Unmanned aerial vehicle flight route planning method and device based on airspace grid cost value and medium

Abstract

The invention provides an unmanned aerial vehicle flight route planning method and device based on an airspace grid cost value, and a medium. The method comprises the steps of obtaining a starting grid coordinate of a starting grid of a target unmanned aerial vehicle and a target grid coordinate of a target grid; determining a plurality of initial flight routes from the starting grid to the target grid according to the starting grid coordinate and the target grid coordinate; determining the cost value of each target grid on each initial flight route according to the starting grid coordinate, the target grid coordinate and each corresponding grid coordinate on each initial flight route; determining a total cost value corresponding to each initial flight route according to the cost values of the plurality of target grids on each initial flight route; according to the method, the target flight route is determined from the plurality of initial flight routes according to the total cost value corresponding to each initial flight route, and the cost value of each initial flight route is calculated, so that the cost value of the finally determined target flight route is lowest, and the safety is improved.

Description

Background Art

[0002] With the vigorous development of the drone industry, the number of drone flights has continued to increase. Most drones operate at low altitudes, and the density of low-altitude flights is increasing. As a result, low-altitude safety issues continue to become more prominent. Therefore, it is necessary to plan drone flight routes more scientifically and reasonably to improve the safety level of low-altitude operations.

[0003] Traditional flight route planning methods, such as the A* algorithm, are based on heuristic search algorithms and are suitable for quickly searching for the shortest flight route. When a drone flies in an airspace, the total flight distance of the drone and the safety of the airspace in which it flies are more important. Therefore, it is necessary to comprehensively consider the cost value of the entire flight route. The traditional flight route planning method only performs local processing on the cost values ​​of the map grid corresponding to each airspace and other map grids adjacent to the map grid, which will result in the flight route of the drone being unable to have both the characteristics of high safety and short total flight distance. Therefore, the traditional flight route planning algorithm cannot meet the requirements of total flight distance length and flight airspace safety. Summary of the invention

[0004] In view of the above technical problems, the technical solution adopted by the present invention is:

[0005] According to one aspect of the present application, a method for UAV flight route planning based on airspace grid cost value is provided, which is applied to a flight route planning system, wherein the flight route planning system includes a target grid map corresponding to the target space, the target grid map includes a plurality of target grids, the target grid map corresponds to a grid coordinate system, and each target grid corresponds to a grid coordinate in the grid coordinate system;

[0006] The method for planning the flight route of a UAV based on the airspace grid cost value comprises the following steps:

[0007] Step S100, in response to receiving a flight route planning request of a target UAV, obtaining a starting grid coordinate of a starting grid and a destination grid coordinate of a destination grid included in the flight route planning request; the starting grid is a target grid of a starting position point of the target UAV in a target grid map; the destination grid is a target grid of a destination position point of the target UAV in a target grid map;

[0008] Step S200, determining a number of initial flight routes from the starting grid to the destination grid according to the starting grid coordinates and the destination grid coordinates;

[0009] Step S300, determining the cost value of each target grid on each initial flight route according to the starting grid coordinates, the destination grid coordinates and each corresponding grid coordinate on each initial flight route;

[0010] Step S400, determining a total cost value corresponding to each initial flight route according to the cost values ​​of a plurality of target grids on each initial flight route;

[0011] Step S500: determining a target flight route from a number of initial flight routes according to a total cost value corresponding to each initial flight route.

[0012] In an exemplary embodiment of the present application, step S200 includes:

[0013] Step S210: The grid coordinates are (x a ,y a )、(x a ,y b )、(x b ,y a ) and (x b ,y b ) is determined as the target flight area; where x a is the horizontal coordinate of the starting grid coordinate; y a is the ordinate of the starting grid coordinate; x b is the horizontal coordinate of the target grid coordinate; y b is the ordinate of the destination grid coordinate;

[0014] Step S220 , according to a preset flight route planning algorithm, starting from the starting grid, traversing each target grid in the target flight area, and ending at the destination grid, to determine a number of initial flight routes.

[0015] In an exemplary embodiment of the present application, step S300 includes:

[0016] Step S310, determining the cumulative cost value from the starting grid to the target grid and the key cost value from the target grid to the target grid according to the starting grid coordinates, the target grid coordinates and each corresponding grid coordinate on each initial flight route;

[0017] Step S320, determining the cumulative cost coefficient and the critical cost coefficient corresponding to any target grid according to the cumulative cost value and the critical cost value corresponding to the target grid;

[0018] Step S330: Determine the target cost value of any target grid according to the cumulative cost value, the critical cost value, the cumulative cost coefficient and the critical cost coefficient corresponding to the target grid.

[0019] In an exemplary embodiment of the present application, step S310 includes:

[0020] Step S311: Obtain the grid coordinates corresponding to a number of target grids between the starting grid and the destination grid on each initial flight route, and obtain the initial flight route coordinate list set E = (E1, E2, ..., E i ,...,E n ), where i = 1, 2, ..., n, and n is the number of initial flight routes; E i is the initial flight route coordinate list corresponding to the i-th initial flight route;

[0021] E i =(E i1 ,E i2 ,...,E ig ,...,E if(i) ), g = 1, 2, ..., f(i), f(i) is the number of target grids between the starting grid and the destination grid on the i-th initial flight route; E ig is the grid coordinate corresponding to the gth target grid between the starting grid and the destination grid on the i-th initial flight route;

[0022] E ig =(E ig1 ,E ig2 );E ig1 For E ig The horizontal axis of E ig2 For E ig The vertical coordinate of

[0023] Step S312: determine the number of cells along the i-th initial flight route from the starting grid to E ig The corresponding cumulative cost value H at the target grid ig =|E ig1 -x a |+|E ig2 -y a |;

[0024] Step S313: Determine the route along the i-th initial flight path from E ig The corresponding key cost value M from the target grid to the destination grid ig =((E ig1 -x b ) 2 +(E ig2 -y b ) 2 ) 1 / 2 .

[0025] In an exemplary embodiment of the present application, step S320 includes:

[0026] Step S321: If H ig ≤Mig , then determine E ig The corresponding position coefficient T at the target grid ig =M ig / H ig Otherwise, determine E ig The corresponding position coefficient T at the target grid ig =H ig / M ig ;

[0027] Step S322: Determine E ig The corresponding cumulative cost coefficient of the target grid Among them, e is a natural constant;

[0028] Step S323: Determine E ig The corresponding target grid's key cost coefficient W ig =1-U ig .

[0029] In an exemplary embodiment of the present application, step S330 includes:

[0030] Step S331: According to U ig and W ig , determine E ig The target cost value Z of the corresponding target grid ig =U ig ×H ig +W ig ×M ig .

[0031] In an exemplary embodiment of the present application, step S400 includes:

[0032] Step S410: Determine the total cost value B corresponding to the i-th initial flight route according to the target cost value of each target grid on the i-th initial flight route. i =∑ f(i) g＝1 Z ig .

[0033] In an exemplary embodiment of the present application, step S500 includes:

[0034] Step S510: MIN(B1, B2, ..., B i ,...,B n ) is determined as the target flight route; wherein MIN() is a preset minimum value determination function.

[0035] According to one aspect of the present application, a non-transitory computer-readable storage medium is provided, in which at least one instruction or at least one program is stored, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the aforementioned UAV flight route planning method based on airspace grid cost value.

[0036] According to one aspect of the present application, an electronic device is provided, including a processor and the aforementioned non-transitory computer-readable storage medium.

[0037] The present invention has at least the following beneficial effects:

[0038] The UAV flight route planning method based on airspace grid cost value of the present invention determines several initial flight routes from the starting grid to the destination grid according to the starting grid coordinates and the destination grid coordinates of the target UAV, and determines the cost value of each target grid on each initial flight route according to the starting grid coordinates, the destination grid coordinates and each grid coordinate corresponding to each initial flight route, determines the total cost value corresponding to each initial flight route according to the cost values ​​of several target grids on each initial flight route, determines the target flight route from several initial flight routes according to the total cost value corresponding to each initial flight route, and calculates the overall cost value of each initial flight route so that the cost value of the target flight route finally determined is the lowest, and the determined target flight route meets both the high safety requirement and the short total flight distance requirement, so that the safety of the UAV flying according to the target flight route is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0040] Figure 1 A flowchart of a method for planning a UAV flight route based on airspace grid cost values ​​provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0042] With the increase in the number of drones in flight, for the sake of drone flight safety, it is necessary to manage the drones, that is, to plan the flight routes of the drones so that each drone can fly according to its own flight route. The flight environment of the ultra-low-altitude airspace where drones are located has gradually become more complex and changeable with the development of the drone industry. Therefore, in order to ensure the safety of drones during flight, it is necessary to plan the flight routes reasonably and safely. Therefore, a drone flight route planning method based on airspace grid cost value is proposed in the present invention.

[0043] A method for UAV flight route planning based on airspace grid cost value is applied to a flight route planning system. The flight route planning system includes a target grid map corresponding to the target space. The target grid map includes a plurality of target grids. The target grid map corresponds to a grid coordinate system. Each target grid has grid coordinates in the grid coordinate system.

[0044] like Figure 1 As shown, the UAV flight route planning method based on airspace grid cost value described in this application includes the following steps:

[0045] Step S100, in response to receiving a flight route planning request from a target UAV, obtaining a starting grid coordinate of a starting grid and a destination grid coordinate of a destination grid included in the flight route planning request;

[0046] The starting grid is the target grid of the starting position point of the target UAV in the target grid map, and the destination grid is the target grid of the destination position point of the target UAV in the target grid map.

[0047] Step S200, determining a number of initial flight routes from the starting grid to the destination grid according to the starting grid coordinates and the destination grid coordinates;

[0048] Further, step S200 includes steps S210 to S220:

[0049] Step S210: The grid coordinates are (x a ,y a )、(x a ,y b )、(x b ,y a ) and (x b ,y b ) is determined as the target flight area; where x a is the horizontal coordinate of the starting grid coordinate; y a is the ordinate of the starting grid coordinate; x b is the horizontal coordinate of the target grid coordinate; y bis the ordinate of the destination grid coordinate;

[0050] Step S220 , according to a preset flight route planning algorithm, starting from the starting grid, traversing each target grid in the target flight area, and ending at the destination grid, to determine a number of initial flight routes.

[0051] The preset flight route planning algorithm may adopt an existing path planning algorithm, such as the A-star algorithm.

[0052] Step S300, determining the cost value of each target grid on each initial flight route according to the starting grid coordinates, the destination grid coordinates and each corresponding grid coordinate on each initial flight route;

[0053] In an exemplary embodiment of the present application, step S300 includes:

[0054] Step S310, determining the cumulative cost value from the starting grid to the target grid and the key cost value from the target grid to the target grid according to the starting grid coordinates, the target grid coordinates and each corresponding grid coordinate on each initial flight route;

[0055] Wherein, step S310 includes steps S311 to S313:

[0056] Step S311: Obtain the grid coordinates corresponding to a number of target grids between the starting grid and the destination grid on each initial flight route, and obtain the initial flight route coordinate list set E = (E1, E2, ..., E i ,...,E n ), where i = 1, 2, ..., n, and n is the number of initial flight routes; E i is the initial flight route coordinate list corresponding to the i-th initial flight route;

[0057] E i =(E i1 ,E i2 ,...,E ig ,...,E if(i) ), g = 1, 2, ..., f(i), f(i) is the number of target grids between the starting grid and the destination grid on the i-th initial flight route; E ig is the grid coordinate corresponding to the gth target grid between the starting grid and the destination grid on the i-th initial flight route;

[0058] E ig =(E ig1 ,E ig2 );E ig1 For E ig The horizontal axis of E ig2 For Eig The vertical coordinate of

[0059] Step S312: determine the number of cells along the i-th initial flight route from the starting grid to E ig The corresponding cumulative cost value H at the target grid ig =|E ig1 -x a |+|E ig2 -y a |;

[0060] Step S313: Determine the route along the i-th initial flight path from E ig The corresponding key cost value M from the target grid to the destination grid ig =((E ig1 -x b ) 2 +(E ig2 -y b ) 2 ) 1 / 2 .

[0061] Step S320, determining the cumulative cost coefficient and the critical cost coefficient corresponding to any target grid according to the cumulative cost value and the critical cost value corresponding to the target grid;

[0062] Wherein, step S320 includes steps S321 to S323:

[0063] Step S321: If H ig ≤M ig , then determine E ig The corresponding position coefficient T at the target grid ig =M ig / H ig Otherwise, determine E ig The corresponding position coefficient T at the target grid ig =H ig / M ig ;

[0064] Step S322: Determine E ig The corresponding cumulative cost coefficient of the target grid Among them, e is a natural constant;

[0065] Step S323: Determine E ig The corresponding target grid's key cost coefficient W ig =1-U ig .

[0066] Step S330: Determine the target cost value of any target grid according to the cumulative cost value, the critical cost value, the cumulative cost coefficient and the critical cost coefficient corresponding to the target grid.

[0067] Wherein, step S330 includes step S331:

[0068] Step S331: According to U ig and W ig , determine E ig The target cost value Z of the corresponding target grid ig =U ig ×H ig +W ig ×M ig .

[0069] Step S400, determining a total cost value corresponding to each initial flight route according to the cost values ​​of a plurality of target grids on each initial flight route;

[0070] Further, step S400 includes step S410:

[0071] Step S410: Determine the total cost value B corresponding to the i-th initial flight route according to the target cost value of each target grid on the i-th initial flight route. i =∑ f(i) g＝1 Z ig .

[0072] The total cost value represents an index corresponding to the flight safety of the initial flight route. The larger the total cost value is, the lower the safety of the initial flight route is. Conversely, the smaller the total cost value is, the higher the safety of the initial flight route is.

[0073] Step S500: determining a target flight route from a number of initial flight routes according to a total cost value corresponding to each initial flight route.

[0074] Further, step S500 includes step S510:

[0075] Step S510: MIN(B1, B2, ..., B i ,...,B n ) is determined as the target flight route; wherein MIN() is a preset minimum value determination function.

[0076] The initial flight route with the smallest total cost value has the highest safety, so the corresponding initial flight route is determined as the target flight route.

[0077] The UAV flight route planning method based on airspace grid cost value of the present invention determines several initial flight routes from the starting grid to the destination grid according to the starting grid coordinates and the destination grid coordinates of the target UAV, and determines the cost value of each target grid on each initial flight route according to the starting grid coordinates, the destination grid coordinates and each grid coordinate corresponding to each initial flight route, determines the total cost value corresponding to each initial flight route according to the cost values ​​of several target grids on each initial flight route, determines the target flight route from the several initial flight routes according to the total cost value corresponding to each initial flight route, and calculates the cost value of each initial flight route so that the cost value of the target flight route finally determined is the lowest, and its safety is improved.

[0078] An embodiment of the present invention further provides a computer program product, which includes program code. When the program product is run on an electronic device, the program code is used to enable the electronic device to execute the steps of the method according to various exemplary embodiments of the present invention described above in this specification.

[0079] In addition, although the steps of the method in the present disclosure are described in a specific order in the drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps, etc.

[0080] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a mobile terminal, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0081] In an exemplary embodiment of the present disclosure, an electronic device capable of implementing the above method is also provided.

[0082] It will be appreciated by those skilled in the art that various aspects of the present invention may be implemented as a system, method or program product. Therefore, various aspects of the present invention may be specifically implemented in the following forms, namely: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software, which may be collectively referred to herein as a "circuit", "module" or "system".

[0083] The electronic device according to this embodiment of the present invention is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0084] The electronic device is presented in the form of a general-purpose computing device. The components of the electronic device may include, but are not limited to: the at least one processor mentioned above, the at least one storage device mentioned above, and a bus connecting different system components (including storage devices and processors).

[0085] The storage stores program codes, which can be executed by the processor, so that the processor executes the steps according to various exemplary embodiments of the present invention described in the above “Exemplary Method” section of this specification.

[0086] The memory may include readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory, and may further include read only memory (ROM).

[0087] The storage may also include a program / utility having a set (at least one) of program modules, such program modules including but not limited to: an operating system, one or more application programs, other program modules and program data, each of which or some combination may include the implementation of a network environment.

[0088] The bus may represent one or more of several types of bus structures including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures.

[0089] The electronic device may also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), one or more devices that enable a user to interact with the electronic device, and / or any device that enables the electronic device to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface. Furthermore, the electronic device may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter.

[0090] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0091] In an exemplary embodiment of the present disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the above method of the present specification is stored. In some possible implementations, various aspects of the present invention can also be implemented in the form of a program product, which includes a program code, and when the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps according to various exemplary embodiments of the present invention described in the above "Exemplary Method" section of the present specification.

[0092] The program product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0093] Computer readable signal media may include data signals propagated in baseband or as part of a carrier wave, in which readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Readable signal media may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0094] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.

[0095] Program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0096] In addition, the above-mentioned figures are only schematic illustrations of the processes included in the method according to an exemplary embodiment of the present invention, and are not intended to be limiting. It is easy to understand that the processes shown in the above-mentioned figures do not indicate or limit the time sequence of these processes. In addition, it is also easy to understand that these processes can be performed synchronously or asynchronously, for example, in multiple modules.

[0097] It should be noted that, although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into multiple modules or units to be embodied.

[0098] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A method for UAV flight route planning based on airspace grid cost value, characterized in that: Applied to a flight route planning system, the flight route planning system includes a target grid map corresponding to the target space, the target grid map includes a plurality of target grids, the target grid map corresponds to a grid coordinate system, and each of the target grids corresponds to a grid coordinate in the grid coordinate system; The method comprises the following steps: Step S100, in response to receiving a flight route planning request of a target UAV, obtaining a starting grid coordinate of a starting grid and a destination grid coordinate of a destination grid included in the flight route planning request; the starting grid is a target grid of a starting position point of the target UAV in the target grid map; the destination grid is a target grid of a destination position point of the target UAV in the target grid map; Step S200, determining a plurality of initial flight routes from the starting grid to the destination grid according to the starting grid coordinates and the destination grid coordinates; Step S300, determining a cost value of each target grid on each of the initial flight routes according to the starting grid coordinates, the destination grid coordinates and each corresponding grid coordinate on each of the initial flight routes; Step S400, determining a total cost value corresponding to each of the initial flight routes according to the cost values ​​of the target grids on each of the initial flight routes; Step S500: determining a target flight route from a plurality of initial flight routes according to a total cost value corresponding to each of the initial flight routes.

2. The method according to claim 1, characterized in that The step S200 includes: Step S210: The grid coordinates are (x a ,y a )、(x a ,y b )、(x b ,y a ) and (x b ,y b ) is determined as the target flight area; where x a is the horizontal coordinate of the starting grid coordinate; a is the ordinate of the starting grid coordinate; b is the horizontal coordinate of the target grid coordinate; b The ordinate of the target grid coordinate; Step S220, according to a preset flight route planning algorithm, starting from the starting grid, traversing each target grid in the target flight area, and ending at the destination grid, to determine a number of initial flight routes.

3. The method according to claim 2, characterized in that The step S300 includes: Step S310, determining a cumulative cost value from the starting grid to the target grid and a key cost value from the target grid to the target grid according to the starting grid coordinates, the target grid coordinates and each corresponding grid coordinate on each of the initial flight routes; Step S320, determining the cumulative cost coefficient and the critical cost coefficient corresponding to any of the target grids according to the cumulative cost value and the critical cost value corresponding to the target grid; Step S330: Determine the target cost value of the target grid according to the cumulative cost value, the critical cost value, the cumulative cost coefficient and the critical cost coefficient corresponding to any of the target grids.

4. The method according to claim 3, characterized in that The step S310 includes: Step S311: Obtain the grid coordinates corresponding to a number of target grids between the starting grid and the destination grid on each of the initial flight routes, and obtain an initial flight route coordinate list set E = (E1, E2, ..., E i ,...,E n ), wherein i=1, 2, ..., n, and n is the number of the initial flight routes; E i is a list of initial flight route coordinates corresponding to the i-th initial flight route; E i =(E i1 ,E i2 ,...,E ig ,...,E if(i) ); g = 1, 2, ..., f(i); f(i) is the number of target grids between the starting grid and the destination grid on the i-th initial flight route; E ig is the grid coordinate corresponding to the gth target grid located between the starting grid and the destination grid on the i-th initial flight route; E ig =(E ig1 ,E ig2 );E ig1 For E ig The horizontal axis of E ig2 For E ig The vertical coordinate of Step S312: determine the route from the starting grid to E along the i-th initial flight route. ig The corresponding cumulative cost value H at the target grid ig =|E ig1 -x a |+|E ig2 -y a |; Step S313: determine the route along the i-th initial flight path from E ig The key cost value M from the corresponding target grid to the destination grid ig =((E ig1 -x b ) 2 +(E ig2 -y b ) 2 ) 1 / 2 .

5. The method according to claim 4, characterized in that The step S320 includes: Step S321: If H ig ≤M ig , then determine E ig The corresponding position coefficient T at the target grid ig =M ig / H ig Otherwise, determine E ig The corresponding position coefficient T at the target grid ig =H ig / M ig ; Step S322: Determine E ig The corresponding cumulative cost coefficient of the target grid Among them, e is a natural constant; Step S323: Determine E ig The corresponding target grid's key cost coefficient W ig =1-U ig .

6. The method according to claim 5, characterized in that The step S330 includes: Step S331: According to U ig and W ig , determine E ig The target cost value Z of the corresponding target grid ig =U ig ×H ig +W ig ×M ig .

7. The method according to claim 6, characterized in that The step S400 includes: Step S410: Determine the total cost value B corresponding to the i-th initial flight route according to the target cost value of each target grid on the i-th initial flight route. i =∑ f(i) g＝1 Z ig .

8. The method according to claim 7, characterized in that The step S500 includes: Step S510: MIN(B1, B2, ..., B i ,...,B n ) is determined as the target flight route; wherein MIN() is a preset minimum value determination function.

9. A non-transitory computer-readable storage medium, wherein at least one instruction or at least one program is stored in the storage medium, characterized in that: The at least one instruction or the at least one program is loaded and executed by the processor to implement the UAV flight route planning method based on airspace grid cost value as described in any one of claims 1-8.

10. An electronic device, characterized in that: The invention comprises a processor and the non-transitory computer-readable storage medium as claimed in claim 9.

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