All-scene adaptive flight method, device, equipment and storage medium

Abstract

The application discloses a full-scene adaptive flight method and device, equipment and a storage medium, and relates to the technical field of unmanned aerial vehicles. The technical scheme provided by the application comprises the following steps: determining a real-time control strategy according to first scene information, wherein the real-time control strategy comprises a speed priority control strategy and a terrain priority control strategy; acquiring terrain information collected by a perception sensor in real time, and planning a flight trajectory according to the terrain information and the real-time control strategy; when the unmanned aerial vehicle flies based on the flight trajectory, determining second scene information according to the terrain information, adjusting the real-time control strategy according to the second scene information; and replanning the flight trajectory according to the adjusted real-time control strategy and the terrain information. Through the above technical means, autonomous flight of the unmanned aerial vehicle in any terrain scene is realized, the problem that a user needs to judge terrain features and control the unmanned aerial vehicle to switch to a ground simulation mode in the prior art is solved, the operation difficulty of the user is simplified, and a safety hazard caused by misoperation is avoided.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a method, apparatus, device, and storage medium for all-scenario adaptive flight. Background Technology

[0002] With the rapid development of drones, their applications in industry, logistics, and agriculture are becoming increasingly widespread. In some fields, drone operations take many forms, which can be broadly categorized into two types: relatively flat terrain and rugged terrain. To adapt to different scenarios, drones offer two terrain-following modes: 2D and 3D. In 2D mode, the drone can move extensively horizontally and strives to track terrain movement vertically. In 3D mode, the drone can move extensively in three dimensions to accurately track the terrain.

[0003] In existing technologies, users need to obtain the scene type of the drone's operating area in advance. When the drone flies to a flat scene, the user manually controls the drone to switch to a 2D terrain-following mode; when the drone flies to a rugged scene, the user manually controls the drone to switch to a 3D terrain-following mode. The drone operation process requires the user to participate in adjusting the terrain-following mode throughout, which increases the difficulty of operation and the probability of user error. The drone is prone to safety issues due to user errors. Summary of the Invention

[0004] This application provides a full-scene adaptive flight method, apparatus, device, and storage medium to initially determine a real-time control strategy based on first scene information, and adaptively adjust the real-time control strategy based on second scene information during flight operations. This allows for adaptive adjustment of the flight trajectory based on the real-time control strategy and real-time terrain information, generating a flight trajectory that tracks terrain while considering speed. This ensures the flight safety of the UAV while optimizing its flight efficiency, enabling autonomous flight of the UAV in any terrain scenario. It solves the problem in existing technologies where users need to judge terrain features and control the UAV to switch between terrain-following modes, greatly simplifying the user's operation and avoiding safety hazards caused by misoperation.

[0005] Firstly, this application provides a full-scenario adaptive flight method, including:

[0006] A real-time control strategy is determined based on the first scenario information, and the real-time control strategy includes a speed-priority control strategy and a terrain-priority control strategy.

[0007] The system acquires terrain information collected in real time by the sensing sensors and plans the flight trajectory based on the terrain information and the real-time control strategy.

[0008] When the UAV flies based on the flight trajectory, the second scene information is determined according to the terrain information, and the real-time control strategy is adjusted according to the second scene information;

[0009] The flight trajectory was replanned based on the adjusted real-time control strategy and the terrain information.

[0010] Secondly, this application provides a full-scenario adaptive flight device, including:

[0011] The strategy determination module is configured to determine a real-time control strategy based on the first scene information, the real-time control strategy including a speed-priority control strategy and a terrain-priority control strategy.

[0012] The trajectory planning module is configured to acquire terrain information collected in real time by the sensing sensors, and plan the flight trajectory based on the terrain information and the real-time control strategy.

[0013] The strategy adjustment module is configured to determine second scene information based on the terrain information and adjust the real-time control strategy based on the second scene information when the UAV is flying based on the flight trajectory.

[0014] The trajectory adjustment module is configured to replan the flight trajectory based on the adjusted real-time control strategy and the terrain information.

[0015] Thirdly, this application provides a full-scenario adaptive flight device, including:

[0016] One or more processors; a memory storing one or more programs that, when executed by the one or more processors, enable the one or more processors to implement the all-scenario adaptive flight method as described in the first aspect.

[0017] Fourthly, this application provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform the all-scenario adaptive flight method as described in the first aspect.

[0018] In this application, a real-time control strategy can be initially determined based on the first scene information. During the initial flight, a flight trajectory adapted to the first scene information is planned based on the real-time control strategy and the terrain information collected in real time by the sensing sensors. During flight, real-time second scene information can be determined based on the terrain information, and the real-time control strategy is adaptively adjusted based on the second scene information. Thus, a flight trajectory adapted to the second scene information is planned based on the adjusted real-time control strategy and real-time terrain information, ensuring that the UAV's flight trajectory can accurately track the terrain of the scene while taking into account flight speed, thereby improving the UAV's flight safety and efficiency. The entire flight process can adaptively adjust the real-time control strategy and flight trajectory, realizing autonomous flight of the UAV in any terrain scene. Users do not need to worry about the terrain type and the appropriate terrain-following mode of the scene in which the UAV is located. This solves the problem in the prior art that users need to judge terrain features and control the UAV to switch terrain-following modes, greatly simplifying the user's operation and avoiding safety hazards caused by misoperation. Attached Figure Description

[0019] Figure 1 This is a flowchart of a full-scenario adaptive flight method provided in an embodiment of this application;

[0020] Figure 2 This is a flowchart illustrating the flight trajectory planning based on a speed-priority control strategy and terrain information, provided in an embodiment of this application.

[0021] Figure 3 This is a schematic diagram of the operation route provided in the embodiments of this application;

[0022] Figure 4 This is a schematic diagram of a straight path provided in an embodiment of this application;

[0023] Figure 5 This is a schematic diagram of a straight line trajectory provided in an embodiment of this application;

[0024] Figure 6 This is a schematic diagram illustrating the adjustment trend of the first control point provided in the embodiments of this application;

[0025] Figure 7 This is one of the schematic diagrams of the flight trajectory provided in the embodiments of this application;

[0026] Figure 8 This is a flowchart illustrating the flight trajectory planning based on terrain priority control strategy and terrain information provided in an embodiment of this application;

[0027] Figure 9 This is a schematic diagram of the third control point before its height is adjusted, as provided in the embodiments of this application.

[0028] Figure 10 This is a schematic diagram showing the height of the third control point after adjustment, as provided in the embodiments of this application.

[0029] Figure 11 This is a schematic diagram of the second control point provided in an embodiment of this application;

[0030] Figure 12 This is the second schematic diagram of the flight trajectory provided in the embodiments of this application;

[0031] Figure 13 This is a flowchart of a flight trajectory planning based on a combination of control strategy and terrain information, provided in an embodiment of this application.

[0032] Figure 14 This is a system framework diagram of the unmanned aerial vehicle provided in the embodiments of this application;

[0033] Figure 15 This is a schematic diagram of the structure of an all-scenario adaptive flight device provided in an embodiment of this application;

[0034] Figure 16 This is a schematic diagram of the structure of a drone provided in an embodiment of this application. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this application clearer, specific embodiments of this application will be described in further detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely for explaining this application and not for limiting it. It should also be noted that, for ease of description, only the parts relevant to this application are shown in the drawings, not all of them. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe operations (or steps) as sequential processes, many of these operations can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. A process can be terminated when its operation is completed, but it may also have additional steps not included in the drawings. A process can correspond to a method, function, procedure, subroutine, subroutine, etc.

[0036] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0037] In relevant implementations, before operation, the user manually selects the terrain type of the task scenario as flat or rugged terrain. During operation, the drone automatically selects either a 2D or 3D terrain-following mode based on the terrain type. In 2D terrain-following mode, the drone typically moves only horizontally, while allowing for slight vertical movement. Since 2D terrain-following mode generally prioritizes horizontal movement, it is more efficient, as vertical movement often only requires minimal terrain tracking. 3D terrain-following mode allows the drone to move extensively in three dimensions, thus enabling relatively accurate tracking even in scenarios with significant terrain variations. However, due to vertical constraints, horizontal speed is somewhat limited in 3D terrain-following mode. Clearly, 2D terrain-following mode is suitable for flat terrain, while 3D terrain-following mode is suitable for rugged terrain. However, both types of terrain may coexist in a typical task scenario; therefore, the user needs to determine the terrain type of the area the drone is flying over. If the drone flies from rugged terrain to flat terrain, the user must manually switch the drone from 3D terrain-following mode to 2D terrain-following mode; conversely, if the drone flies from flat terrain to rugged terrain, the user must manually switch from 2D terrain-following mode to 3D terrain-following mode. To ensure flight safety, the user must pay close attention to changes in the terrain throughout the entire operation, switching the drone's terrain-following mode in a timely manner. This increases the difficulty of operation and raises the probability of user error, potentially leading to safety issues for the drone. Furthermore, some areas have transitional terrain between flat and rugged terrain. For such terrain, users may struggle to determine which terrain-following mode to use, preventing the drone from switching to the appropriate mode in a timely manner, thus affecting flight safety and efficiency.

[0038] To address the problems existing in the above implementation methods, this embodiment provides a full-scenario adaptive flight method. It initially determines the real-time control strategy based on first scenario information, and adaptively adjusts the real-time control strategy based on second scenario information during flight operations. This allows for adaptive adjustment of the flight trajectory based on the real-time control strategy and real-time terrain information, generating a flight trajectory that tracks the terrain while also considering speed. This ensures the flight safety of the UAV while optimizing its flight efficiency. It eliminates the need for users to judge terrain features or manually switch the UAV to terrain-following mode, greatly simplifying user operation and avoiding safety hazards caused by misoperation.

[0039] The all-scenario adaptive flight method provided in this embodiment can be executed by an all-scenario adaptive flight device. This device can be implemented through software and / or hardware, and can consist of two or more physical entities, or a single physical entity. For example, the all-scenario adaptive flight device can be a drone, or it can be the drone's processor.

[0040] The all-scenario adaptive flight device is equipped with at least one type of operating system. Based on this operating system, the device can install at least one application. This application can be a built-in application of the operating system or an application downloaded from a third-party device or server. In this embodiment, the all-scenario adaptive flight device has at least one application capable of executing the all-scenario adaptive flight method.

[0041] For ease of understanding, this embodiment uses a drone as the main body for implementing the all-scenario adaptive flight method as an example.

[0042] Figure 1 A flowchart of a full-scenario adaptive flight method provided in an embodiment of this application is given. (Reference) Figure 1 The full-scenario adaptive flight method specifically includes:

[0043] S110. Determine the real-time control strategy based on the first scenario information. The real-time control strategy includes a speed-priority control strategy and a terrain-priority control strategy.

[0044] For example, before executing a flight sortie, the UAV acquires first scene information of the operational scenario for that sortie. This first scene information represents the terrain type of the operational scenario. For instance, the first scene information could be the terrain type of the operational scenario, including flat terrain and rugged terrain. If the terrain type of the operational scenario is flat, the initial real-time control strategy for the flight sortie is determined to be a speed-priority control strategy; if the terrain type of the operational scenario is rugged, the initial real-time control strategy for the flight sortie is determined to be a terrain-priority control strategy. The real-time control strategy is used to control the UAV to perform terrain-following flight within the operational scenario. The speed-priority control strategy prioritizes flight speed when controlling the UAV to perform terrain-following flight within the operational scenario. The terrain-priority control strategy prioritizes terrain when controlling the UAV to perform terrain-following flight within the operational scenario. The real-time control strategy is determined based on the first scene information, i.e., one of the speed-priority control strategy and the terrain-priority control strategy is chosen as the real-time control strategy. In flat terrain scenarios, where terrain elevation doesn't change significantly, the drone can track the terrain with minor vertical adjustments, allowing for high-speed horizontal flight. Therefore, a speed-priority control strategy is used to plan the drone's flight path, improving flight efficiency. In rugged terrain scenarios, where terrain elevation frequently changes, the drone needs to constantly adjust its vertical direction to track the terrain, limiting its horizontal speed. Therefore, a terrain-priority control strategy is used to plan the drone's flight path, ensuring flight safety.

[0045] It should be noted that the initial scenario information can be understood as a preliminary estimate of the terrain type of the operational scenario. It does not accurately represent the terrain type of the operational scenario. Therefore, the real-time control strategy determined by the initial scenario information is a preliminary real-time control strategy, which is used to plan the flight trajectory when the UAV initially performs its first flight. However, as the UAV flies and acquires the actual terrain information of the operational scenario, it can accurately determine the terrain type based on the actual terrain information, and thus adjust the real-time control strategy accordingly to adapt the adjusted real-time control strategy to the terrain of the operational scenario.

[0046] Optionally, the first scene information can be manually configured by the user. For example, when configuring a task on the remote control device, the user can add information such as the first scene, flight speed, and flight acceleration to the task. The remote control device sends the task to the drone, and the drone executes the corresponding flight sorties according to the task. Before executing a flight sortie, the drone obtains the first scene information from the task and determines the real-time control strategy based on the first scene information.

[0047] In addition, the drone can determine the first scene information based on the third scene information of the previous flight. The third scene information represents the terrain type of the operation scene in the previous flight. For example, when the operation area is large, multiple flight sorties are required. The operation scenes corresponding to two adjacent flight sorties are similar, and the terrain will not change significantly. The terrain type of the operation scene in the previous flight sortie is the same as or similar to the terrain type of the operation scene in the current flight sortie. Therefore, the first scene information can be determined based on the third scene information of the previous flight sortie. Specifically, the third scene information of the previous flight sortie is used as the first scene information for the current flight sortie. For example, the terrain type of the operation scene in the previous flight sortie can be used as the terrain type of the operation scene in the current flight sortie. Alternatively, when the third scene information includes a third terrain priority weight and a third scene priority weight, the third terrain priority weight and the third scene priority weight can be correspondingly used as the first terrain priority weight and the first scene priority weight in the first scene information.

[0048] Alternatively, the drone determines the first scenario information based on the mission information. The mission information includes preset flight speed and / or operational area parameters. The preset flight speed is the planned flight speed of the drone in this flight sortie, which limits the maximum flight speed of the drone during this flight. The operational area parameter is the planned unit amount of material to be sprayed or spread by the drone in the operational area during this flight sortie, such as the amount used per acre.

[0049] For example, the preset flight speed is usually determined by the user based on the terrain of the operation scenario. Therefore, the higher the preset flight speed, the flatter the terrain of the operation scenario for this flight, and the lower the preset flight speed, the more rugged the terrain of the operation scenario for this flight.

[0050] Optionally, if this is the first flight sortie, a preset flight speed is obtained from the task information. If the preset flight speed is greater than a first speed threshold, the first scenario information is determined to be the first scenario; if the preset flight speed is not greater than the first speed threshold, the first scenario information is determined to be the second scenario. The first scenario is a scenario with flat terrain, and the second scenario is a scenario with rugged terrain. For example, a maximum flight speed in a rugged terrain scenario is preset as a flight speed threshold. If the preset flight speed in the task information is greater than the flight speed threshold, the terrain type of the task scenario for this flight sortie is determined to be flat terrain. If the preset flight speed in the task information is less than or equal to the flight speed threshold, the terrain type of the task scenario for this flight sortie is determined to be rugged terrain.

[0051] If the drone is an agricultural drone, it will carry materials for spraying or spreading operations. In spraying or spreading scenarios, the operating area parameter for rugged terrain is much larger than that for flat terrain. The operating area parameter can be, for example, the amount of material used per acre, or other parameters used to represent the area the drone is operating on; there are no restrictions here. In the case of this being the first flight, the operating area parameter in the task information is obtained. If the operating area parameter is greater than a first area parameter threshold, the first scenario information is determined to be the second scenario; if the operating area parameter is not greater than the first area parameter threshold, the first scenario information is determined to be the first scenario. For example, the maximum operating area parameter for flat terrain is pre-set as the first area parameter threshold. When the operating area parameter in the task information is greater than the first area parameter threshold, the terrain type of this flight's operating scenario is determined to be rugged terrain; when the operating area parameter in the task information is less than or equal to the first area parameter threshold, the terrain type of this flight's operating scenario is determined to be flat terrain.

[0052] In one embodiment, the first scene information includes a first terrain priority weight and a first speed priority weight, the sum of which is equal to one. The terrain priority weight characterizes the degree of adaptation between the terrain and the terrain priority control strategy in the corresponding scene, and the speed priority weight characterizes the degree of adaptation between the terrain and the speed priority control strategy in the corresponding scene. A higher terrain priority weight indicates that the terrain of the corresponding scene is more adapted to the terrain priority control strategy, meaning the terrain of the corresponding scene is more rugged; therefore, the terrain priority weight can also be understood as the ruggedness of the terrain in the corresponding scene. Conversely, a higher speed priority weight indicates that the terrain of the corresponding scene is more adapted to the flatness priority control strategy, meaning the terrain of the corresponding scene is flatter; therefore, the speed priority weight can also be understood as the flatness of the terrain in the corresponding scene.

[0053] Accordingly, in the case that this is the first flight sortie, the preset flight speed and preset maximum speed are obtained from the task information; the speed ratio between the preset flight speed and the preset maximum speed is determined; where the preset maximum speed is the maximum allowed flight speed of the UAV, and the preset flight speed is the planned flight speed of the UAV in this flight sortie; based on the speed ratio and the preset second terrain priority weight and second speed priority weight, the first terrain priority weight and the first speed priority weight are determined, and the second terrain priority weight and the second speed priority weight are equal and their sum is equal to one. For example, when the speed ratio between the preset flight speed and the preset maximum speed is larger, it indicates that the terrain of the task scene for this flight sortie is flatter, and the smaller the speed ratio is, it indicates that the terrain of the task scene for this flight sortie is more rugged. The second terrain priority weight and the second speed priority weight can be regarded as the initialized terrain priority weight and speed priority weight, which assume that the flatness and ruggedness of the current task scene are the same. At this time, the flatness and ruggedness of the current task scene can be determined by combining the speed ratio, and then the first speed priority weight and the first terrain priority weight in the first scene information are determined.

[0054] Optionally, the first speed priority weight can be obtained by adding the product of the second terrain priority weight and the preset weight coefficient to the product of the speed ratio and the second speed priority weight. The first terrain priority weight is then determined based on the first speed priority weight; where the preset weight coefficient is equal to 0.5. For example, the calculation expression for the first speed priority weight u1 is 0.5*w2+f*u2, where w2 is the second terrain priority weight, u2 is the second speed priority weight, u2=1-w2, and f is the ratio of the preset flight speed to the preset maximum speed. Since the second speed priority weight and the second terrain priority weight are equal and their sum is equal to one, the second terrain priority weight w2=u2=0.5. Substituting the second terrain priority weight and the speed ratio into the above calculation expression yields the first speed priority weight u1, and subtracting the first speed priority weight u1 from 1 gives the first terrain priority weight w1. It can be understood that in the calculation expression 0.5*w2+f*u2, 0.5 and f are the weight coefficients of the second terrain priority weight w2 and the second speed priority weight u2, respectively. In the case of unknown terrain, the weighting coefficient of the second terrain priority weight is 0.5, and the weighting coefficient of the second speed priority weight is the speed ratio. When the preset flight speed is greater than half of the maximum speed, the weighting coefficient of the second speed priority weight is greater than 0.5, and the first speed priority weight is also greater than 0.5. This means that the terrain and speed priority control strategy of this flight sortie have a high degree of fit, matching the setting of a higher preset flight speed. When the preset flight speed is less than half of the maximum speed, the weighting coefficient of the second speed priority weight is less than 0.5, and the first speed priority weight is also less than 0.5, while the first terrain priority weight is greater than 0.5. This means that the terrain and terrain priority control strategy of this flight sortie have a high degree of fit, matching the setting of a lower preset flight speed. This embodiment uses the first speed priority weight and the first terrain priority weight to characterize the terrain type of the operational scenario. In order to determine the first speed priority weight and the first terrain priority weight that are suitable for the preset flight speed based on the preset second speed priority weight and the preset second speed priority weight, the accuracy of terrain type prediction is improved, thereby reducing the frequency of subsequent real-time control strategy and flight trajectory adjustment, which is beneficial to improving the control stability of the UAV.

[0055] Of course, the drone can also determine the first scene information based on the third scene information and the task information from the previous flight. For example, the drone can determine the first scene information based on the preset flight speed in the third scene information and task information from the previous flight, or based on the task area parameters in the third scene information and task information from the previous flight, or based on the preset flight speed and task area parameters in the third scene information and task information from the previous flight.

[0056] For example, if this flight is not the first flight, the third terrain priority weight and third speed priority weight are obtained from the third scenario information of the previous flight; the preset flight speed and preset maximum speed are obtained from the task information, and the speed ratio between the preset flight speed and the preset maximum speed is determined; the first terrain priority weight and the first speed priority weight are determined based on the speed ratio and the third terrain priority weight and the third speed priority weight. The sum of the third terrain priority weight and the third speed priority weight is equal to 1. For instance, a larger speed ratio between the preset flight speed and the preset maximum speed indicates a flatter terrain in the task scenario for this flight, while a smaller speed ratio indicates a more rugged terrain. The third terrain priority weight and the third speed priority weight characterize the flatness and ruggedness of the task scenario for the previous flight, and they also affect the terrain type of the task scenario for this flight. Therefore, the flatness and ruggedness of the current task scenario can be determined by combining the speed ratio, thereby determining the first speed priority weight and the first terrain priority weight in the first scenario information.

[0057] Optionally, when the third terrain priority weight is greater than the third speed priority weight, the product of the third speed priority weight and the speed ratio is determined as the first speed priority weight, and the first terrain priority weight is determined based on the first speed priority weight. When the third terrain priority weight is less than the third speed priority weight, the product of the third speed priority weight and the speed ratio is added to the third terrain priority weight to obtain the first speed priority weight, and the first terrain priority weight is determined based on the first speed priority weight. For example, when the third terrain priority weight is greater than the third speed priority weight, the calculation expression for the first speed priority weight u1 is u1 = f * u3 + 0 * w3, where u3 is the third speed priority weight and w3 is the third terrain priority weight. When the third terrain priority weight is less than the third speed priority weight, the calculation expression for the first speed priority weight u1 is w1 = w3 + u3 * f. Then, 1 is subtracted from the first speed priority weight u1 to obtain the first terrain priority weight w1. It can be understood that in 0 * w3 + (1 - w3) * f, 0 and f are the weight coefficients of the third terrain priority weight w3 and the third speed priority weight u3, respectively. When the third speed priority weight is less than the third terrain priority weight, the third speed priority weight is less than 0.5. Since the speed ratio is less than 1, regardless of the preset flight speed, the first speed priority weight will always be less than 0.5. This means that the terrain of this flight sortie has a high degree of compatibility with the terrain priority control strategy, matching the terrain type of the previous flight sortie. When the preset flight speed is less than half of the maximum speed, the first speed priority weight is less than the third speed priority weight. This means that compared to the previous flight sortie, the terrain of this flight sortie's operational scenario has a high degree of compatibility with the terrain priority control strategy. In the calculation expression w1=w3+(1-w3)*f, 1 and f are the weight coefficients of the third terrain priority weight w3 and the third speed priority weight u3, respectively. When the third speed priority weight is greater than the third terrain priority weight, and the third terrain priority weight is less than 0.5, the first speed priority weight is determined by both the preset flight speed and the third speed priority weight. That is, when the third speed priority weight is large or the preset flight speed is large, the first speed priority weight is greater than 0.5, indicating a high degree of adaptation between the terrain and speed priority control strategy for this flight, matching the terrain type or setting of the previous flight with a large preset flight speed. When the third speed priority weight is small and the preset flight speed is small, the first speed priority weight is less than 0.5, indicating a high degree of adaptation between the terrain and terrain priority control strategy for this flight, matching the setting of the small preset flight speed.This embodiment uses a first speed priority weight and a first terrain priority weight to characterize the terrain type of the operational scenario. Based on the preset flight speed and the third speed priority weight and third terrain priority weight of the previous flight, the first speed priority weight and the first terrain priority weight are determined to be suitable for the preset flight speed and the terrain type of the previous flight. This improves the accuracy of terrain type prediction, thereby reducing the frequency of subsequent real-time control strategy and flight trajectory adjustments, which is beneficial to improving the control stability of the UAV.

[0058] This embodiment determines the terrain type of the current flight by combining the flight speed and the terrain type of the previous flight, thereby improving the accuracy of terrain type prediction and reducing the frequency of subsequent real-time control strategy and flight trajectory adjustments, which is beneficial to improving the control stability of the UAV.

[0059] After determining whether the first scenario information is a first scenario or a second scenario, the corresponding real-time control strategy can be determined based on the first scenario as a speed-priority control strategy; or based on the second scenario as a terrain-priority control strategy. That is, when the operational scenario is flat terrain, a speed-priority control strategy is initially determined as the real-time control strategy. When the terrain safety factor is high, priority is given to ensuring the UAV's flight speed to improve its flight efficiency. When the operational scenario is rugged terrain, a terrain-priority control strategy is initially determined as the real-time control strategy. When the terrain safety factor is low, priority is given to ensuring the UAV accurately tracks terrain changes to improve its flight safety.

[0060] After determining the first terrain priority weight and the first speed priority weight, these two weights can be compared to determine the real-time control strategy. Specifically, if the first speed priority weight is greater than the first terrain priority weight, the real-time control strategy is determined to be a speed-priority control strategy; if the first speed priority weight is less than the first terrain priority weight, the real-time control strategy is determined to be a terrain-priority control strategy. For example, when the first speed priority weight is greater than the first terrain priority weight, it indicates that the terrain of the operational scenario is flatter than rugged, making it more suitable for the speed-priority control strategy; therefore, the speed-priority control strategy is initially determined as the real-time control strategy. Similarly, when the first speed priority weight is less than the first terrain priority weight, it indicates that the terrain of the operational scenario is flatter than rugged, making it more suitable for the terrain-priority control strategy; therefore, the speed-priority control strategy is initially determined as the real-time control strategy. This embodiment, by comparing the first speed priority weight and the first terrain priority weight, determines a real-time control strategy that is more suitable for the terrain of the operational scenario. This helps reduce the frequency of subsequent adjustments to the real-time control strategy and flight trajectory, improving the control stability of the UAV.

[0061] It should be noted that although the terrain types of the operational scenario can be broadly categorized into flat and rugged terrain, some areas are actually transitional terrains between flat and rugged terrains. The ruggedness of transitional terrain is less than that of rugged terrain, and the flatness is less than that of flat terrain. For transitional terrain, both speed-priority control strategies and terrain-priority control strategies can be employed, but their adaptability is not high. Therefore, this embodiment proposes a combined control strategy for transitional terrain to ensure efficient terrain-following flight of the UAV, thereby ensuring both flight efficiency and safety. The combined control strategy can be understood as a control strategy that integrates speed-priority control and terrain-priority control strategies.

[0062] Optionally, if the first speed priority weight is greater than the first terrain priority weight and the difference between the two is greater than a preset difference threshold, the real-time control strategy is determined to be a speed priority control strategy; if the first terrain priority weight is greater than the first speed priority weight and the difference between the two is greater than a preset difference threshold, the real-time control strategy is determined to be a terrain priority control strategy; if the difference between the first terrain priority weight and the first speed priority weight is less than a preset difference threshold, the real-time control strategy is determined to be a combined control strategy. For example, if the first speed priority weight is greater than the first terrain priority weight, and the difference between the first speed priority weight and the first terrain priority weight is greater than a preset difference threshold, it indicates that the flatness of the terrain in the work scenario is much greater than the ruggedness of the terrain. Therefore, the work scenario can be determined to be flat terrain, and the real-time control strategy is determined to be a speed priority control strategy. If the first speed priority weight is less than the first terrain priority weight, and the difference between the first terrain priority weight and the first speed priority weight is greater than a preset difference threshold, it indicates that the ruggedness of the terrain in the work scenario is much greater than the flatness of the terrain. Therefore, the work scenario can be determined to be rugged terrain, and the real-time control strategy is determined to be a terrain priority control strategy. If the absolute value of the difference between the first terrain priority weight and the first speed priority weight is less than a preset difference threshold, it indicates that the terrain ruggedness of the operation scenario is not significantly different from that of the terrain flatness. Therefore, the operation scenario can be determined as transitional terrain, and thus the real-time control strategy can be determined as a combined control strategy. This embodiment determines a real-time control strategy suitable for flat, rugged, or transitional terrain by comparing the first speed priority weight and the first terrain priority weight, as well as comparing the difference between the two with a preset difference threshold. This helps reduce the frequency of subsequent adjustments to the real-time control strategy and flight trajectory, and improves the control stability of the UAV.

[0063] S120: Acquire terrain information collected in real time by the perception sensor, and plan the flight trajectory based on the terrain information and real-time control strategy.

[0064] Among them, the perception sensor is a sensor installed on the drone to collect terrain information of the operation scene, which can be a camera or radar, etc. When the drone performs a flight, it can control the perception sensor to collect terrain information of the operation scene in real time, plan a terrain-following flight trajectory based on the real-time control strategy and the real-time terrain information, and fly in the operation scene based on the terrain-following flight trajectory.

[0065] When the real-time control strategy is speed-priority, the drone's flight speed can be given priority. This means first planning a straight-line trajectory based on a preset flight speed, and then adjusting the trajectory to a terrain-mimicking pattern based on terrain information. This ensures both flight efficiency and drone safety, enabling efficient and safe drone flight in flat terrain environments. For example... Figure 2 This is a flowchart illustrating flight trajectory planning based on a speed-priority control strategy and terrain information, provided in an embodiment of this application. Figure 2 As shown, the steps for planning the flight trajectory based on the speed-priority control strategy and terrain information specifically include S1201-S1202:

[0066] S1201. Determine the starting point and ending point of the trajectory. Based on the starting point and ending point of the trajectory and the preset flight speed, plan a horizontal straight trajectory. The horizontal straight trajectory includes multiple first control points. The first control points are used to control the first planned arrival time of the UAV to reach the corresponding first control point.

[0067] For example, the drone's flight start point is determined as the trajectory start point, and the trajectory end point is determined based on the trajectory start point, a preset trajectory length, and a preset operational route. For instance, due to the limited sensing range of the sensors, the drone cannot acquire terrain information of the operational scene beyond its sensing range. Therefore, the trajectory length of the flight path that can be planned in real time is limited. The preset trajectory length can be understood as the trajectory length set based on the sensing range of the sensors; a flight path with a preset trajectory length will not exceed the sensing range of the sensors. The preset operational route is the route the drone travels when performing a flight; that is, the drone will fly along the preset operational route in the operational scene. The flight start point can be determined as the trajectory start point, and waypoints on the operational route that are a preset trajectory length away from the trajectory start point can be used as the trajectory end point, or endpoints on the operational route that are less than the preset trajectory length away from the trajectory start point can be used as the trajectory end point. For example, Figure 3 This is a schematic diagram of the operation route provided in an embodiment of this application. For example... Figure 3As shown, a work route 10 is planned within work scenario 12. When the UAV takes off from waypoint A on work route 10, waypoint A is determined as the trajectory start point. If waypoint B is within the preset trajectory length from waypoint A, waypoint B can be used as the trajectory end point. Waypoint C is the endpoint of the straight line segment of work route 10, and its distance from waypoint A is less than the preset trajectory length; therefore, waypoint C can also be used as the trajectory end point of the straight line. It should be noted that... Figure 3 As can be seen from the content shown, the horizontal straight line trajectory and the horizontal straight line path are not straight line trajectories and straight line paths in three-dimensional space, but straight line trajectories and straight line paths in the horizontal direction. That is, when the straight line trajectory and straight line path are projected into a certain vertical plane, they are straight line shapes.

[0068] Then, by setting the flight speed, a horizontal flight speed is assigned to the horizontal straight path between the trajectory start point and the trajectory end point, thereby calculating the planned arrival time of the UAV to each waypoint on the horizontal straight path. Based on the planned arrival time of each waypoint, the horizontal straight trajectory between the trajectory start point and the trajectory end point is planned, and the first control point on the horizontal straight trajectory is obtained by sampling at each waypoint.

[0069] In addition, multiple first control points can be sampled on the horizontal straight path between the trajectory start and end points. These multiple first control points divide the horizontal straight path into multiple first path segments. A speed is assigned to each first path segment according to a preset flight speed, resulting in the assigned speed for each first path segment. The first planned arrival time of the UAV at the assigned speed for each first path segment is then determined. For example, multiple first control points can be collected on the horizontal straight path between the trajectory start and end points using a preset equidistant sampling rule. The horizontal speed of the UAV traveling on the first path segment between two adjacent first control points is assigned according to a preset flight speed, thereby determining the planned arrival time of the UAV at each first control point. A smooth horizontal straight trajectory is generated by fitting the multiple first control points and their corresponding planned arrival times. For example, Figure 4 and Figure 5 These are schematic diagrams of the horizontal straight path and horizontal straight trajectory provided in the embodiments of this application. Figure 4 and Figure 5 As shown, the horizontal straight path 11 is the straight line segment between waypoint A and waypoint C, and the operation scenario 12 is below the horizontal straight path 11. The position of the horizontal straight trajectory 13 is the same as that of the straight path 11, that is, the operation scenario 12 below it is also the same as that below the straight path 11. The horizontal straight trajectory 13 includes multiple first control points 14, and each first control point 14 corresponds to a first planned arrival time for a UAV flying to that first control point.

[0070] S1202. Adjust the altitude of multiple first control points based on terrain information and generate flight trajectories.

[0071] For example, a first terrain height can be determined at each first control point based on terrain information, and the height of the corresponding first control point can be adjusted according to the first terrain height. Here, the first terrain height is the terrain height at a point in the work scenario that has the same horizontal coordinate as the first control point. Figure 6 This is a schematic diagram illustrating the adjustment trend of the first control point provided in an embodiment of this application. For example... Figure 6 As shown, when the height difference between the first control point and the corresponding terrain height is less than the safe height, the height of the first control point is increased to maintain the difference at the safe height. Conversely, when the height difference is greater than the safe height, the height of the first control point is decreased to maintain the difference at the safe height. It should be noted that the height adjustment range of the first control point is limited; otherwise, the drone would not be able to reach the first control point by the corresponding arrival time. Therefore, after determining the height difference between the first control point and the corresponding terrain height, if the difference between this height difference and the safe height exceeds the height adjustment range, the height of the first control point can be adjusted according to the height adjustment range to ensure the drone can reach the first control point by the arrival time, i.e., prioritizing the drone's flight speed. In addition, when the difference between the height difference and the safe height exceeds the height adjustment range, it can be determined that the actual terrain type of the operational scenario does not match the estimated terrain type, and the real-time control strategy can be adjusted accordingly, i.e., switching from a speed-priority control strategy to a combined control strategy or a terrain-priority control strategy to ensure the drone's flight safety.

[0072] Figure 7 This is a schematic diagram of the flight trajectory provided in an embodiment of this application. For example... Figure 7 As shown, the adjusted first control point 14 maintains a safe altitude with the corresponding work scene. Based on the adjusted height of multiple first control points 14 and their corresponding arrival times, a smooth flight trajectory 15 is fitted, which is adapted to the terrain of the work scene 12 below.

[0073] To improve the terrain-following accuracy of the flight trajectory, a first altitude adjustment operation can be performed on multiple first control points of the horizontal straight trajectory based on terrain information to obtain a first trajectory. The first trajectory is then sampled, and a second altitude adjustment operation is performed on the sampled trajectory points to generate the flight trajectory. For example, a smooth first trajectory is fitted based on the first control points after altitude adjustment and their corresponding arrival times. The first trajectory is then sampled to obtain new first control points and their corresponding arrival times. A first terrain altitude at the new first control point is determined based on terrain information. The altitude of the new first control point is adjusted based on the first terrain altitude. A smooth first trajectory is then refitted based on the new first control point with its adjusted altitude and corresponding arrival time. This sampling and altitude adjustment process is repeated for the new first trajectory to iterate and generate a new first trajectory. Since the altitude of the corresponding first control point is adjusted based on terrain information in each iteration, a first trajectory with altitude adapted to the terrain of the operational scenario can be generated after multiple iterations. When the maximum number of iterations is reached, iteration stops, and the latest fitted first trajectory is used as the flight trajectory. This embodiment continuously improves the adaptability of the first trajectory to the terrain of the work scene by repeatedly sampling and adjusting the altitude of the first trajectory, thereby improving the planning accuracy of the flight trajectory and realizing precise control of the UAV.

[0074] In this embodiment, when the real-time control strategy is a speed-priority control strategy, the flight speed can be allocated to the horizontal straight path between the trajectory start point and the trajectory end point according to the preset flight speed. This determines multiple first control points for controlling the UAV to reach the corresponding positions at the first planned arrival time. The flight speed of the UAV is prioritized through the first control points, and the altitude of the first control points is adjusted through terrain information to generate a terrain-following flight trajectory. This ensures both flight efficiency and flight safety of the UAV, enabling efficient and safe flight of the UAV in flat terrain operation scenarios.

[0075] When the real-time control strategy is a terrain-first control strategy, the terrain of the operational scenario can be given priority. That is, a terrain-following path is first planned based on terrain information, and then a terrain-following flight trajectory is generated based on the terrain-following path and a preset flight speed. This ensures both flight safety and drone flight efficiency, achieving efficient and safe drone flight in rugged terrain operational scenarios. For example, Figure 8 This is a flowchart illustrating the flight trajectory planning based on a terrain-priority control strategy and terrain information, provided in an embodiment of this application. Figure 8 As shown, the steps for planning the flight trajectory based on the terrain priority control strategy and terrain information specifically include S1203-S1204:

[0076] S1203. Determine the starting point and ending point of the trajectory. Based on the starting point and ending point of the trajectory and the terrain information, plan a first terrain-following path. The first terrain-following path includes multiple second control points. The second control points are used to control the flight altitude of the UAV at the corresponding second control points. The multiple second control points divide the first terrain-following path into multiple second path segments.

[0077] For example, the starting point of the drone's flight is determined as the starting point of the flight trajectory, and the ending point of the trajectory is determined based on the starting point, the preset trajectory length, and the preset operational route. For details, please refer to step S1201, which describes the steps for determining the starting and ending points of the trajectory.

[0078] Then, based on the terrain information, the horizontal straight path between the starting point and the ending point of the trajectory is adjusted to obtain the first terrain-following path adapted to the terrain of the operation scenario. The first terrain-following path is sampled to obtain multiple second control points.

[0079] Optionally, multiple third control points can be sampled on the horizontal straight path between the trajectory start and end points. The height of these third control points is adjusted based on terrain information to obtain multiple third control points with adjusted heights. These adjusted third control points are then thinned to obtain multiple second control points. Finally, these multiple second control points are fitted to obtain a smooth first terrain-following path. For example, multiple third control points are collected on the horizontal straight path between the trajectory start and end points using an equidistant sampling rule. The second terrain height at each third control point is determined based on terrain information, and the height of the corresponding third control point is adjusted according to the second terrain height. The second terrain height is the terrain height at a point in the operational scenario with the same horizontal coordinates as the third control point. Since the real-time control strategy is a terrain-priority control strategy, there is no limit to the adjustable height range of the third control points; that is, the terrain of the operational scenario is taken into account first. For example, Figure 9 This is a schematic diagram of the third control point before its height is adjusted, as provided in the embodiments of this application. Figure 10 This is a schematic diagram showing the height adjustment of the third control point provided in an embodiment of this application. For example... Figure 9 and Figure 10 As shown, the horizontal straight path 13 is the straight line segment between waypoint A and waypoint C, and the horizontal straight path 13 is the operation scenario 12. Multiple third control points 16 are sampled on the straight path 13. The height of the third control points 16 is adjusted according to the terrain height of the third control points 16 in the terrain information so that the multiple third control points 16 after the height adjustment can be connected to form a terrain-following path 17 adapted to the terrain of the operation scenario 12.

[0080] Next, a thinning algorithm, such as a distance thinning algorithm or an angle thinning algorithm, is used to thin out the multiple third control points after height adjustment. This removes third control points that do not significantly affect the shape of the terrain-following path, and the remaining third control points are used as second control points. For example, the included angle formed by any three consecutive third control points can be determined. If the included angle is greater than a preset angle threshold, it indicates that the line connecting the three consecutive third control points is approximately a straight line. Therefore, the middle third control point does not significantly affect the shape of the terrain-following path and can be removed. The order of the third control points is their order on the straight path. The third control points used to calculate the included angle are the third control points after height adjustment. According to the order of each third control point on the straight path, three consecutive control points are grouped together. If the included angle of this group is greater than a preset angle threshold, the middle third control point in that group is removed. For example... Figure 11 This is a schematic diagram of the second control point provided in an embodiment of this application. (Reference) Figure 10 and Figure 11 After thinning out the third control points after altitude adjustment, some third control points that do not significantly affect the shape of the terrain-following path 17 can be removed, resulting in second control points 18. The second control points 18 can be connected to form a terrain-following path 19. Compared to terrain-following path 17, terrain-following path 19 is simpler, allowing the UAV to maintain horizontal speed without frequent vertical adjustments during flight, thus improving flight efficiency. This embodiment reduces waypoints used for flight trajectory planning by thinning out the third control points after altitude adjustment, simplifying the route complexity and improving UAV flight efficiency.

[0081] S1204. Allocate speeds to each second path segment according to the preset flight speed, obtain the allocated speeds corresponding to each second path segment, and determine the second planned arrival time of the UAV to reach the second control point corresponding to the second path segment at the allocated speeds corresponding to the second path segment.

[0082] For example, a horizontal speed is allocated to the second path segment between two adjacent second control points according to a preset flight speed, and then the second planned arrival time of the UAV to each second control point is determined according to the horizontal speed and path length corresponding to the second path segment.

[0083] S1205. Generate a flight trajectory based on multiple second control points and their corresponding planned arrival times.

[0084] For example, a smooth flight trajectory can be fitted using multiple second control points and their corresponding arrival times. Figure 12 This is a schematic diagram of the flight trajectory provided in an embodiment of this application. For example... Figure 12As shown, the flight trajectory 20 fitted based on the second control point 18 is adapted to the terrain of the operation scenario 12 below, and the route of the flight trajectory 20 is simple, ensuring the flight safety of the UAV while taking into account the flight efficiency.

[0085] This embodiment, when the real-time control strategy is a terrain-priority control strategy, can adjust the altitude of each waypoint according to the terrain information for the horizontal straight path between the trajectory start point and the trajectory end point, thereby determining multiple second control points for controlling the UAV to reach the corresponding flight altitude. The flight safety of the UAV is prioritized through the second control points. Then, the arrival time of the UAV to the second control point is determined by the preset flight speed to generate a terrain-following flight trajectory. While ensuring flight safety, the flight efficiency of the UAV is also taken into account, realizing efficient and safe flight of the UAV in the operation scenario of rugged terrain.

[0086] When the real-time control strategy is a combined control strategy, a terrain-following path can be planned first, and then a terrain-following trajectory can be generated based on the terrain-following path and a preset flight speed. Finally, the height of the sampling points in the terrain-following trajectory is continuously adjusted through iteration to obtain a flight trajectory that better conforms to the terrain, so as to simultaneously take into account the flight efficiency and flight safety of the UAV, and achieve efficient and safe flight of the UAV in operational scenarios with transitional terrain. For example, Figure 13 This is a flowchart illustrating flight trajectory planning based on a combination of control strategy and terrain information, provided in an embodiment of this application. Figure 13 As shown, the steps for planning the flight trajectory based on the terrain priority control strategy and terrain information specifically include S1206-S1208:

[0087] S1205. Determine the starting point and ending point of the trajectory. Based on the starting point and ending point of the trajectory and the terrain information, plan a second terrain-following path. The second terrain-following path includes multiple fourth control points. The fourth control points are used to control the flight altitude of the UAV at the corresponding fourth control points.

[0088] For example, the starting point of the drone's flight is determined as the starting point of the flight trajectory, and the ending point of the trajectory is determined based on the starting point, the preset trajectory length, and the preset operational route. For details, please refer to step S1201, which describes the steps for determining the starting and ending points of the trajectory.

[0089] Next, multiple fourth control points were collected along the horizontal straight path between the path start points using an equidistant sampling rule. The third terrain height at each fourth control point was determined based on terrain information, and the height of the corresponding fourth control point was adjusted accordingly. The third terrain height is the terrain height at the location point with the same horizontal coordinates as the fourth control point in the operational scenario.

[0090] S1206. Multiple fourth control points are thinned to obtain multiple fifth control points. The third planned arrival time of the UAV to reach the fifth control point is determined according to the preset flight speed. The second trajectory is generated according to the fifth control point and the corresponding arrival time.

[0091] For example, multiple fourth control points after height adjustment are thinned using a thinning algorithm such as a distance thinning algorithm or an angle thinning algorithm to remove fourth control points that do not have a significant impact on the shape of the terrain path, and the remaining fourth control points are used as fifth control points.

[0092] Optionally, the included angle formed by any three consecutive fourth control points can be determined; if the included angle is greater than a preset angle threshold, the fourth control point in the middle of any three consecutive fourth control points is removed, and the remaining fourth control point is determined as the fifth control point.

[0093] The preset angle threshold is positively correlated with the first terrain priority weight. The order of the fourth control points is their order on the straight path. The fourth control point used to calculate the included angle is the fourth control point after adjusting the altitude. According to the order of each fourth control point on the straight path, four consecutive control points are divided into a group. If the included angle of the group is greater than the preset angle threshold, the fourth control point in the middle of the group is removed. This embodiment reduces the waypoints used to plan the second trajectory by thinning the fourth control points after adjusting the altitude, simplifying the route complexity of the second trajectory, and thus reducing the route complexity of the subsequently generated flight trajectory, which is beneficial to improving the flight efficiency of the UAV.

[0094] It should be noted that a higher priority weight for the first terrain indicates a more rugged transitional terrain. To ensure the terrain-following path can track the terrain, a higher preset angle threshold is set to avoid discarding important fourth control points. Conversely, a lower priority weight for the first terrain indicates a less rugged transitional terrain. To simplify the terrain-following path, a lower preset angle threshold is set to avoid retaining irrelevant fourth control points. Furthermore, the preset angle threshold used in the thinning algorithm of the combined control strategy is lower than that used in the thinning algorithm of the terrain-priority control strategy. This means that the terrain-priority control strategy plans a flight trajectory that better matches the terrain of the operational scenario than the combined control strategy, which also aligns with the terrain-priority control strategy's requirement to prioritize terrain considerations.

[0095] Next, a horizontal speed is assigned to the path between two adjacent fifth control points based on a preset flight speed. Then, the third planned arrival time of the UAV to the fifth control point is determined based on the horizontal speed and path length. A smooth second trajectory is then fitted using multiple fifth control points and their corresponding third planned arrival times.

[0096] S1207. Sample the second trajectory to obtain multiple sixth control points and the fourth planned arrival time of the UAV to the sixth control points. Adjust the altitude of the multiple sixth control points according to the terrain information. Generate a flight trajectory based on the adjusted sixth control points and the corresponding fourth planned arrival time.

[0097] For example, multiple sixth control points and their corresponding arrival times are obtained by sampling the second trajectory. The fourth terrain elevation at each sixth control point is determined based on terrain information. The elevation of the sixth control points is adjusted according to the fourth terrain elevation. A smooth second trajectory is then refitted based on the adjusted sixth control points and their corresponding arrival times. This sampling and elevation adjustment process is repeated for each new second trajectory to iterate and generate new trajectories. Since the elevation of the corresponding sixth control point is adjusted based on terrain information in each iteration, a second trajectory with an elevation adapted to the terrain of the operational scenario can be generated after multiple iterations. When the maximum number of iterations is reached, iteration stops, and the latest fitted second trajectory is used as the flight trajectory.

[0098] S130. When the UAV is flying based on the flight trajectory, determine the second scene information according to the terrain information, and adjust the real-time control strategy according to the second scene information.

[0099] For example, the drone flies based on a real-time planned flight trajectory. During flight, it adjusts its speed and direction according to the arrival time and attitude of each control point along the trajectory, ensuring it reaches the control point on time and maintains a safe altitude relative to the work environment, thus enabling safe and efficient flight in various terrains. During flight, sensing sensors continuously collect terrain information, and the drone updates its flight trajectory based on this information. Simultaneously, the drone can also determine a second scene based on the terrain information in real time. This second scene information is compared with the first scene information or the second scene information from the previous moment. If the difference is significant, it indicates that the current real-time control strategy is incompatible with the terrain type of the work environment, and the real-time control strategy is adjusted accordingly. The second scene information represents the real-time terrain type of the work environment.

[0100] Optionally, the second scene information can be determined based on terrain information collected historically and in real-time by the sensing sensors. For example, a terrain map of the work scene can be drawn based on the historically and in-time terrain information. The height variance is calculated based on the terrain height of each location point on the terrain map. If the height variance is greater than a preset variance threshold, the second scene information is determined to be rugged terrain; if the height variance is less than the preset variance threshold, the second scene information is determined to be flat terrain. Alternatively, the fourth terrain priority weight and the fourth speed priority weight in the second scene information can be determined based on the magnitude and difference between the height variance and the preset variance threshold.

[0101] It should be noted that during actual flight, the drone's actual flight speed significantly impacts the data collected by the sensing sensors. At high speeds, more attention needs to be paid to information ahead, while at low speeds, terrain integrity can be considered. Therefore, when the drone's speed exceeds a preset speed threshold, the sensing sensors collect terrain information in front of and below the drone; when the drone's speed is below the preset speed threshold, the sensing sensors collect terrain information in front of, above, and below the drone. Specifically, when the drone's actual flight speed exceeds the preset speed threshold, indicating high-speed flight, the sensing sensors collect terrain information in front of and below to avoid collecting too much invalid data and conserve sensor energy. When the drone's actual flight speed is below the preset speed threshold, indicating low-speed flight, the sensing sensors collect terrain information in front of, below, and above the drone to gather detailed terrain information for planning a high-precision flight trajectory and improving the drone's control accuracy.

[0102] After determining the fourth terrain priority weight and the fourth speed priority weight based on terrain information, the magnitudes of the fourth terrain priority weight and the fourth speed priority weight, as well as the difference between them and a preset difference threshold, can be compared. Based on the comparison results, the real-time control strategy adapted to the current terrain is determined. If the real-time control strategy adapted to the current terrain differs from the actual real-time control strategy used by the UAV, the UAV's real-time control strategy can be adjusted to the current terrain-adapted real-time control strategy. For example, if the current terrain-adapted real-time control strategy is a speed-priority control strategy while the UAV's actual real-time control strategy is a terrain-priority control strategy, then the UAV's real-time control strategy will be adjusted to a speed-priority control strategy. This embodiment determines real-time second scene information based on terrain information collected in real-time by sensing sensors during flight. The UAV's real-time control strategy is then adaptively adjusted according to the second scene information to adapt to the terrain type of the current operational scene. Based on the adjusted real-time control strategy and real-time terrain information, a flight trajectory adapted to the second scene information is planned, ensuring that the UAV's flight trajectory accurately tracks the terrain of the scene while also considering flight speed. This achieves autonomous flight of the UAV in any terrain scene, eliminating the need for the user to worry about the terrain type and the adapted terrain-following mode of the UAV's scene.

[0103] S140: The flight path is replanned based on the adjusted real-time control strategy and terrain information.

[0104] For example, the steps for replanning the flight trajectory are similar to those in S120, but the starting point of the flight trajectory is the real-time pose of the UAV. The process for planning the flight trajectory in S120 can be referred to, and will not be repeated here. After replanning the flight trajectory, the UAV can be controlled to fly based on the replanned trajectory.

[0105] In one embodiment, the UAV is equipped with a scene prediction system, a real-time control system, and a scene adaptation system. The scene prediction system acquires first scene information before the UAV performs a flight and provides this information to the real-time control system. The real-time control system determines a real-time control strategy based on the first scene information, plans a flight trajectory based on the real-time control strategy and terrain information collected by sensing sensors, and controls the UAV's flight according to the flight trajectory. The scene adaptation system determines whether the current terrain matches the real-time control strategy based on the terrain information; if they do not match, it notifies the real-time control system to adjust the real-time control strategy and then replans the flight trajectory.

[0106] Figure 14 This is a system framework diagram of the drone provided in an embodiment of this application. Figure 14 As shown, the scene prediction system can determine the first scene information before the UAV takes off based on the third scene information from the previous flight and / or the preset flight speed, and send the first scene information to the real-time control system. The real-time control system includes a speed-priority control system and a terrain-priority control system. When the real-time control system determines that the real-time control strategy is a speed-priority control strategy based on the first scene information, the speed-priority control system plans the flight trajectory according to the terrain information and the preset flight speed; when the real-time control system determines that the real-time control strategy is a terrain-priority control strategy based on the first scene information, the terrain-priority control system plans the flight trajectory according to the terrain information and the preset flight speed. Then, the control input of the UAV is determined according to the flight trajectory, and the control input is sent to the controller. The controller controls the UAV to fly along the flight trajectory according to the control input. The real-time control system sends the real-time control strategy to the scene adaptation system. The scene adaptation system determines the second scene information in real time based on the terrain information, determines the real-time control system adapted to the current terrain based on the second scene information, and notifies the real-time control system to adjust the real-time control strategy when the real-time control system adapted to the current terrain does not match the real-time control strategy adopted by the UAV.

[0107] Of course, real-time control systems can be internally divided not only into speed-priority control systems and terrain-priority control systems, but also into multi-level control systems or stepless control systems. In a multi-level control system, the speed-priority control system is at level one, the terrain-priority control system is at level one, and the combined control system can be either single-level or multi-level. In a stepless control system, the stepless control system is the real-time control system, which directly plans the flight trajectory based on real-time control strategies and terrain information, without distinguishing between different real-time control strategies.

[0108] In summary, the all-scenario adaptive flight method provided in this application initially determines the real-time control strategy based on the first scenario information. During initial flight, a flight trajectory adapted to the first scenario information is planned based on the real-time control strategy and the terrain information collected in real time by the sensing sensors. During flight, real-time second scenario information can be determined based on the terrain information, and the real-time control strategy is adaptively adjusted based on the second scenario information. Thus, a flight trajectory adapted to the second scenario information is planned based on the adjusted real-time control strategy and real-time terrain information, ensuring that the UAV's flight trajectory can accurately track the terrain of the scene while taking into account flight speed, thereby improving the UAV's flight safety and efficiency. The entire flight process can adaptively adjust the real-time control strategy and flight trajectory, realizing autonomous flight of the UAV in any terrain scenario. Users do not need to worry about the terrain type and the appropriate terrain-following mode of the scene in which the UAV is located. This solves the problem in the prior art that users need to judge terrain features and control the UAV to switch terrain-following modes, greatly simplifying the user's operation and avoiding safety hazards caused by misoperation.

[0109] Based on the above embodiments, Figure 15 This is a schematic diagram of the structure of an all-scenario adaptive flight device provided in an embodiment of this application. (Reference) Figure 15 The full-scenario adaptive flight device provided in this embodiment specifically includes: a strategy determination module 21, a trajectory planning module 22, a strategy adjustment module 23, and a trajectory adjustment module 24.

[0110] Among them, the strategy determination module 21 is configured to determine a real-time control strategy based on the first scene information. The real-time control strategy includes a speed-priority control strategy and a terrain-priority control strategy.

[0111] The trajectory planning module 22 is configured to acquire terrain information collected in real time by the sensing sensor and plan the flight trajectory based on the terrain information and real-time control strategy.

[0112] The strategy adjustment module 23 is configured to determine the second scene information based on the terrain information when the UAV is flying based on the flight trajectory, and adjust the real-time control strategy based on the second scene information.

[0113] The trajectory adjustment module 24 is configured to replan the flight trajectory based on the adjusted real-time control strategy and terrain information.

[0114] Based on the above embodiments, the all-scenario adaptive flight device includes a first scenario determination module, which includes: a first scenario determination unit configured to determine the first scenario information based on the third scenario information of the previous flight before determining the real-time control strategy based on the first scenario information; or, a second scenario determination unit configured to determine the first scenario information based on the operation task information; or, a third scenario determination unit configured to determine the first scenario information based on the third scenario information and the operation task information of the previous flight.

[0115] Based on the above embodiments, the first scenario determination unit includes: a first scenario determination subunit, configured to determine the third scenario information of the previous flight as the first scenario information of the current flight.

[0116] Based on the above embodiments, the second scenario determination unit includes: a second scenario determination subunit, configured to, when the current flight sortie is the first flight sortie, obtain a preset flight speed from the task information; if the preset flight speed is greater than a first speed threshold, determine the first scenario information as the first scenario; if the preset flight speed is not greater than the first speed threshold, determine the first scenario information as the second scenario; or, a third scenario determination subunit, configured to, when the current flight sortie is the first flight sortie, obtain a task area parameter from the task information; if the task area parameter is greater than a first area parameter threshold, determine the first scenario information as the second scenario; if the task area parameter is not greater than the first area parameter threshold, determine the first scenario information as the first scenario.

[0117] Based on the above embodiments, the first scenario information includes a first terrain priority weight and a first speed priority weight, the sum of which is equal to one. Correspondingly, the second scenario determination unit includes: a first speed acquisition subunit, configured to acquire a preset flight speed and a preset maximum speed from the task information when the current flight is the first flight; a first ratio determination subunit, configured to determine the speed ratio between the preset flight speed and the preset maximum speed; wherein the preset maximum speed is the maximum allowed flight speed of the UAV, and the preset flight speed is the planned flight speed of the UAV in the current flight; and a fourth scenario determination subunit, configured to determine the first terrain priority weight and the first speed priority weight based on the speed ratio and the preset second terrain priority weight and the second speed priority weight, wherein the second terrain priority weight and the second speed priority weight are equal and their sum is equal to one.

[0118] Based on the above embodiments, the fourth scenario determination subunit is specifically configured as follows: the product of the second terrain priority weight and the preset weight coefficient is added to the product of the speed ratio and the second speed priority weight to obtain the first speed priority weight, and the first terrain priority weight is determined according to the first speed priority weight; wherein, the preset weight coefficient is equal to 0.5.

[0119] Based on the above embodiments, the first scenario information includes a first terrain priority weight and a first speed priority weight; correspondingly, the third scenario determination unit includes: a weight acquisition subunit, configured to acquire the third terrain priority weight and the third speed priority weight from the third scenario information of the previous flight; a second ratio determination subunit, configured to acquire the preset flight speed and the preset maximum speed from the task information, and determine the speed ratio between the preset flight speed and the preset maximum speed; and a fifth scenario determination subunit, configured to determine the first terrain priority weight and the first speed priority weight based on the speed ratio and the third terrain priority weight and the third speed priority weight.

[0120] Based on the above embodiments, the fifth scenario determination subunit is specifically configured to determine the first speed priority weight by multiplying the third speed priority weight by the speed ratio when the third terrain priority weight is greater than the third speed priority weight, and then determine the first terrain priority weight based on the first speed priority weight; when the third terrain priority weight is less than the third speed priority weight, the first speed priority weight is obtained by adding the third terrain priority weight to the product of the third speed priority weight and the speed ratio, and then determine the first terrain priority weight based on the first speed priority weight.

[0121] Based on the above embodiments, the strategy determination module 21 includes: a first strategy determination unit configured to determine the corresponding real-time control strategy as a speed priority control strategy according to the first scenario; or, a second strategy determination unit configured to determine the corresponding real-time control strategy as a terrain priority control strategy according to the second scenario.

[0122] Based on the above embodiments, the first scene information includes a first terrain priority weight and a first speed priority weight; the strategy determination module 21 includes: a third strategy determination unit, configured to determine the real-time control strategy as a speed priority control strategy when the first speed priority weight is greater than the first terrain priority weight; and a fourth strategy determination unit, configured to determine the real-time control strategy as a terrain priority control strategy when the first speed priority weight is less than the first terrain priority weight.

[0123] Based on the above embodiments, when the real-time control strategy is a speed-priority control strategy, the trajectory planning module 22 includes: a straight trajectory planning unit, configured to determine the trajectory start point and trajectory end point, and plan a horizontal straight trajectory based on the trajectory start point, trajectory end point and preset flight speed, the horizontal straight trajectory including multiple first control points, the first control points being used to control the first planned arrival time of the UAV to the corresponding first control point; and a first flight trajectory planning unit, configured to adjust the altitude of the multiple first control points according to terrain information and generate a flight trajectory.

[0124] Based on the above embodiments, the straight trajectory planning unit includes: a first sampling subunit, configured to sample multiple first control points on a horizontal straight path between the trajectory start point and the trajectory end point, wherein the multiple first control points divide the horizontal straight path into multiple first path segments; a first speed allocation subunit, configured to allocate speed to each first path segment according to a preset flight speed, thereby obtaining the allocated speed corresponding to each first path segment; and a first arrival time determination subunit, configured to determine the first planned arrival time for the UAV to fly to the first control point corresponding to the first path segment at the allocated speed corresponding to the first path segment.

[0125] Based on the above embodiments, the first flight trajectory planning unit includes: a first trajectory generation subunit, configured to perform a first altitude adjustment operation on multiple first control points of a horizontal straight trajectory according to terrain information to obtain a first trajectory; and a first flight trajectory planning subunit, configured to sample the first trajectory, perform a second altitude adjustment operation on the sampled trajectory points, and generate a flight trajectory.

[0126] Based on the above embodiments, when the real-time control strategy is a terrain-priority control strategy, the trajectory planning module 22 includes: a first terrain-following path planning unit, configured to determine the trajectory start point and trajectory end point, and plan a first terrain-following path based on the trajectory start point, trajectory end point and terrain information. The first terrain-following path includes multiple second control points, which are used to control the flight altitude of the UAV at the corresponding second control points. The multiple second control points divide the first terrain-following path into multiple second path segments; a second speed allocation unit, configured to allocate speed to each second path segment according to a preset flight speed, obtain the allocated speed corresponding to each second path segment, and determine the second planned arrival time of the UAV to reach the second control point corresponding to the second path segment at the allocated speed corresponding to the second path segment; and a second flight trajectory planning unit, configured to generate a flight trajectory based on the multiple second control points and the corresponding second planned arrival time.

[0127] Based on the above embodiments, the first terrain-following path planning unit includes: a second sampling subunit, configured to sample multiple third control points on a horizontal straight path between the trajectory start point and the trajectory end point, and adjust the height of the multiple third control points according to the terrain information to obtain multiple third control points after height adjustment; and a first thinning subunit, configured to perform thinning processing on the multiple third control points after height adjustment to obtain multiple second control points.

[0128] Based on the above embodiments, the straight trajectory planning unit or the first terrain-following path planning unit includes: a starting point determination subunit, configured to determine the flight starting point of the UAV as the trajectory starting point, and determine the trajectory ending point according to the trajectory starting point, a preset trajectory length, and a preset operation route.

[0129] Based on the above embodiments, the real-time control strategy further includes a combined control strategy. The first scene information includes a first terrain priority weight and a first speed priority weight. Correspondingly, the strategy determination module 21 includes: a fifth strategy determination unit, configured to determine the real-time control strategy as a speed priority control strategy when the first speed priority weight is greater than the first terrain priority weight and the difference between the two is greater than a preset difference threshold; a sixth strategy determination unit, configured to determine the real-time control strategy as a terrain priority control strategy when the first terrain priority weight is greater than the first speed priority weight and the difference between the two is greater than a preset difference threshold; and a seventh strategy determination unit, configured to determine the real-time control strategy as a combined control strategy when the difference between the first terrain priority weight and the first speed priority weight is less than a preset difference threshold.

[0130] Based on the above embodiments, when the real-time control strategy is a combined control strategy; the trajectory planning module 22 includes: a second terrain-following path planning unit, configured to determine the trajectory start point and trajectory end point, and plan a second terrain-following path based on the trajectory start point, trajectory end point and terrain information, the second terrain-following path including multiple fourth control points, the fourth control points being used to control the flight altitude of the UAV at the corresponding fourth control point; a second trajectory planning unit, configured to perform thinning processing on the multiple fourth control points to obtain multiple fifth control points, determine the third planned arrival time of the UAV reaching the fifth control points based on a preset flight speed, and generate a second trajectory based on the fifth control points and the corresponding arrival time; a third flight trajectory planning unit, configured to sample the second trajectory to obtain multiple sixth control points and the fourth planned arrival time of the UAV reaching the sixth control points, adjust the altitude of the multiple sixth control points based on terrain information, and generate a flight trajectory based on the adjusted altitude of the sixth control points and the corresponding fourth planned arrival time.

[0131] Based on the above embodiments, the second trajectory planning unit includes: an angle determination subunit, configured to determine the angle formed by any three consecutive fourth control points; and a second thinning subunit, configured to, when the angle is greater than a preset angle threshold, remove the fourth control point in the middle of any three consecutive fourth control points and determine the remaining fourth control point as the fifth control point.

[0132] Based on the above embodiments, the all-scenario adaptive flight device includes a second scene determination module. The second scene determination module is configured to determine second scene information based on terrain information collected historically and in real-time by the perception sensor. Specifically, when the current flight speed of the drone is greater than a preset speed threshold, the perception sensor collects terrain information in front of and below the drone; when the current flight speed of the drone is less than the preset speed threshold, the perception sensor collects terrain information in front of, above, and below the drone.

[0133] The all-scenario adaptive flight device provided in this application embodiment, as described above, initially determines the real-time control strategy based on the first scenario information. During initial flight, a flight trajectory adapted to the first scenario information is planned based on the real-time control strategy and the terrain information collected in real time by the sensing sensors. During flight, real-time second scenario information can be determined based on the terrain information, and the real-time control strategy is adaptively adjusted based on the second scenario information. Thus, a flight trajectory adapted to the second scenario information is planned based on the adjusted real-time control strategy and real-time terrain information, ensuring that the UAV's flight trajectory can accurately track the terrain of the scene while taking into account flight speed, thereby improving the UAV's flight safety and efficiency. The entire flight process can adaptively adjust the real-time control strategy and flight trajectory, realizing autonomous flight of the UAV in any terrain scenario. Users do not need to worry about the terrain type and the corresponding terrain-following mode of the scene in which the UAV is located. This solves the problem in the prior art that users need to judge terrain features and control the UAV to switch terrain-following modes, greatly simplifying the user's operation and avoiding safety hazards caused by misoperation.

[0134] The all-scenario adaptive flight device provided in this application embodiment can be used to execute the all-scenario adaptive flight method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0135] Figure 16 This is a schematic diagram of the structure of a drone provided in an embodiment of this application, with reference to... Figure 16The drone includes a processor 31, a memory 32, a communication device 33, an input device 34, and an output device 35. The number of processors 31 and the number of memories 32 in this all-scenario adaptive flight device can be one or more. The processor 31, memory 32, communication device 33, input device 34, and output device 35 of this all-scenario adaptive flight device can be connected via a bus or other means.

[0136] The memory 32, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as program instructions / modules corresponding to the all-scenario adaptive flight method in any embodiment of this application (e.g., the strategy determination module 21, trajectory planning module 22, strategy adjustment module 23, and trajectory adjustment module 24 in the all-scenario adaptive flight device). The memory 32 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created based on the use of the device, etc. Furthermore, the memory 32 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the memory may further include memory remotely located relative to the processor, and these remote memories can be connected to the device via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0137] The communication device 33 is used for data transmission.

[0138] The processor 31 executes various functional applications and data processing of the device by running software programs, instructions and modules stored in the memory 32, thereby realizing the above-mentioned all-scenario adaptive flight method.

[0139] Input device 34 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the device. Output device 35 may include display devices such as a display screen.

[0140] The drones provided above can be used to execute the all-scenario adaptive flight method provided in the above embodiments, and have corresponding functions and beneficial effects.

[0141] This application embodiment also provides a storage medium containing computer-executable instructions. When executed by a computer processor, the computer-executable instructions are used to execute a full-scene adaptive flight method. The full-scene adaptive flight method includes: determining a real-time control strategy based on first scene information, the real-time control strategy including a speed-priority control strategy and a terrain-priority control strategy; acquiring terrain information collected in real time by a perception sensor, and planning a flight trajectory based on the terrain information and the real-time control strategy; determining second scene information based on the terrain information while the UAV is flying based on the flight trajectory, and adjusting the real-time control strategy based on the second scene information; and replanning the flight trajectory based on the adjusted real-time control strategy and the terrain information.

[0142] Storage medium – any type of memory device or storage device. The term “storage medium” is intended to include: mounting media, such as CD-ROM, floppy disk, or magnetic tape devices; computer system memory or random access memory, such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. Storage medium may also include other types of memory or combinations thereof. Furthermore, storage medium may reside in a first computer system in which the program is executed, or it may reside in a different second computer system connected to the first computer system via a network (such as the Internet). The second computer system can provide program instructions to the first computer for execution. The term “storage medium” can include two or more storage media residing in different locations (e.g., in different computer systems connected via a network). Storage medium may store program instructions (e.g., specifically implemented as a computer program) executable by one or more processors.

[0143] Of course, the computer-executable instructions provided in the embodiments of this application are not limited to the above-mentioned all-scenario adaptive flight method, but can also execute related operations in the all-scenario adaptive flight method provided in any embodiment of this application.

[0144] The all-scenario adaptive flight device, storage medium, and UAV provided in the above embodiments can execute the all-scenario adaptive flight method provided in any embodiment of this application. For technical details not described in detail in the above embodiments, please refer to the all-scenario adaptive flight method provided in any embodiment of this application.

[0145] The above description is merely a preferred embodiment and the technical principles employed in this application. This application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions that can be made by those skilled in the art will not depart from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this application. The scope of this application is determined by the scope of the claims.

Claims

1. A full-scenario adaptive flight method, characterized in that, include: A real-time control strategy is determined based on the first scenario information, and the real-time control strategy includes a speed-priority control strategy and a terrain-priority control strategy. The system acquires terrain information collected in real time by the sensing sensors and plans the flight trajectory based on the terrain information and the real-time control strategy. When the UAV flies based on the flight trajectory, the second scene information is determined according to the terrain information, and the real-time control strategy is adjusted according to the second scene information; The flight trajectory was replanned based on the adjusted real-time control strategy and the terrain information.

2. The all-scenario adaptive flight method according to claim 1, characterized in that, Before determining the real-time control strategy based on the first scenario information, the method further includes: The first scenario information is determined based on the third scenario information from the previous flight; or, Determine the first scenario information based on the task information; or... The first scenario information is determined based on the third scenario information and the mission information of the previous flight.

3. The all-scenario adaptive flight method according to claim 2, characterized in that, The step of determining the first scenario information based on the third scenario information of the previous flight includes: The third scenario information from the previous flight sortie is used as the first scenario information for this flight sortie.

4. The all-scenario adaptive flight method according to claim 2, characterized in that, The step of determining the first scenario information based on the task information includes: If this is the first flight sortie, a preset flight speed is obtained from the task information. If the preset flight speed is greater than a first speed threshold, the first scenario information is determined to be the first scenario; if the preset flight speed is not greater than the first speed threshold, the first scenario information is determined to be the second scenario. Or... If this flight is the first flight, the operation area parameter in the operation task information is obtained. If the operation area parameter is greater than the first area parameter threshold, the first scene information is determined to be the second scene. If the operation area parameter is not greater than the first area parameter threshold, the first scene information is determined to be the first scene.

5. The all-scenario adaptive flight method according to claim 2, characterized in that, The first scene information includes a first terrain priority weight and a first speed priority weight, and the sum of the first terrain priority weight and the first speed priority weight is equal to one. The step of determining the first scenario information based on the task information includes: If this is the first flight sortie, obtain the preset flight speed and preset maximum speed from the task information. Determine the speed ratio between the preset flight speed and the preset maximum speed; wherein, the preset maximum speed is the maximum permitted flight speed of the UAV, and the preset flight speed is the planned flight speed of the UAV in this flight sortie; The first terrain priority weight and the first speed priority weight are determined based on the speed ratio and the preset second terrain priority weight and second speed priority weight. The second terrain priority weight and the second speed priority weight are equal and their sum is equal to one.

6. The all-scenario adaptive flight method according to claim 5, characterized in that, The step of determining the first terrain priority weight and the first speed priority weight based on the speed ratio and the preset second terrain priority weight and second speed priority weight includes: The first speed priority weight is obtained by multiplying the second terrain priority weight by the preset weight coefficient and the speed ratio by the second speed priority weight. The first terrain priority weight is determined based on the first speed priority weight. The preset weight coefficient is equal to 0.

5.

7. The all-scenario adaptive flight method according to claim 2, characterized in that, The first scene information includes a first terrain priority weight and a first speed priority weight, and the sum of the first terrain priority weight and the first speed priority weight is equal to one. The process of determining the first scenario information based on the third scenario information and operational task information of the previous flight includes: Obtain the third terrain priority weight and third speed priority weight from the third scene information of the previous flight; Obtain the preset flight speed and preset maximum speed from the task information, and determine the speed ratio between the preset flight speed and the preset maximum speed; The first terrain priority weight and the first speed priority weight are determined based on the speed ratio, the third terrain priority weight, and the third speed priority weight.

8. The all-scenario adaptive flight method according to claim 7, characterized in that, The step of determining the first terrain priority weight and the first speed priority weight based on the speed ratio, the third terrain priority weight, and the third speed priority weight includes: If the third terrain priority weight is greater than the third speed priority weight, the product of the third speed priority weight and the speed ratio is determined as the first speed priority weight, and the first terrain priority weight is determined based on the first speed priority weight. If the third terrain priority weight is less than the third speed priority weight, the product of the third speed priority weight and the speed ratio is added to the third terrain priority weight to obtain the first speed priority weight, and the first terrain priority weight is determined based on the first speed priority weight.

9. The all-scenario adaptive flight method according to claim 4, characterized in that, The step of determining the real-time control strategy based on the first scenario information includes: The real-time control strategy is determined to be a speed-priority control strategy based on the first scenario; or, the real-time control strategy is determined to be a terrain-priority control strategy based on the second scenario.

10. The all-scenario adaptive flight method according to claim 1, characterized in that, The first scene information includes a first terrain priority weight and a first speed priority weight; the step of determining a real-time control strategy based on the first scene information includes: If the first speed priority weight is greater than the first terrain priority weight, the real-time control strategy is determined to be the speed priority control strategy. If the first speed priority weight is less than the first terrain priority weight, the real-time control strategy is determined to be the terrain priority control strategy.

11. The all-scenario adaptive flight method according to claim 1, characterized in that, When the real-time control strategy is a speed-priority control strategy, the step of planning the flight trajectory based on the terrain information and the real-time control strategy includes: Determine the starting point and ending point of the trajectory, and plan a horizontal straight trajectory based on the starting point, the ending point and the preset flight speed. The horizontal straight trajectory includes multiple first control points, and the first control points are used to control the first planned arrival time of the UAV to reach the corresponding first control point. The altitude of the plurality of first control points is adjusted based on the terrain information, and the flight trajectory is generated.

12. The all-scenario adaptive flight method according to claim 11, characterized in that, The step of planning a horizontal straight trajectory based on the trajectory start point, the trajectory end point, and a preset flight speed includes: Multiple first control points are sampled on the horizontal straight path between the starting point and the ending point of the trajectory, and the multiple first control points divide the horizontal straight path into multiple first path segments; Based on the preset flight speed, a speed is allocated to each of the first path segments to obtain the allocated speed corresponding to each of the first path segments; Determine the first planned arrival time of the UAV at the allocated speed corresponding to the first path segment to the first control point corresponding to the first path segment.

13. The all-scenario adaptive flight method according to claim 11, characterized in that, The step of adjusting the altitude of the plurality of first control points based on the terrain information and generating the flight trajectory includes: Based on the terrain information, a first height adjustment operation is performed on multiple first control points of the horizontal straight line trajectory to obtain a first trajectory; The first trajectory is sampled, the sampled trajectory points are adjusted to a second altitude, and a flight trajectory is generated.

14. The all-scenario adaptive flight method according to claim 1, characterized in that, When the real-time control strategy is a terrain-first control strategy, the step of planning the flight trajectory based on the terrain information and the real-time control strategy includes: Determine the starting point and ending point of the trajectory, and plan a first terrain-following path based on the starting point, the ending point and the terrain information. The first terrain-following path includes multiple second control points. The second control points are used to control the flight altitude of the UAV at the corresponding second control points. The multiple second control points divide the first terrain-following path into multiple second path segments. Based on the preset flight speed, a speed is allocated to each of the second path segments to obtain the allocated speed corresponding to each of the second path segments, and the second planned arrival time of the UAV to reach the second control point corresponding to the second path segment at the allocated speed corresponding to the second path segment is determined. A flight path is generated based on multiple second control points and their corresponding planned arrival times.

15. The all-scenario adaptive flight method according to claim 14, characterized in that, The step of planning a first terrain-following path based on the trajectory start point, the trajectory end point, and the terrain information includes: Multiple third control points are sampled on the horizontal straight path between the starting point and the ending point of the trajectory. The height of the multiple third control points is adjusted according to the terrain information to obtain multiple third control points with adjusted height. Multiple second control points are obtained by thinning out the multiple third control points after adjusting the height.

16. The all-scenario adaptive flight method according to claim 11 or 14, characterized in that, Determining the starting point and ending point of the trajectory includes: The flight start point of the UAV is determined as the trajectory start point, and the trajectory end point is determined based on the trajectory start point, the preset trajectory length, and the preset operation route.

17. The all-scenario adaptive flight method according to claim 1, characterized in that, The real-time control strategy further includes a combined control strategy, wherein the first scene information includes a first terrain priority weight and a first speed priority weight; the step of determining the real-time control strategy based on the first scene information includes: If the first speed priority weight is greater than the first terrain priority weight and the difference between the two is greater than a preset difference threshold, the real-time control strategy is determined to be a speed priority control strategy. If the first terrain priority weight is greater than the first speed priority weight and the difference between the two is greater than a preset difference threshold, the real-time control strategy is determined to be the terrain priority control strategy. If the difference between the first terrain priority weight and the first speed priority weight is less than a preset difference threshold, the real-time control strategy is determined to be a combined control strategy.

18. The all-scenario adaptive flight method according to claim 1, characterized in that, When the real-time control strategy is a combined control strategy, the step of planning the flight trajectory based on the terrain information and the real-time control strategy includes: Determine the trajectory start point and trajectory end point, and plan a second terrain-following path based on the trajectory start point, trajectory end point and terrain information. The second terrain-following path includes multiple fourth control points, which are used to control the flight altitude of the UAV at the corresponding fourth control points. Multiple fourth control points are thinned to obtain multiple fifth control points. The third planned arrival time of the UAV to the fifth control point is determined according to the preset flight speed. A second trajectory is generated according to the fifth control point and the corresponding arrival time. The second trajectory is sampled to obtain multiple sixth control points and the fourth planned arrival time of the UAV to the sixth control points. The altitude of the multiple sixth control points is adjusted according to the terrain information. The flight trajectory is generated based on the sixth control points after the altitude adjustment and the corresponding fourth planned arrival time.

19. The all-scenario adaptive flight method according to claim 18, characterized in that, The process of thinning the plurality of fourth control points to obtain a plurality of fifth control points includes: Determine the included angle formed by any three consecutive fourth control points; If the included angle is greater than a preset angle threshold, the fourth control point in the middle of any three consecutive fourth control points is removed, and the remaining fourth control point is determined as the fifth control point.

20. The all-scenario adaptive flight method according to claim 1, characterized in that, The step of determining the second scene information based on the terrain information includes: The second scene information is determined based on the terrain information collected historically and in real-time by the sensing sensors; When the current flight speed of the drone is greater than a preset speed threshold, the sensing sensor collects terrain information in front of and below the drone; when the current flight speed of the drone is less than the preset speed threshold, the sensing sensor collects terrain information in front of, above, and below the drone.

21. A full-scenario adaptive flight device, characterized in that, include: The strategy determination module is configured to determine a real-time control strategy based on the first scene information, the real-time control strategy including a speed-priority control strategy and a terrain-priority control strategy. The trajectory planning module is configured to acquire terrain information collected in real time by the sensing sensors, and plan the flight trajectory based on the terrain information and the real-time control strategy. The strategy adjustment module is configured to determine second scene information based on the terrain information and adjust the real-time control strategy based on the second scene information when the UAV is flying based on the flight trajectory. The trajectory adjustment module is configured to replan the flight trajectory based on the adjusted real-time control strategy and the terrain information.

22. A full-scenario adaptive flight device, characterized in that, include: One or more processors; A memory that stores one or more programs, which, when executed by one or more processors, enable the one or more processors to implement the all-scenario adaptive flight method as described in any one of claims 1-20.

23. A storage medium containing computer-executable instructions, characterized in that, The computer-executable instructions, when executed by a computer processor, are used to perform the all-scenario adaptive flight method as described in any one of claims 1-20.

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