area, and determining the state of the center point of each grid and the threat area according to the comparison result;

[0011] According to the state of the center point of the grid and the threat area, the upper and lower boundary grids closest to the threat area in each column in the grid area and the center points of the upper and lower boundary grids are obtained;

[0012] Connect the center points of adjacent upper boundary grids and the center points of adjacent lower boundary grids respectively to form two connected paths along the upper and lower boundaries;

[0013] Optimizing the two connected paths along the upper and lower boundaries to obtain an optimized upper boundary route and a lower boundary route;

[0014] The lengths of the upper boundary route and the lower boundary route are calculated respectively, and the shorter one is selected as the optimal planned route.

[0015] A further technical solution of the present invention is as follows: the step of determining the starting point and the end point of the avoidance route planning according to the current waypoint and the final waypoint comprises:

[0016] Traverse the current waypoint to the last waypoint, compare the distance from each waypoint to the center point of the threat area and the radius of the threat area, and determine whether each waypoint is within the threat area;

[0017] Get the last waypoint on the route that does not enter the threat area and the next waypoint; get the first waypoint out of the threat area and the previous waypoint;

[0018] The starting point and the end point of the avoidance route planning are determined according to the last waypoint that does not enter the threat area and the next waypoint, the first waypoint that exits the threat area and the previous waypoint.

[0019] A further technical solution of the present invention is: the step of determining the starting point and the end point of the avoidance route planning according to the last waypoint that does not enter the threat area and the next waypoint, the first waypoint that exits the threat area and the previous waypoint, includes:

[0020] A virtual waypoint is generated at the distance R′ from the boundary of the threat area on the route as the starting point and end point of the avoidance route. The specific formula is as follows:

[0021]

[0022] Among them, W s ′(X′ s , Y s ′), W e ′(X′ e , Y e′) are the starting point and the end point respectively, W s (X s , Y s ) is the last waypoint that does not enter the threat area, W s+1 (X s+1 , Y s+1 ) is W s (X s , Y s ) next waypoint, W e (X e , Y e ) is the first waypoint out of the threat area, W e-1 (X e-1 , Y e-1 ) is W e (X e , Y e ) is the next waypoint, R is the radius of the threat zone, and R′ is greater than or equal to 2 times the turning radius of the drone.

[0023] A further technical solution of the present invention is as follows: the step of constructing an intermediate area according to the starting point and the end point of the avoidance route planning comprises:

[0024] The abscissa value of the starting point of the avoidance route planning and the abscissa value of the end point of the avoidance route planning are used as two end points of the abscissa range of the middle area;

[0025] The ordinate value of the center point of the threat zone is extended upward and downward along the ordinate by R+R′ as the two end points of the ordinate range of the middle area;

[0026] Draw two vertical lines at the two end points of the horizontal axis range, draw two horizontal lines at the two end points of the vertical axis range, and the figure formed by the intersection of the four lines is the middle area.

[0027] A further technical solution of the present invention is: the step of determining the state of the center point of each grid and the threat area according to the comparison result includes:

[0028] When the distance from the center point of the grid to the center of the threat zone is greater than the radius, it is determined that the grid is not in the threat zone, and the state T of the center point of the grid and the threat zone is ij =0, otherwise T ij =1, where i and j are the i-th row and j-th column of the grid area respectively.

[0029] A further technical solution of the present invention is: according to the state of the center point of the grid and the threat area, the step of obtaining the upper and lower boundary grids closest to the threat area in each column of the grid area and the center point of the upper and lower boundary grids comprises:

[0030] Traverse the grid state T column by column ij= 0, find the grid where the jth column grid has two center points at the upper and lower boundaries of the threat area that are not in the threat area, j ≥ 2; the row number i starts from 1 and is traversed when T ij = 1, the previous grid is the upper boundary grid, and the row number is recorded as i a , the grid is recorded as The center point is recorded as When T ij When it changes from 1 to 0, the grid is the lower boundary grid, and the number of rows is i b , the grid is recorded as The center point is recorded as

[0031] The upper boundary of column 1 is W s ′(X′ s , Y s ′), the number of grid rows at the lower boundary is i b -1,i b The number of grid rows for the bottom border of column 2.

[0032] A further technical solution of the present invention is: the steps of respectively connecting the center points of adjacent upper boundary grids and connecting the center points of adjacent lower boundary grids to form two connected paths along the upper and lower boundaries include:

[0033] Starting point is W S ′(X′ s , Y s ''), the next point of the upper boundary route is the upper boundary point of the second column The two consecutive points of the lower boundary route are the lower boundary points of the first column and the lower boundary point of column 2

[0034] When the number of grid columns j = 3, the upper boundary state T is obtained. ij =0 grid Current grid row number i′ a Equal to the number of rows in the first column i a 、i a +1 or i a -1, the current waypoint grid is Otherwise, when the 3rd column and row number i′ a Greater than the row number i in column 2 a When the next waypoint grid is Until the number of rows equals i′ a -1, then When the third column row number i′ a Less than the row number i in column 2 a When the next waypoint grid is Until the number of rows equals i′ a +1, then The method for selecting the waypoints for the lower boundary is the same as that for the upper boundary;

[0035] The number of grid columns is j++, and the above steps are repeated until the waypoints of the second-to-last grid column are acquired;

[0036] For N columns, the end point W e ′(X′ e , Y e ′) is in the row number f, if the row number i of the upper boundary route N-1 column a If equal to f, f-1 or f+1, the destination is the current waypoint; otherwise, the current waypoint grid is Then comes the end point; the method for selecting the waypoints in the last column of the lower boundary is the same as that of the upper boundary.

[0037] A further technical solution of the present invention is as follows: if an intersection occurs with the original route during the judgment process of each column of grids, the traversal is stopped and the intersection point is used as the last waypoint in the grid area.

[0038] A further technical solution of the present invention is: the step of optimizing the two connected paths along the upper and lower boundaries to obtain the optimized upper boundary route and lower boundary route comprises:

[0039] Traverse the grid waypoints that generate the connected path, starting from the 2nd column. If the number of grid rows in the i-th column is less than the number of grid rows in the i-1th column, compare it with the number of grid rows in the i+1th column. If it is less than the number of rows in the i-th column, continue traversing, otherwise remove the middle waypoints in the i-th column and directly connect the route in the i-1th column to the i+1th column, and so on for recursive judgment; if the number of rows in the i-th column is equal to the i-1th column, and the number of rows in the i+1th column is greater than or less than the number of rows in the i-th column, then remove the waypoints in the i-th column, and count the waypoints in the i-1st and i+1st columns into the route, otherwise both are counted into the route; if the number of grid rows in the i-th column is greater than the number of grid rows in the i-1th column, compare it with the number of grid rows in the i+1th column. If it is greater than the number of rows in the i-th column, continue traversing, otherwise remove the middle waypoints in the i-th column and directly connect the route in the i-1st column to the i+1th column, and so on for recursive judgment.

[0040] A computer system, characterized in that it comprises: one or more processors, and a computer-readable storage medium for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the above-mentioned method.

[0041] The beneficial effects of the present invention are:

[0042] The present invention provides a method for automatically generating a threat zone avoidance route for a drone. The method obtains the status of the grid and the threat zone by dividing the grid and determining the distance between the grid and the center of the threat zone. The upper and lower boundary grids closest to the threat zone in each column in the grid area and the center points of the upper and lower boundary grids are determined by the status of the grid and the threat zone. The center points of the upper and lower boundary grids are connected to form two connected paths. The connected paths are optimized and the one with the shortest length is selected as the optimal planned route. The method of the present invention is independent of manual planning on the ground, and does not require the uplink and downlink to be turned on at the same time, thereby improving the drone's ability to avoid temporary threats and the drone's flight safety. It has the following advantages:

[0043] 1. High safety: The design of the present invention can automatically generate a flight route to avoid the threat area, so that the UAV does not need to turn on the wireless link signal, thereby improving the flight safety of the UAV in performing tasks;

[0044] 2. Good economy: The design of the present invention enables the UAV to fly as close to the threat area as possible, and the route is relatively short, which reduces the flight fuel consumption;

[0045] 3. Strong applicability: The relevant algorithms of the present invention can be applied to avoidance of other types of threat areas, including fan-shaped, polygonal areas, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The drawings are only for the purpose of illustrating particular embodiments and are not to be considered limiting of the present invention. Like reference symbols denote like components throughout the drawings.

[0047] Figure 1 is the route connecting the center points of the boundary grid;

[0048] Figure 2 It is the route after optimization;

[0049] Figure 3 It is the boundary grid and waypoint selection flow chart;

[0050] Figure 4 It is a flow chart of route optimization processing. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0052] An embodiment of the present invention provides a method for automatically planning a threat zone avoidance route for an unmanned aerial vehicle, comprising the following steps:

[0053] Step 1: Assume that there is only one threat zone, which is a circular area with the longitude and latitude coordinates of the center (L0, B0) and the radius R of 30km. The current longitude and latitude coordinates of the drone (L t , B t ); Assume that there are n waypoints in the plan, numbered from 1 to n in sequence, with coordinates (L n , B n ); through Gauss-Krüger coordinate transformation, the longitude and latitude coordinates are converted into rectangular coordinates (X0, Y0), (X t , Y t )、(X n , Y n ).

[0054] Step 2: During the flight, the drone receives threat zone information uploaded by the ground control center and determines the starting and ending points of the avoidance route planning based on the current waypoint and the final waypoint. The current waypoint is W. m (X m , Y m ), traverse the current waypoint to the last waypoint n, compare the distance L from each waypoint to the center of the threat area and the radius of the threat area, determine whether each waypoint is in the threat area, and find the last waypoint W on the route that does not enter the threat area s (X s , Y s ), followed by a waypoint W s+1 (X s+1 , Y s+1 );The first waypoint out of the threat area W e (X e , Y e ), its previous waypoint W e-1 (X e-1 , Y e-1 ).

[0055] On the route, a virtual waypoint is generated at 2 km away from the boundary of the threat zone (assuming the turning radius of the drone is 1 km) as the starting point of the avoidance route W. s ′(X′ s , Y s ′) and the end point W e ′(X′ e , Y e ′).

[0056]

[0057] Step 3: Set the starting point W s ′(X′ s , Y s ′) and the end point W e ′(X′e , Y e ′) is meshed. s to X′ e Divide it into equal parts according to the length of each 2km. If it cannot be divided equally, then X′ e Move back to the equal division point; the vertical axis covers the upper and lower boundaries of the threat area, divided equally into sections of 2 km in length, and expanded outward by 2 km. The coordinate range of the grid area is [X′ s , X′ e ], [Y0-R-2, Y0+R+2].

[0058] According to the starting point W s ′(X′ s , Y s ′) and the end point W e ′(X′ e , Y e ′), and obtain the corresponding grid number, which is recorded as G 11 and G fN .

[0059] Step 4: Determine whether the center point of each grid is within the threat area, traverse each grid center and the threat area range for comparison, record G ij is the grid of row i and column j (the top of row i is 1, the left of column i is 1, and the maximum value is N), T ij is the grid center point and threat zone status, the center point is in the threat zone T ij =1, not in threat zone T ij = 0. The coordinates of the center point of the grid in row i and column j

[0060]

[0061] Compare the distance between the center point of the grid and the center of the threat area with the radius of the threat area to obtain T ij value:

[0062]

[0063] If L>R, then T ij =0, otherwise T ij =1.

[0064] Step 5: Get the grid area and center coordinates closest to the threat area. Traverse the grid state T column by column ij = 0, find the grid where the two center points of the upper and lower boundaries of the threat zone of the grid in the jth column (j ≥ 2) are not in the threat zone, and the row number i starts from 1. When T ij = 1, the previous grid is the upper boundary grid, and the row number is recorded as i a, the grid is recorded as The center point is recorded as When T ij When it changes from 1 to 0, the grid is the lower boundary grid, and the number of rows is i b , the grid is recorded as The center point is recorded as

[0065] The upper boundary of column 1 is W s ′(X′ s , Y s ′), the number of grid rows at the lower boundary is i b -1,i b The number of grid rows for the bottom border of column 2.

[0066] Step 6: Connect the center points of adjacent grid areas to form two connected paths along the upper and lower boundaries.

[0067] Starting point is W S ′(X′ s , Y s ''), the next point of the upper boundary route is the upper boundary point of the second column The two consecutive points of the lower boundary route are the lower boundary points of the first column and the lower boundary point of column 2

[0068] When the number of grid columns j = 3, the upper boundary state T is obtained. ij =0 grid Current grid row number i′ a Equal to the number of rows in the first column i a 、i a +1 or i a -1, the current waypoint grid is Otherwise, when the 3rd column and row number i′ a Greater than the row number i in column 2 a When the next waypoint grid is Until the number of rows equals i′ a -1, then When the third column row number i′ a Less than the row number i in column 2 a When the next waypoint grid is Until the number of rows equals i′ a +1, then The method for selecting the lower boundary waypoint is the same as that for the upper boundary.

[0069] Grid column number j++, repeat step 6 until the waypoints of the second to last grid column are acquired.

[0070] For N columns (the last column), the end point W e ′(X′e , Y e ′) is in the row number f, if the row number i of the upper boundary route N-1 column a If equal to f, f-1 or f+1, the destination is the current waypoint. Otherwise, the current waypoint grid is Then the end point. The waypoint selection method for the last column of the lower boundary is the same as that for the upper boundary.

[0071] Step 7: If each column of grids intersects with the original route during the judgment process, the traversal is stopped and the intersection point is used as the last waypoint in the grid area. The boundary grid and waypoint selection process is as follows Figure 3 shown.

[0072] Assume that the coordinates of the center point of the grid in the mth column are The coordinates of the center point of the grid in the previous column are The line segment formed by these two points is consistent with the original route (the first waypoint out of the threat area W e (X e , Y e ), the previous waypoint W e-1 (X e-1 , Y e-1 ))Intersection point calculation:

[0073]

[0074] The coordinates of the intersection point are:

[0075]

[0076] Step 8: Connect the grid center points obtained in step 6 and step 7 to form two planned routes in different directions. Connect all generated grid center points or intersection points with straight lines to form a preliminary planned route, such as Figure 1 shown.

[0077] Step 9: Optimize the route. Traverse the generated grid waypoints, starting from the 2nd column. If the number of grid rows in the i-th column is less than the number of grid rows in the i-1th column, compare it with the number of grid rows in the i+1th column. If it is less than the number of rows in the i-th column, continue traversing. Otherwise, remove the middle waypoints in the i-th column and directly connect the route in the i-1th column to the i+1th column. Repeat this process for recursive judgment. If the number of rows in the i-th column is equal to the number of rows in the i-1th column, and the number of rows in the i+1th column is greater than or less than the number of rows in the i-th column, remove the waypoints in the i-th column and count the waypoints in the i-1th and i+1th columns into the route. Otherwise, both are counted into the route. If the number of grid rows in the i-th column is greater than the number of grid rows in the i-1th column, compare it with the number of grid rows in the i+1th column. If it is greater than the number of rows in the i-th column, continue traversing. Otherwise, remove the middle waypoints in the i-th column and directly connect the route in the i-1th column to the i+1th column. Repeat this process for recursive judgment.

[0078] Specifically, starting from the 2nd column, if the number of grid rows in the 2nd column, i2, is less than or equal to the number of grid rows in the 1st column, i1, then compare the number of grid rows in the 3rd column, i3, and i2. If it is less than or equal to i2, continue traversing. Otherwise, remove the middle waypoint in the 2nd column and directly connect the route in the 1st column to the 3rd column. And so on. When the number of grid rows cannot be continuously less than or equal to the previous grid, remove the middle grid waypoint. Otherwise, the previously traversed waypoints continue to be valid waypoints.

[0079] Route optimization process Figure 4 , the optimized route is as follows Figure 2 .

[0080] Step 10: Select the best route, calculate the lengths of the upper boundary and lower boundary routes respectively, and select the shorter one as the optimal planned route.

[0081] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should be included in the protection scope of the present invention.

Claims

1. A method for automatically planning a route to avoid a threat zone for a UAV. It is characterized in that include: When the UAV receives information about the threat zone, the current waypoint and the final waypoint of the UAV are obtained, and the starting point and the end point of the avoidance route planning are determined according to the current waypoint and the final waypoint; Constructing an intermediate area according to the starting point and the end point of the avoidance route planning, and gridding the intermediate area to obtain a plurality of grids, wherein the plurality of grids form a grid area; Calculating the distance between the center point of each grid in the grid area and the center of the threat area, comparing the distance with the radius of the threat area, and determining the state of the center point of each grid and the threat area according to the comparison result; According to the state of the center point of the grid and the threat area, the upper and lower boundary grids closest to the threat area in each column in the grid area and the center points of the upper and lower boundary grids are obtained; Connect the center points of adjacent upper boundary grids and the center points of adjacent lower boundary grids respectively to form two connected paths along the upper and lower boundaries; Optimizing the two connected paths along the upper and lower boundaries to obtain an optimized upper boundary route and a lower boundary route; The lengths of the upper boundary route and the lower boundary route are calculated respectively, and the shorter one is selected as the optimal planned route.

2. According to claim 1, a method for automatically planning a route to avoid a threat zone for an unmanned aerial vehicle, It is characterized in that The step of determining the starting point and the end point of the avoidance route planning according to the current waypoint and the final waypoint includes: Traverse the current waypoint to the last waypoint, compare the distance from each waypoint to the center point of the threat area and the radius of the threat area, and determine whether each waypoint is within the threat area; Get the last waypoint on the route that does not enter the threat area and the next waypoint; get the first waypoint out of the threat area and the previous waypoint; The starting point and the end point of the avoidance route planning are determined according to the last waypoint that does not enter the threat area and the next waypoint, the first waypoint that exits the threat area and the previous waypoint.

3. According to claim 2, a method for automatically planning a route to avoid a threat zone for an unmanned aerial vehicle, It is characterized in that The step of determining the starting point and the end point of the avoidance route planning according to the last waypoint that does not enter the threat area and the next waypoint, the first waypoint that exits the threat area and the previous waypoint, includes: A virtual waypoint is generated at the distance R′ from the boundary of the threat area on the route as the starting point and end point of the avoidance route. The specific formula is as follows: Among them, W s ′(X′ s , Y s ′), W e ′(X′ e , Y e ′) are the starting point and the end point respectively, W s (X s , Y s ) is the last waypoint that does not enter the threat area, W s+1 (X s+1 , Y s+1 ) is W s (X s , Y s ) next waypoint, W e (X e , Y e ) is the first waypoint out of the threat area, W e-1 (X e-1 , Y e-1 ) is W e (X e , Y e ) is the next waypoint, R is the radius of the threat zone, and R′ is greater than or equal to 2 times the turning radius of the drone.

4. According to claim 3, a method for automatically planning a route to avoid a threat zone for an unmanned aerial vehicle, It is characterized in that The step of constructing an intermediate area according to the starting point and the end point of the avoidance route planning includes: The abscissa value of the starting point of the avoidance route planning and the abscissa value of the end point of the avoidance route planning are used as two end points of the abscissa range of the middle area; The ordinate value of the center point of the threat zone is extended upward and downward along the ordinate by R+R′ as the two end points of the ordinate range of the middle area; Draw two vertical lines at the two end points of the horizontal axis range, draw two horizontal lines at the two end points of the vertical axis range, and the figure formed by the intersection of the four lines is the middle area.

5. According to claim 1, a method for automatically planning a route to avoid a threat zone for an unmanned aerial vehicle, It is characterized in that The step of determining the state of the center point of each grid and the threat zone according to the comparison result includes: When the distance from the center point of the grid to the center of the threat zone is greater than the radius, it is determined that the grid is not in the threat zone, and the state T of the center point of the grid and the threat zone is ij =0, otherwise T ij =1, where i and j are the i-th row and j-th column of the grid area respectively.

6. According to claim 5, a method for automatically planning a route to avoid a threat zone for an unmanned aerial vehicle, It is characterized in that The step of obtaining the upper and lower boundary grids closest to the threat area in each column in the grid area and the center points of the upper and lower boundary grids according to the state of the center point of the grid and the threat area includes: Traverse the grid state T column by column ij = 0, find the grid where the jth column grid has two center points at the upper and lower boundaries of the threat area that are not in the threat area, j ≥ 2; the row number i starts from 1 and is traversed when T ij = 1, the previous grid is the upper boundary grid, and the row number is recorded as i a , the grid is recorded as The center point is recorded as When T ij When it changes from 1 to 0, the grid is the lower boundary grid, and the number of rows is i b , the grid is recorded as The center point is recorded as The upper boundary of column 1 is W s ′(X′ s , Y s ′), the number of grid rows at the lower boundary is i b -1,i b The number of grid rows for the bottom border of column 2.

7. According to claim 6, a method for automatically planning a route to avoid a threat zone for an unmanned aerial vehicle, It is characterized in that The step of connecting the center points of adjacent upper boundary grids and the center points of adjacent lower boundary grids to form two connected paths along the upper and lower boundaries includes: Starting point is W S ′(X′ s , Y s ''), the next point of the upper boundary route is the upper boundary point of the second column The two consecutive points of the lower boundary route are the lower boundary points of the first column and the lower boundary point of column 2 When the number of grid columns j = 3, the upper boundary state T is obtained. ij =0 grid Current grid row number i′ a Equal to the number of rows in the first column i a 、i a +1 or i a -1, the current waypoint grid is Otherwise, when the 3rd column and row number i′ a Greater than the row number i in column 2 a When the next waypoint grid is Until the number of rows equals i′ a -1, then When the third column row number i′ a Less than the row number i in column 2 a When the next waypoint grid is Until the number of rows equals i′ a +1, then The method for selecting the waypoints for the lower boundary is the same as that for the upper boundary; The number of grid columns is j++, and the above steps are repeated until the waypoints of the second-to-last grid column are acquired; For N columns, the end point W e ′(X′ e , Y e ′) is in the row number f, if the row number i of the upper boundary route N-1 column a If equal to f, f-1 or f+1, the destination is the current waypoint; otherwise, the current waypoint grid is Then comes the end point; the method for selecting the waypoints in the last column of the lower boundary is the same as that of the upper boundary.

8. According to claim 7, a method for automatically planning a route to avoid a threat zone for an unmanned aerial vehicle, It is characterized in that If there is an intersection with the original route during the judgment process of each column of grids, the traversal is stopped and the intersection point is taken as the last waypoint in the grid area.

9. According to claim 8, a method for automatically planning a route to avoid a threat zone for an unmanned aerial vehicle, It is characterized in that The step of optimizing the two connected paths along the upper and lower boundaries to obtain an optimized upper boundary route and a lower boundary route comprises: Traverse the grid waypoints that generate the connected path, starting from the 2nd column. If the number of grid rows in the i-th column is less than the number of grid rows in the i-1th column, compare it with the number of grid rows in the i+1th column. If it is less than the number of rows in the i-th column, continue traversing, otherwise remove the middle waypoints in the i-th column and directly connect the route in the i-1th column to the i+1th column, and so on for recursive judgment; if the number of rows in the i-th column is equal to the i-1th column, and the number of rows in the i+1th column is greater than or less than the number of rows in the i-th column, then remove the waypoints in the i-th column, and count the waypoints in the i-1st and i+1st columns into the route, otherwise both are counted into the route; if the number of grid rows in the i-th column is greater than the number of grid rows in the i-1th column, compare it with the number of grid rows in the i+1th column. If it is greater than the number of rows in the i-th column, continue traversing, otherwise remove the middle waypoints in the i-th column and directly connect the route in the i-1st column to the i+1th column, and so on for recursive judgment.

10. A computer system, Features include: One or more processors, and a computer-readable storage medium for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 9.

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