A threat area avoidance route automatic planning method of a UAV

Abstract

This invention relates to an automatic threat zone avoidance route planning method for unmanned aerial vehicles (UAVs), belonging to the field of UAV technology. The method includes: acquiring the UAV's current waypoint and final waypoint; determining the start and end points of the avoidance route planning based on the current and final waypoints; constructing an intermediate region based on the start and end points of the avoidance route planning; dividing the intermediate region into multiple grids; determining the state of the grids and the threat zone by judging the distance between the grids and the center of the threat zone; determining the upper and lower boundary grids closest to the threat zone in each column within the grid region and the center point of those upper and lower boundary grids based on the state; connecting the center points of the upper and lower boundary grids to form two connected paths; optimizing the connected paths and selecting the shortest one as the optimal planned route. This invention improves the UAV's ability to avoid temporary threats and enhances the UAV's flight safety.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, specifically to an automatic route planning method for threatening area avoidance, which is mainly applied to the automatic avoidance of threatening areas during UAV flight. Background Technology

[0002] Unmanned aerial vehicles (UAVs) are widely used in wide-area reconnaissance, electronic warfare, communication relay, early warning and detection, and meteorological observation due to their low cost, long flight time, and strong environmental adaptability. However, UAVs generally have slow flight speeds, poor stealth capabilities, and their radio signals are easily detected. To reduce the probability of detection, UAVs typically fly in a silent mode with a wireless link. Before takeoff, UAVs can avoid pre-detected or known threats (including electromagnetic interference zones) during the initial route planning process. However, for threats that appear temporarily during the flight to the mission area, the ground control station informs the UAV by briefly activating the uplink remote control link. The UAV then makes its own decision and avoids these threats through dynamic route planning, thus preventing the downlink wireless link from activating and exposing itself.

[0003] Currently, the commonly used drone threat avoidance method in engineering is to keep drones away from threat areas as much as possible, and to use ground-based manual planning. This requires both uplink and downlink to be activated. This not only results in long flight distances and high fuel consumption, affecting the execution time of subsequent tasks, but also makes it easy to expose the target and affect flight safety. Summary of the Invention

[0004] The technical problem to be solved by this invention is:

[0005] To overcome the shortcomings of existing technologies, this invention provides an automatic route planning method for threat zone avoidance of unmanned aerial vehicles (UAVs), which improves the ability of UAVs to avoid temporary threats and enhances the flight safety of UAVs.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0007] An automatic route planning method for threat zone avoidance of unmanned aerial vehicles (UAVs), characterized by comprising:

[0008] When the UAV receives information about a threat zone, it obtains the UAV's current waypoint and final waypoint, and determines the start and end points of the avoidance route planning based on the current waypoint and final waypoint.

[0009] An intermediate region is constructed based on the starting point and ending point of the avoidance route plan. The intermediate region is then divided into multiple grids, which together form a grid region.

[0010] Calculate the distance from the center point of each grid within the grid area to the center of the threat zone, compare the distance with the radius of the threat zone, and determine the status of the center point of each grid relative to the threat zone based on the comparison result;

[0011] Based on the state of the center point of the grid and the threat zone, obtain the upper and lower boundary grids of each column within the grid area that are closest to the threat zone, as well as the center point of the upper and lower boundary grids;

[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] The two connected paths along the upper and lower boundaries are optimized to obtain the optimized upper boundary route and lower boundary route.

[0014] Calculate the lengths of the upper boundary route and the lower boundary route respectively, and select the shorter one as the optimal planned route.

[0015] A further technical solution of the present invention: the step of determining the starting point and ending point of the avoidance route planning based on the current waypoint and the final waypoint includes:

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

[0017] Obtain the last waypoint on the route that has not yet entered the threat zone and the waypoint that follows it; obtain the first waypoint that exits the threat zone and the waypoint that precedes it;

[0018] The starting and ending points of the evasion route planning are determined based on the last waypoint that did not enter the threat zone and its next waypoint, the first waypoint that exited the threat zone and its previous waypoint.

[0019] A further technical solution of the present invention: the step of determining the start and end points of the avoidance route planning based on the last waypoint not entering the threat zone and its subsequent waypoint, the first waypoint exiting the threat zone and its preceding waypoint, includes:

[0020] A virtual waypoint is generated at a distance R′ from the boundary of the threat zone along the flight path, serving as the start and end points of the evasion route. The specific formula is as follows:

[0021]

[0022] Among them, W s ′(X′ s Y s ′), W e ′(X′ e Y e′) represent the starting point and the ending point, respectively, W s (X s Y s W is the last waypoint that has not yet entered the threat zone. s+1 (X s+1 Y s+1 ) for W s (X s Y s The next waypoint, W e (X e Y e W is the first waypoint to exit the threat zone. e-1 (X e-1 Y e-1 ) for W e (X e Y e The next waypoint, R is the radius of the threat zone, and R′ is greater than or equal to twice the turning radius of the UAV.

[0023] A further technical solution of the present invention: the step of constructing an intermediate region based on the starting point and ending point of the avoidance route planning includes:

[0024] The x-coordinates of the starting point and the ending point of the evasion route plan are used as the two endpoints of the x-coordinate range of the intermediate region.

[0025] The vertical coordinate value of the center point of the threat zone is extended upwards and downwards along the vertical coordinate by R+R′, which are the two endpoints of the vertical coordinate range of the intermediate region.

[0026] The central region is formed by drawing two vertical lines from the two endpoints of the horizontal coordinate range and two horizontal lines from the two endpoints of the vertical coordinate range, where the four lines intersect.

[0027] A further technical solution of the present invention: the step of determining the state of the center point and the threat zone of each grid based on the comparison results includes:

[0028] If the distance from the center point of a grid to the center of the threat zone is greater than the radius, then the grid is determined to be outside the threat zone, and the state T of the grid's center point relative to the threat zone is determined. ij =0, otherwise T ij =1, where i and j are the i-th row and j-th column of the grid region, respectively.

[0029] A further technical solution of the present invention: the step of obtaining the upper and lower boundary grids closest to the threat zone in each column within the grid area and the center point of the upper and lower boundary grids based on the state of the center point of the grid and the threat zone includes:

[0030] Column-by-column traversal of grid state T ijFor grids with a value of 0, find the grids whose center points at the upper and lower boundaries of the threat zone of the j-th grid are not within the threat zone, where j ≥ 2; traverse row i starting from 1, when T ij When the value is 1, the previous grid is the upper boundary grid, and the row number is denoted as i. a The grid is denoted as The center point is denoted as When T ij When the value changes from 1 to 0, the grid becomes the lower boundary grid with row number i. b The grid is denoted as The center point is denoted 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 This is the number of the lower boundary grid rows of the second column.

[0032] A further technical solution of the present invention: the step of 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 includes:

[0033] Starting point is W S ′(X′ s Y s The next point on the upper boundary of the route is the upper boundary point of column 2. The two consecutive points of the lower boundary route are the lower boundary points of column 1. and the lower boundary point of column 2

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

[0035] Increment the number of grid columns j, and repeat the above steps until the waypoints for the second-to-last grid column are acquired.

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

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

[0038] A further technical solution of the present invention: 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 includes:

[0039] Traverse the grid waypoints that generate connected paths, starting from column 2. If the number of rows in column i is less than the number of rows in column i-1, compare it with the number of rows in column i+1. If it is less than the number of rows in column i, continue traversing; otherwise, remove the waypoint in column i and directly connect the path in column i-1 to column i+1. Repeat this process recursively. If the number of rows in column i is equal to the number of rows in column i-1, and the number of rows in column i+1 is greater than or less than the number of rows in column i, remove the waypoint in column i and include the waypoints in columns i-1 and i+1 in the path; otherwise, include both in the path. If the number of rows in column i is greater than the number of rows in column i-1, compare it with the number of rows in column i+1. If it is greater than the number of rows in column i, continue traversing; otherwise, remove the waypoint in column i and directly connect the path in column i-1 to column i+1. Repeat this process recursively.

[0040] A computer system is characterized by comprising: 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 cause the one or more processors to implement the method described above.

[0041] The beneficial effects of this invention are as follows:

[0042] This invention provides a method for automatically generating threat zone avoidance routes for unmanned aerial vehicles (UAVs). The method obtains the state 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. Based on the state of the grid and the threat zone, it determines the upper and lower boundary grids closest to the threat zone in each column within the grid area, as well as the center point of these upper and lower boundary grids. Connecting the center points of the upper and lower boundary grids forms two connected paths. These connected paths are optimized, and the shortest path is selected as the optimal planned route. This method eliminates manual ground planning and does not require simultaneous uplink and downlink operation, improving the UAV's ability to avoid temporary threats and enhancing its flight safety. It has the following advantages:

[0043] 1. High safety: The design of this invention can automatically generate a flight path to avoid threat zones, so that the drone does not need to activate the wireless link signal, thus improving the flight safety of the drone in performing missions;

[0044] 2. Good economic efficiency: The design of this invention allows the drone to fly as close as possible to the threat area, and the flight path is relatively short, which reduces flight fuel consumption;

[0045] 3. Strong applicability: The relevant algorithms of this invention can be applied to avoid other types of threat areas, including fan-shaped and polygonal regions. Attached Figure Description

[0046] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

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

[0048] Figure 2 It is the optimized route;

[0049] Figure 3 This is a flowchart of the boundary grid and waypoint selection process;

[0050] Figure 4 This is a flowchart of route optimization processing. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0052] This invention provides an automatic threat zone avoidance route planning method for unmanned aerial vehicles (UAVs), comprising the following steps:

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

[0054] Step 2: During flight, the UAV receives threat zone information uploaded by the ground control center and determines the start and end points of the avoidance route planning based on the current waypoint and the final waypoint. Let the current waypoint be W. m (X m Y m Iterate through the current waypoint to the last waypoint n, compare the distance L from each waypoint to the center of the threat zone with the radius of the threat zone, determine whether each waypoint is within the threat zone, and find the last waypoint W on the route that has not entered the threat zone. s (X s Y s ), then the next waypoint W s+1 (X s+1 Y s+1 ); The first waypoint out of the threat zone, W e (X e Y e ), its previous waypoint W e-1 (X e-1 Y e-1 ).

[0055] On the flight path, generate one virtual waypoint W at a distance of 2km from the boundary of the threat zone (assuming the UAV's turning radius is 1km) as the starting point of the evasion flight path. s ′(X′ s Y s ′) and the endpoint W e ′(X′ e Y e ′).

[0056]

[0057] Step 3: Set the starting point W s ′(X′ s Y s ′) and the endpoint W e ′(X′e Y e The middle region of X′ is divided into grids. The horizontal axis X′ is... s To X′ e Divide the segment into equal parts, each 2km long. If it cannot be divided equally, then X′ e Move to the division point; the vertical axis covers the upper and lower boundaries of the threat area, divided into equal segments of 2km in length, and extended outwards by 2km. The coordinate range of the grid region is then [X′]. s 、X′ e ]、[Y0-R-2、Y0+R+2。

[0058] Based on the starting point W s ′(X′ s Y s ′) and the endpoint W e ′(X′ e Y e The coordinates of (′) are used to obtain the corresponding grid number, denoted as G. 11 and G fN .

[0059] Step 4: Determine whether the center point of each grid is within the threat zone. Iterate through each grid center and compare it with the threat zone range, recording the result as G. ij For a grid in row i and column j (row i has a top edge of 1, column i has a left edge of 1, and the maximum value is N), T ij This refers to the status of the grid center point and the threat zone, with the center point located in threat zone T. ij =1, not in the threat zone T ij =0. The coordinates of the center point of the grid in the i-th row and j-th column.

[0060]

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

[0062]

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

[0064] Step 5: Obtain the grid area closest to the threat zone and its center coordinates. Iterate through the grid state T column by column. ij For a grid with a value of 0, find the grids in column j (j≥2) whose center points at the upper and lower boundaries of the threat zone are not within the threat zone. Iterate through rows i starting from 1. When T... ij When the value is 1, the previous grid is the upper boundary grid, and the row number is denoted as i. aThe grid is denoted as The center point is denoted as When T ij When the value changes from 1 to 0, the grid becomes the lower boundary grid with row number i. b The grid is denoted as The center point is denoted 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 This is the number of the lower boundary grid rows of the second column.

[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 on the upper boundary of the route is the upper boundary point of column 2. The two consecutive points of the lower boundary route are the lower boundary points of column 1. and the lower boundary point of column 2

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

[0069] Increment the number of grid columns j, and repeat step 6 until the waypoints for the second-to-last grid column are obtained.

[0070] For N columns (the last column), the endpoint W e ′(X′e Y e If the row number of the line containing ') is f, and the row number of column i of the upper boundary route N-1 is... a If the value is equal to f, f-1, or f+1, then the destination is the current waypoint. Otherwise, the current waypoint grid is... Then comes the endpoint. The method for selecting waypoints in the last column of the lower boundary is the same as that for the upper boundary.

[0071] Step 7: If a grid cell intersects with the original flight path during the evaluation process, the traversal stops, and the intersection point becomes the last waypoint within the grid area. The boundary grid and waypoint selection process is as follows: Figure 3 As shown.

[0072] Assume the coordinates of the center point of the grid in column m are The coordinates of the center point of the grid in the previous column are The line segment formed by these two points intersects the original flight path (the first waypoint W outside the threat zone). e (X e Y e ), 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 Steps 6 and 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 As shown.

[0077] Step 9: Optimize the route. Traverse the generated grid waypoints, starting from column 2. If the number of rows in column i is less than the number of rows in column i-1, compare it with the number of rows in column i+1. If it is less than the number of rows in column i, continue traversing; otherwise, remove the middle waypoint in column i and directly connect the route in column i-1 to column i+1. Repeat this process recursively. If the number of rows in column i is equal to the number of rows in column i-1, and the number of rows in column i+1 is greater than or less than the number of rows in column i, remove the waypoint in column i and include the waypoints in columns i-1 and i+1 in the route; otherwise, include them in the route. If the number of rows in column i is greater than the number of rows in column i-1, compare it with the number of rows in column i+1. If it is greater than the number of rows in column i, continue traversing; otherwise, remove the middle waypoint in column i and directly connect the route in column i-1 to column i+1. Repeat this process recursively.

[0078] Specifically, starting from the second column, if the number of grid rows i2 in the second column is less than or equal to the number of grid rows i1 in the first column, then compare the number of grid rows i3 and i2 in the third column. If they are less than or equal to i2, continue traversing; otherwise, remove the waypoint in the second column and directly connect the waypoint in the first column to the waypoint in the third column. And so on. When the number of grid rows cannot be continuously less than or equal to the previous grid, remove the waypoint in the middle grid; otherwise, the waypoints that have been traversed before continue to be valid waypoints.

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

[0080] Step 10: Select the optimal route. Calculate the lengths of the two routes at the upper and lower boundaries respectively, and select the shorter one as the optimal planned route.

[0081] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the scope of the technology disclosed in the present invention, and such modifications or substitutions should all be covered within the scope of protection of the present invention.

Claims

1. A method for automatic route planning for threat zone avoidance by unmanned aerial vehicles (UAVs), characterized in that, include: When the UAV receives information about a threat zone, it obtains the UAV's current waypoint and final waypoint, and determines the start and end points of the avoidance route planning based on the current waypoint and final waypoint. An intermediate region is constructed based on the starting point and ending point of the avoidance route plan. The intermediate region is then divided into multiple grids, which together form a grid region. Calculate the distance from the center point of each grid within the grid area to the center of the threat zone, compare the distance with the radius of the threat zone, and determine the status of the center point of each grid relative to the threat zone based on the comparison result; Based on the state of the center point of the grid and the threat zone, obtain the upper and lower boundary grids of each column within the grid area that are closest to the threat zone, as well as the center point of the upper and lower boundary grids; 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; The two connected paths along the upper and lower boundaries are optimized to obtain the optimized upper boundary route and lower boundary route. Calculate the lengths of the upper boundary route and the lower boundary route respectively, and select the shorter one as the optimal planned route.

2. The method for automatic threat zone avoidance route planning for unmanned aerial vehicles (UAVs) according to claim 1, characterized in that, The steps of determining the start and end points of the avoidance route planning based on the current waypoint and the final waypoint include: Traverse from the current waypoint to the last waypoint, compare the distance of each waypoint to the center of the threat zone with the radius of the threat zone, and determine whether each waypoint is within the threat zone; Obtain the last waypoint on the route that has not yet entered the threat zone and the waypoint that follows it; obtain the first waypoint that exits the threat zone and the waypoint that precedes it; The starting and ending points of the evasion route planning are determined based on the last waypoint that did not enter the threat zone and its next waypoint, the first waypoint that exited the threat zone and its previous waypoint.

3. The method for automatic threat zone avoidance route planning for unmanned aerial vehicles (UAVs) according to claim 2, characterized in that, The steps of determining the start and end points of evasion route planning based on the last waypoint not entering the threat zone and its subsequent waypoint, the first waypoint exiting the threat zone and its preceding waypoint, include: A virtual waypoint is generated at a distance R′ from the boundary of the threat zone along the flight path, serving as the start and end points of the evasion route. The specific formula is as follows: Among them, W s ′(X′ s Y s ′), W e ′(X′ e Y e ′) represent the starting point and the ending point, respectively, W s (X s Y s W is the last waypoint that has not yet entered the threat zone. s+1 (X s+1 Y s+1 ) for W s (X s Y s The next waypoint, W e (X e Y e W is the first waypoint to exit the threat zone. e-1 (X e-1 Y e-1 ) for W e (X e Y e The next waypoint, R is the radius of the threat zone, and R′ is greater than or equal to twice the turning radius of the UAV.

4. The method for automatic threat zone avoidance route planning for unmanned aerial vehicles (UAVs) according to claim 3, characterized in that, The step of constructing an intermediate area based on the starting and ending points of the evasion route plan includes: The x-coordinates of the starting point and the ending point of the evasion route plan are used as the two endpoints of the x-coordinate range of the intermediate region. The vertical coordinate value of the center point of the threat zone is extended upwards and downwards along the vertical coordinate by R+R′, which are the two endpoints of the vertical coordinate range of the intermediate region. The central region is formed by drawing two vertical lines from the two endpoints of the horizontal coordinate range and two horizontal lines from the two endpoints of the vertical coordinate range, where the four lines intersect.

5. The method for automatic threat zone avoidance route planning for unmanned aerial vehicles (UAVs) according to claim 1, characterized in that, The step of determining the state of the center point and threat zone of each grid based on the comparison results includes: If the distance from the center point of a grid to the center of the threat zone is greater than the radius, then the grid is determined to be outside the threat zone, and the state T of the grid's center point relative to the threat zone is determined. ij =0, otherwise T ij =1, where i and j are the i-th row and j-th column of the grid region, respectively.

6. The method for automatic threat zone avoidance route planning for unmanned aerial vehicles according to claim 5, characterized in that, The step of obtaining the upper and lower boundary grids closest to the threat zone in each column within the grid area and the center point of those upper and lower boundary grids, based on the state of the center point of the grid and the threat zone, includes: Column-by-column traversal of grid state T ij For grids with a value of 0, find the grids whose center points at the upper and lower boundaries of the threat zone in column j are not within the threat zone, where j ≥ 2; traverse row i starting from 1, when T ij When the value is 1, the previous grid is the upper boundary grid, and the row number is denoted as i. a The grid is denoted as The center point is denoted as When T ij When the value changes from 1 to 0, the grid becomes the lower boundary grid with row number i. b The grid is denoted as The center point is denoted 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 This is the number of the lower boundary grid rows of the second column.

7. The method for automatic threat zone avoidance route planning for unmanned aerial vehicles (UAVs) according to claim 6, characterized in that, The step of 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 includes: Starting point is W S ′(X′ s Y s The next point on the upper boundary of the route is the upper boundary point of column 2. The two consecutive points on the lower boundary route are the lower boundary points of column 1. and the lower boundary point of column 2 When the number of grid columns j = 3, obtain the upper boundary state T. ij =0 grid Current grid row number i′ a Equal to the number of rows i in the first column a i a +1 or i a -1, then the current waypoint grid is Otherwise, when the number of the 3rd column is i′ a Greater than the number of rows in the second column i a At that time, the next waypoint grid is Until the row number equals i′ a -1, and then... When the number of the 3rd column is i′ a Less than the number of rows in the second column i a At that time, the next waypoint grid is Until the row number equals i′ a +1, then... The method for selecting waypoints at the lower boundary is the same as that at the upper boundary; Increment the number of grid columns j, and repeat the above steps until the waypoints for the second-to-last grid column are acquired. For column N, the endpoint W e ′(X′ e Y e If the row number of the line containing ') is f, and the row number of column i of the upper boundary route N-1 is... a If the value is equal to f, f-1, or f+1, then the destination is the current waypoint; otherwise, the current waypoint grid is... Then comes the endpoint; the method for selecting waypoints in the last column of the lower boundary is the same as that for the upper boundary.

8. The method for automatic threat zone avoidance route planning for unmanned aerial vehicles according to claim 7, characterized in that, If a grid cell intersects with the original route during the process of determining each grid cell, the traversal stops, and the intersection point becomes the last waypoint in the grid cell.

9. The method for automatic threat zone avoidance route planning for unmanned aerial vehicles according to claim 8, characterized in that, 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 includes: Traverse the grid waypoints that generate connected paths, starting from column 2. If the number of rows in column i is less than the number of rows in column i-1, compare it with the number of rows in column i+1. If it is less than the number of rows in column i, continue traversing; otherwise, remove the waypoint in column i and directly connect the path in column i-1 to column i+1. Repeat this process recursively. If the number of rows in column i is equal to the number of rows in column i-1, and the number of rows in column i+1 is greater than or less than the number of rows in column i, remove the waypoint in column i and include the waypoints in columns i-1 and i+1 in the path; otherwise, include both in the path. If the number of rows in column i is greater than the number of rows in column i-1, compare it with the number of rows in column i+1. If it is greater than the number of rows in column i, continue traversing; otherwise, remove the waypoint in column i and directly connect the path in column i-1 to column i+1. Repeat this process recursively.

10. A computer system, characterized in that... include: One or more processors, 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 cause the one or more processors to perform the method of any one of claims 1-9.

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