Flight information planning method and device, unmanned aerial vehicle and readable storage medium

Abstract

The embodiment of the invention provides a flight information planning method and device, an unmanned aerial vehicle and a readable storage medium, and relates to the technical field of unmanned aerial vehicles. The method comprises the following steps: obtaining an initial transportation route of a target cargo hoisted by an unmanned aerial vehicle; extracting a steering route segment from the initial transportation route; and for each steering leg, first flight information of the steering leg is determined by taking a first cargo deflection condition in a preset deflection range when the unmanned aerial vehicle hoists the target cargo based on the steering leg as a target, and the first flight information is used for indicating a flight route and a flight speed used when the unmanned aerial vehicle hoists the target cargo based on the steering leg. Therefore, flight information that the unmanned aerial vehicle can automatically hoist goods at the steering leg and can guarantee safety can be obtained, and a large amount of manpower is saved.

Description

Technical Field

[0001] The present application relates to the field of unmanned aerial vehicle technology, and more specifically, to a flight information planning method, device, unmanned aerial vehicle, and readable storage medium. Background Art

[0002] A drone is an unmanned aircraft that is controlled by a radio remote control device and a self-contained program control device. Currently, when goods need to be transported, a drone is connected to the goods with a rope, and then the drone is manually controlled to fly, so that the goods can be transported from one location to another. Manual remote control is used every time to control the flight of a drone carrying goods. Although the transportation purpose can be achieved, the lifting process generally passes through a turning section, and the operation during the turning section is more complicated, which requires a lot of manpower. Summary of the invention

[0003] The embodiments of the present application provide a flight information planning method, device, drone and readable storage medium, which aims to ensure that the degree of cargo sway is within a preset sway range when lifting cargo based on a turning section, and determines the flight route and flight speed for the drone to automatically lift cargo based on the turning section, so that the drone can automatically lift cargo in the turning section and ensure safety, without the need for manual remote control of the drone flight each time, thereby reducing labor costs.

[0004] The embodiments of the present application can be implemented as follows:

[0005] In a first aspect, an embodiment of the present application provides a flight information planning method, the method comprising:

[0006] Obtain the initial transport route for the drone to transport the target cargo;

[0007] extracting a diversion segment from the initial transport route;

[0008] For each turning segment, the first flight information of the turning segment is determined with the goal that the first cargo swing condition when the UAV lifts the target cargo based on the turning segment is within a preset swing range, wherein the first flight information is used to indicate the flight route and flight speed used by the UAV when lifting the target cargo based on the turning segment.

[0009] In a second aspect, an embodiment of the present application provides a flight information planning device, the device comprising:

[0010] An acquisition module is used to obtain the initial transportation route for the drone to transport the target cargo;

[0011] An extraction module, used for extracting a diverting segment from the initial transport route;

[0012] The planning module is used to determine the first flight information of each turning segment, with the first cargo swing condition when the UAV lifts the target cargo based on the turning segment being within a preset swing range as the goal, wherein the first flight information is used to indicate the flight route and flight speed used by the UAV when lifting the target cargo based on the turning segment.

[0013] In a third aspect, an embodiment of the present application provides a drone, comprising a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor can execute the machine executable instructions to implement the flight information planning method described in the aforementioned embodiment.

[0014] In a fourth aspect, an embodiment of the present application provides a readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the flight information planning method as described in the aforementioned embodiment is implemented.

[0015] The flight information planning method, device, drone and readable storage medium provided in the embodiment of the present application first obtain the initial transport route for the drone to lift the target cargo, then extract the turning segment from the initial transport route, and then for each turning segment, with the first cargo sway condition when the drone lifts the target cargo based on the turning segment within the preset sway range as the goal, determine the first flight information of the turning segment, the first flight information is used to indicate the flight route and flight speed used by the drone when lifting the target cargo based on the turning segment. In this way, by determining the flight route and flight speed for the drone to automatically lift the cargo in the turning segment with the cargo sway degree being small in the turning segment, the drone can automatically lift the cargo and ensure safety, without the need to manually remotely control the drone flight each time, which can reduce labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 A block diagram of a drone provided in an embodiment of the present application;

[0018] Figure 2 One of the flowcharts of the flight information planning method provided in the embodiment of the present application;

[0019] Figure 3 for Figure 2A schematic flow chart of the sub-steps included in step S130;

[0020] Figure 4 The second flowchart of the flight information planning method provided in the embodiment of the present application;

[0021] Figure 5 A block diagram of a flight information planning device provided in an embodiment of the present application.

[0022] Icon: 100 - drone; 110 - memory; 120 - processor; 130 - communication unit; 200 - flight information planning device; 210 - acquisition module; 220 - extraction module; 230 - planning module. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0024] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0025] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0026] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0027] Please refer to Figure 1 , Figure 1A block diagram of a drone 100 provided in an embodiment of the present application. The drone 100 may be, but is not limited to, a fixed-wing drone, a rotary-wing drone, etc. The drone 100 may include a memory 110, a processor 120, and a communication unit 130. The memory 110, the processor 120, and the communication unit 130 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components may be electrically connected to each other via one or more communication buses or signal lines.

[0028] The memory 110 is used to store programs or data. The memory 110 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc.

[0029] The processor 120 is used to read / write data or programs stored in the memory 110 and execute corresponding functions. For example, the memory 110 stores a flight information planning device 200, and the flight information planning device 200 includes at least one software function module that can be stored in the memory 110 in the form of software or firmware. The processor 120 executes various functional applications and data processing by running software programs and modules stored in the memory 110, such as the flight information planning device 200 in the embodiment of the present application, that is, realizing the flight information planning method in the embodiment of the present application.

[0030] The communication unit 130 is used to establish a communication connection between the drone 100 and other communication terminals through a network, and to send and receive data through the network.

[0031] It should be understood that Figure 1 The structure shown is only a schematic diagram of the structure of the drone 100. The drone 100 may also include Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown. Figure 1 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0032] Please refer to Figure 2 , Figure 2The flowchart of the flight information planning method provided in the embodiment of the present application is shown in FIG. The method can be applied to the above-mentioned UAV. The specific process of the flight information planning method is described in detail below. In this embodiment, the method may include steps S110 to S140.

[0033] Step S110, obtaining an initial transportation route for the drone to transport the target cargo.

[0034] In this embodiment, the target cargo is the cargo that the drone subsequently lifts based on the flight information obtained through planning. The initial transport route is the flight route that the drone initially determines when lifting the target cargo. The two endpoints of the initial transport route may be loading and unloading points. The specific method for obtaining the initial transport route may be set in combination with actual conditions and is not specifically limited here.

[0035] Step S120: extracting a diverting segment from the initial transport route.

[0036] In this embodiment, the initial transport route may be analyzed to determine the turning segments included in the initial transport route. The turning segments are segments in the initial transport route where the angle is less than a preset angle. The turning segments may be determined from the initial transport route by analyzing the angle. The specific number of the turning segments obtained by division is determined by the initial transport route.

[0037] Step S130, for each turning segment, taking the first cargo swing condition when the drone lifts the target cargo based on the turning segment within a preset swing range as a target, determining the first flight information of the turning segment.

[0038] The higher the flight speed during lifting, the higher the lifting efficiency. However, if the route has a certain change of direction, the drone's flying speed during the turning segment is too high, which will cause the suspended cargo to sway seriously, affecting the safety of the aircraft. Therefore, in this embodiment, for each turning segment, the first cargo sway condition when the drone lifts the target cargo based on the turning segment is within the preset sway range, and the first flight information of the turning segment is determined. Among them, the first cargo condition is used to indicate the degree of sway of the target cargo during the lifting process based on the turning segment. The first cargo sway condition is within the preset sway range, indicating that the sway degree is small. The first flight information of a turning segment is used to indicate the flight route and flight speed of the drone when it subsequently lifts the target cargo based on the turning segment. The flight route when flying based on the turning segment may be the same as or different from the turning segment, which is determined by the specific method of determining the first flight information. In this way, the safety of the drone in the turning segment can be guaranteed.

[0039] The flight route indicated by the first flight information of each of the above-mentioned turning segments is the turning route that the UAV will subsequently use when lifting the target cargo in the turning segment, that is, the UAV will subsequently fly automatically according to the turning route; and, the first flight information of the turning segment in the initial transport route is obtained with the goal of minimizing the degree of cargo sway when flying in the turning segment. Therefore, it can also reduce the situation where the cargo sway is serious due to the fast speed of the turning segment, thereby ensuring the safety of the aircraft.

[0040] Optionally, as a possible implementation method, the initial transport route is obtained based on the recorded information obtained by route recording. After the route recording function is turned on, when the user manually flies the drone (with or without lifting cargo), the flight control records the coordinate position points of the current drone at fixed time intervals to fit the historical trajectory of the flight, and the recorded coordinate position points can be saved in the recorded information. After the recording is completed, the recorded information includes multiple historical coordinate position points, and the above historical coordinate position points are three-dimensional position points. After the recording is completed, all the coordinate position points in the recorded information are connected, which is the historical route of the drone. The automatic flight of the drone can be performed according to each of these coordinate position points. The drone can automatically fly from the starting point to the end point or the end point back to the starting point according to the historical route. The above historical route can be called a recorded route. That is, the initial transport route can be a recorded route, that is, a recorded route. It can be understood that the starting point and end point of the historical trajectory recorded can be the same as the loading and unloading point of the target cargo (that is, the transportation starting point and transportation end point of the target cargo).

[0041] Optionally, as another possible implementation method, information on loading and unloading points and obstacles between the loading and unloading points may be obtained to perform route planning, thereby obtaining a route as the initial transportation route.

[0042] After the initial transportation route is obtained, the diversion segment may be extracted from the initial transportation route through analysis.

[0043] The cargo sway problem needs to be considered in the turning segment. The speed of the turning segment cannot be too high, otherwise the cargo sway will seriously affect flight safety; the speed of the turning segment cannot be too low, otherwise the operation efficiency will be affected. Based on the above requirements, the first flight information of each turning segment in the initial transport route can be analyzed and obtained. Among them, the first flight information includes the target flight speed, and the target flight is the flight speed indicated by the first flight information.

[0044] As a possible implementation method, the first flight information of a turning segment can be determined in the following way. When the drone uses different rope lengths to lift cargoes of different weights and flies routes of different curvatures at different flight speeds, the degree of sway of the cargo (i.e., the sway of the second cargo) can be measured in advance, and the maximum flight speed with the sway degree within the preset sway range can be screened out to obtain multiple sample information and corresponding sample speeds. The sample information includes rope length, weight, and route curvature (i.e., the curvature of the route), and the sample speed is the maximum flight speed of the second cargo sway under the corresponding sample information within the preset sway range. Afterwards, a target model is obtained by training based on the above multiple sample information and the corresponding sample speeds. The target model includes the corresponding relationship between the maximum flight speed and the cargo weight, rope length, and route curvature. The rope length represents the distance between the lifted cargo and the drone.

[0045] When performing flight information planning, for a turning segment, the curvature of the turning segment, the rope length when the drone is lifting the target cargo, and the cargo weight can be input into a pre-trained target model, and the speed output by the target model is used as the target flight speed corresponding to the turning segment. The flight route indicated by the first flight information corresponding to the turning segment is the same as that of the turning segment. The above processing is performed for each turning segment in the initial transport route to obtain the first flight information of each turning segment.

[0046] In this way, through the above-mentioned adaptive turning segment speed determination method, the appropriate turning speed is determined according to the curvature of the turning segment, the weight of the target cargo, and the length of the rope when the drone subsequently lifts the target cargo, which can take into account both transportation efficiency and flight safety.

[0047] The inventor of the present application has found through research that the above method of training the target model and then obtaining the target flight speed based on the target model is relatively complicated to implement. When establishing the correspondence between the maximum flight speed and the cargo weight, rope length, and the curvature of the route, there are too many variables to consider, and it is troublesome to collect data. As another possible implementation method, the initial transport route is a recorded route, which can be obtained through Figure 3 The first flight information of the turning segment is obtained in a manner shown in FIG. 1 without collecting a large amount of data to train the model. In this manner, the cargo weight and corresponding rope length of the target cargo are the same as the cargo weight and rope length hoisted during the route recording. Please refer to Figure 3 , Figure 3 for Figure 2 Schematic diagram of the flow of sub-steps included in step S130. In this embodiment, step S130 may include sub-steps S131 to S132.

[0048] Sub-step S131, judging whether the third cargo swing condition corresponding to the turning segment during the recording process exceeds the preset swing range according to the recording information, and obtaining a judgment result.

[0049] Sub-step S132, obtaining first flight information corresponding to the turning segment according to the recorded information and the judgment result.

[0050] In this embodiment, when recording the route, the drone did not fly in the air, but lifted the cargo. In the route recording, the third cargo yaw of the cargo lifted by the drone is also recorded; that is, the recording information includes not only each position, but also the third cargo yaw corresponding to each position. Among them, the third cargo yaw can be obtained based on the IMU (Inertial Measurement Unit) data on the hook.

[0051] For each turning segment, the third cargo sway corresponding to the turning segment can be obtained from the recording information, and it is determined whether the third cargo sway corresponding to the turning segment exceeds the preset sway range to obtain a determination result. The determination result is used to indicate whether the third cargo sway corresponding to the turning segment exceeds the preset sway range. If the third cargo sway corresponding to the turning segment exceeds the preset sway range, it means that the sway of the cargo hoisted in the turning segment in the recording is too large.

[0052] As a possible implementation, the cargo yaw condition may be represented by a pitch angle and / or a roll angle, and correspondingly, the first cargo yaw condition includes a first pitch angle and / or a first roll angle, the second cargo yaw condition includes a second pitch angle and / or a second roll angle, and the third cargo yaw condition includes a third pitch angle and / or a third roll angle. Whether the third cargo yaw condition exceeds the preset yaw range may be determined in the following manner.

[0053] When the yaw condition is represented by a pitch angle and a roll angle, determine whether the third pitch angle is greater than the first preset pitch angle, and determine whether the third roll angle is greater than the first preset roll angle. The first preset pitch angle and the first preset roll angle can be set in combination with actual needs. If the third pitch angle is greater than the first preset pitch angle or the third roll angle is greater than the first preset roll angle, it can be determined that the yaw condition of the third cargo exceeds the preset yaw range. If the third pitch angle is less than or equal to the first preset pitch angle and the third roll angle is less than or equal to the first preset roll angle, it can be determined that the yaw condition of the third cargo does not exceed the preset yaw range.

[0054] When the yaw condition is only expressed by the pitch angle, it can be determined whether the third pitch angle is greater than the first preset pitch angle. If the third pitch angle is greater than the first preset pitch angle, it is determined that the yaw condition of the third cargo exceeds the preset yaw range; if the third pitch angle is less than or equal to the first preset pitch angle, it is determined that the yaw condition of the third cargo does not exceed the preset yaw range.

[0055] When the sway condition is only represented by the roll angle, it can be determined whether the third roll angle is greater than the first preset roll angle. If the third roll angle is greater than the first preset roll angle, it is determined that the sway condition of the third cargo exceeds the preset sway range; if the third roll angle is less than or equal to the first preset roll angle, it is determined that the sway condition of the third cargo does not exceed the preset sway range.

[0056] When the judgment result is obtained, the first flight information of the turning segment can be obtained by analyzing the judgment result and the recording information. In this way, the first flight information of the turning segment can be obtained in a convenient way.

[0057] Optionally, during the route recording process, the flight speed of the drone is also recorded, that is, the recorded information includes not only each position and the third cargo yaw corresponding to each position, but also the flight speed corresponding to each position. The turning segment can be used as the flight route indicated by the first flight information corresponding to the turning segment, and according to the judgment result and the flight speed corresponding to the turning segment in the recorded information, the first cargo yaw when the drone lifts the target cargo based on the turning segment is within the preset yaw range, and the target flight speed corresponding to the turning segment is determined. In this way, it is convenient to quickly determine the flight route indicated by the first flight information, and to determine the appropriate turning speed using the flight speed and cargo yaw data during route recording, which is relatively simple to implement.

[0058] In this embodiment, if the obtained judgment result indicates that the third cargo yaw condition exceeds the preset yaw range, it means that the flight speed of this part of the flight segment is too fast when recording the route, and the flight speed corresponding to the turning segment in the recorded information can be reduced, and the reduced speed is used as the target flight speed corresponding to the turning segment. At this time, the flight route indicated by the first flight information corresponding to the turning segment is the same as the turning segment.

[0059] Optionally, the more the third cargo sway exceeds the preset sway range, the greater the corresponding speed reduction value, that is, the greater the sway, the greater the reduction, and the smaller the sway, the smaller the reduction. This makes it easy to ensure the adjustment effect and avoid the situation where the sway is still large after the speed adjustment due to a small speed reduction when the sway is very large.

[0060] Optionally, as a possible implementation, the target flight speed corresponding to the turning segment may be quickly obtained in the following manner: In this manner, the third cargo yaw condition includes a third pitch angle and / or a third roll angle.

[0061] In this embodiment, the drone may store different pitch angle ranges and corresponding first speed adjustment information, and the minimum pitch angle in the different pitch angle ranges is the first preset pitch angle. The speed reduction value in the first direction indicated by the first speed adjustment information increases as the minimum value of the corresponding pitch angle range increases, that is, the more the third pitch angle exceeds the first preset pitch angle, the greater the speed reduction value indicated by the corresponding first speed adjustment information (i.e., the more it is adjusted downward). The first speed adjustment information is used to reduce the pitch angle of the cargo, that is, reducing the flight speed by a certain speed value in the first flight direction can reduce the pitch angle of the cargo.

[0062] When the third cargo yaw condition includes a third pitch angle and the third pitch angle is greater than the first preset pitch angle, the pitch angle range in which the third pitch angle is located can be determined from the different pitch angle ranges by comparison as the target pitch angle range, and the first speed adjustment information corresponding to the target pitch angle range can be used as the first target speed adjustment information.

[0063] In this embodiment, the drone may also store different roll angle ranges and corresponding second speed adjustment information, wherein the minimum roll angle in the different roll angle ranges is the first preset roll angle. The speed reduction value in the second direction indicated by the second speed adjustment information increases as the minimum value of the corresponding roll angle range increases, that is, the more the third roll angle exceeds the first preset roll angle, the greater the speed reduction value indicated by the corresponding second speed adjustment information (i.e., the more it is adjusted downward). The second speed adjustment information is used to reduce the roll angle of the cargo, that is, reducing the flight speed by a certain speed value in the second direction can reduce the roll angle of the cargo.

[0064] When the third cargo yaw condition includes a third roll angle and the third roll angle is greater than the first preset roll angle, the roll angle range in which the third roll angle is located can be determined from the different roll angle ranges by comparison as the target roll angle range, and the second speed adjustment information corresponding to the target pitch angle range can be used as the second target speed adjustment information.

[0065] In this embodiment, when the third cargo yaw condition includes a third pitch angle and a third roll angle, if the third pitch angle is greater than the first preset pitch angle and the third roll angle is not greater than the first roll angle, the target flight speed of the turning segment is obtained according to the flight speed corresponding to the turning segment in the recorded information and the first target speed adjustment information obtained. If the third pitch angle is not greater than the first preset pitch angle and the third roll angle is greater than the first roll angle, the target flight speed of the turning segment is obtained according to the flight speed corresponding to the turning segment in the recorded information and the second target speed adjustment information obtained. If the third pitch angle is greater than the first preset pitch angle and the third roll angle is greater than the first roll angle, the target flight speed of the turning segment is obtained according to the flight speed corresponding to the turning segment in the recorded information and the first target speed adjustment information and the second target speed adjustment information obtained.

[0066] In this embodiment, when the third cargo yaw condition includes only the third pitch angle, if the third pitch angle is greater than the first preset pitch angle, the target flight speed of the turning segment is obtained according to the flight speed corresponding to the turning segment in the recorded information and the obtained first target speed adjustment information. When the third cargo yaw condition includes only the third roll angle, if the third roll angle is greater than the first preset roll angle, the target flight speed of the turning segment is obtained according to the flight speed corresponding to the turning segment in the recorded information and the obtained second target speed adjustment information.

[0067] In this way, when the third cargo yaw condition includes a third pitch angle and / or a third roll angle, and when the third cargo yaw condition exceeds the preset yaw range, the target flight speed of the turning segment can be obtained according to the flight speed corresponding to the turning segment in the recorded information, the obtained first target speed adjustment information and / or the second target speed adjustment information, and the processing speed is fast.

[0068] It can be understood that the flight speed, the first speed adjustment information, and the second speed adjustment information recorded in the recording information all correspond to vectors, and the first speed adjustment information and the second speed adjustment information indicate the speed direction and the reduced speed value.

[0069] In this way, the flight speed corresponding to the turning segment in the recorded information can be reduced according to the set gear position, so as to obtain the target flight speed. Wherein, the gear position corresponds to the above-mentioned pitch angle range and roll angle range.

[0070] The following uses the example of cargo yaw represented by pitch angle and roll angle to introduce how to obtain the target flight speed.

[0071] Assume that the first preset pitch angle is 15 degrees and the first preset roll angle is 15 degrees. A smaller speed value in direction A can reduce the cargo pitch angle, and a smaller speed value in direction B can reduce the cargo roll angle. Assume that two pitch angle ranges are set, one of which is greater than 25 degrees, and the first speed adjustment information indicated by the pitch angle range is a1; the other pitch angle range is 15°~20°, and the first speed adjustment information indicated by the pitch angle range is a2, and the speed reduction value corresponding to a2 is less than the speed reduction value corresponding to a1. Similarly, assume that two roll angle ranges are set, one of which is greater than 25 degrees, and the second speed adjustment information indicated by the roll angle range is b1; the other roll angle range is 15°~20°, and the second speed adjustment information indicated by the roll angle range is b2, and the speed reduction value corresponding to b2 is less than the speed reduction value corresponding to b1.

[0072] Assume that during the recording, at a certain position, the flight speed is v, the corresponding cargo pitch angle is greater than 25°, and the corresponding cargo roll angle is between 15° and 20°, then the target flight speed after adjustment is v-a1-b2.

[0073] In the case where the turning segment is used as the flight route indicated by the first flight information of the turning segment, if the judgment result indicates that the third cargo sway situation does not exceed the preset sway range, the flight speed corresponding to the turning segment in the recorded information can be used as the target flight speed corresponding to the turning segment, or the flight speed corresponding to the turning segment in the recorded information can be increased to obtain the target flight speed corresponding to the turning segment.

[0074] For example, it can be determined whether the cargo has substantially no sway according to the third cargo sway condition, and if so, the corresponding flight speed in the recorded information can be appropriately increased, and the increased flight speed can be used as the corresponding target flight speed. In this way, the operation efficiency can be improved while ensuring safety.

[0075] Optionally, the third cargo yaw condition may include a third pitch angle and / or a third roll angle. In the case where the third cargo yaw condition includes a third pitch angle and a third roll angle, if the third pitch angle is less than the second preset pitch angle, and the third roll angle is less than the second preset roll angle, it can be determined that the cargo has basically no yaw. Wherein, the first preset pitch angle is greater than the second preset pitch angle, and the first preset roll angle is greater than the second preset roll angle. On the contrary, if the third pitch angle is not less than the second preset pitch angle or the third roll angle is not less than the second preset roll angle, it can be determined that the cargo is not basically yaw-free. In this case, the flight speed corresponding to the turning segment in the recorded information can be used as the target flight speed corresponding to the turning segment.

[0076] In the case where the third cargo yaw condition includes a third pitch angle or a third roll angle, if the angle included in the third cargo yaw condition is less than the corresponding second preset pitch angle or second preset roll angle, it can be determined that the cargo has substantially no yaw. If the angle included in the third cargo yaw condition is not less than the corresponding second preset pitch angle or second preset roll angle, it can be determined that the cargo does not have substantially no yaw.

[0077] Among them, for a turning segment, the recorded information may include multiple positions belonging to the turning segment and the corresponding flight speeds and the third cargo yaw conditions. In this case, the flight speed and the third cargo yaw conditions of each position corresponding to the turning segment can be obtained from the recorded information, and for each position, based on the flight speed and the third cargo yaw conditions of the position, the target flight speed corresponding to each position is obtained by the above method, and then summarized as the target flight speed corresponding to the turning segment.

[0078] Optionally, in the case where the initial transport route is a recorded route, the flight speed corresponding to the turning segment in the recorded information can be directly used as the target flight speed, and based on the judgment result and the turning segment, the first cargo yaw condition when the drone lifts the target cargo based on the turning segment is within the preset yaw range, and the flight route indicated by the first flight information corresponding to the turning segment is determined. In the case where the third cargo yaw condition exceeds the preset yaw range, the area between the two end points of the turning segment can be adjusted to reduce the curvature of the adjusted turning segment. At this time, the flight route indicated by the first flight information corresponding to the turning segment is the adjusted turning segment, and the indicated flight speed is the flight speed corresponding to the turning segment in the recorded information. In this way, by reducing the curvature of the turning segment, the cargo yaw can be reduced when flying based on the corresponding flight speed in the recorded information.

[0079] Optionally, the first flight information corresponding to the turning segment can also be obtained by adjusting the speed and adjusting the curvature. In this method, when the third cargo yaw exceeds the preset yaw range, the flight speed corresponding to the turning segment in the recorded information is reduced to obtain the target flight speed corresponding to the turning segment, and the area between the two end points of the turning segment is adjusted to reduce the curvature of the adjusted turning segment. The flight speed indicated by the first flight information obtained in this way is obtained by adjusting the corresponding flight speed in the recorded information, and the indicated flight route is the turning segment with curvature adjusted. Among them, the description of how to reduce the corresponding flight speed in the recorded information to obtain the target flight speed can be referred to the previous description, which will not be repeated here.

[0080] In the case where the initial transport route is a recorded route, compared to the method in which the user sets the flight speed when reproducing the route, the method provided in this embodiment of obtaining the corresponding first flight information based on the flight speed, turning segment and judgment result corresponding to the turning segment in the recorded information can take into account both flight efficiency and flight safety when reproducing the route in the lifting scene.

[0081] In this embodiment, for the turning segment during the lifting process, flight optimization is performed based on the flight speed and the third cargo sway in the target model or recorded information, thereby reducing the large cargo sway when flying in the turning segment.

[0082] Please refer to Figure 4 , Figure 4 The second flowchart of the flight information planning method provided in the embodiment of the present application. In this embodiment, the method may further include steps S140 to S150.

[0083] Step S140: extracting straight segments from the initial transport route.

[0084] Step S150: for each straight flight segment, determine the second flight information of the straight flight segment.

[0085] In this embodiment, the angle analysis of the initial transport route can be performed to determine the straight segments in the initial transport route. The second flight information of each straight segment can be obtained. The second flight information of each straight segment is used to indicate the flight route and flight speed used by the UAV when lifting the target cargo based on the straight segment. The flight route indicated by the second flight information of each straight segment can be the same as or different from the straight segment, which can be specifically determined by the method of obtaining the second flight information; the flight speed indicated by the second flight information of each straight segment can be determined in combination with actual needs and is not specifically limited here.

[0086] In the straight segment, the flight can be carried out at a higher speed, thereby improving the transportation efficiency, and the second flight information of the straight segment in the initial transportation route can be determined based on this requirement. Optionally, for each straight segment, the second flight information of the straight segment is determined according to a preset acceleration, so that the transportation efficiency can be improved.

[0087] Optionally, for a straight segment, the drone can be set to fly at the maximum acceleration. If the distance between the position at the time of acceleration to the maximum speed and the end point of the straight segment is still large, the drone can fly at a constant speed at the maximum speed until the distance to the end point of the straight segment is small, then the drone can decelerate to enter the next segment (such as a turning segment). If the distance between the position at the time of acceleration to the maximum speed and the end point of the straight segment is small, the drone can no longer accelerate but decelerate to enter the next segment.

[0088] Alternatively, for a straight segment, when the length of the straight segment is greater than a preset length, the drone is set to fly at the maximum acceleration until it reaches the maximum speed, and then fly at a constant speed at the maximum speed until the distance between the drone and the end point of the straight segment is small, and then decelerate to enter the next segment. When the length of the straight segment is less than the preset length, the drone is set to fly at a smaller acceleration, and after reaching a preset speed that is less than the maximum speed, it flies at a constant speed until the distance between the drone's position and the end point of the straight segment is small, and then enter the next segment.

[0089] It is worth noting that the above-mentioned method for determining the flight speed of the straight segment is only an example, and other methods can also be used for determination. For example, the speed specified by the user is used as the flight speed corresponding to the straight segment. The method for determining the flight speed of the straight segment can be determined in combination with actual conditions and is not specifically limited here.

[0090] The flight route indicated by the corresponding second flight information can also be determined based on the straight segment. Optionally, the flight route indicated by the second flight information is the same as the corresponding straight segment. Alternatively, the straight segment can be processed, and the processed straight segment can be used as the flight route indicated by the second flight information corresponding to the straight segment. For example, in the case where the straight segment is approximately a straight line but is not actually a straight line, the straight segment can be processed as a straight line, and the processed straight segment can be used as the flight route indicated in the second flight information corresponding to the straight segment.

[0091] Optionally, the initial transport route can be divided into a straight segment and a turning segment, that is, the divided straight segment and turning segment constitute the initial transport route. In this way, the flight route indicated by the first flight information of each turning segment and the flight route indicated by the second flight information of each straight segment are the target transport routes used by the UAV when subsequently lifting the target cargo. The UAV can subsequently automatically fly according to the target transport route to transport the target cargo from the transport starting point to the corresponding transport destination.

[0092] In order to execute the corresponding steps in the above embodiments and various possible methods, a flight information planning device 200 is provided below. Optionally, the flight information planning device 200 may adopt the above Figure 1 The device structure of the drone 100 is shown. Figure 5 , Figure 5 A block diagram of a flight information planning device 200 provided in an embodiment of the present application. It should be noted that the basic principle and technical effects of the flight information planning device 200 provided in this embodiment are the same as those of the above-mentioned embodiments. For the sake of brief description, for parts not mentioned in this embodiment, reference may be made to the corresponding contents in the above-mentioned embodiments. In this embodiment, the flight information planning device 200 may include: an acquisition module 210, an extraction module 220, and a planning module 230.

[0093] The acquisition module 210 is used to obtain an initial transportation route for the drone to transport the target cargo.

[0094] The extraction module 220 is used to extract the diversion segment from the initial transportation route.

[0095] The planning module 230 is used to determine the first flight information of each turning segment with the first cargo yaw condition of the UAV when lifting the target cargo based on the turning segment being within a preset yaw range, wherein the first flight information is used to indicate the flight route and flight speed used by the UAV when lifting the target cargo based on the turning segment.

[0096] Optionally, the above modules can be stored in the form of software or firmware. Figure 1 The memory 110 shown in the figure may be fixed in the operating system (OS) of the drone 100 and can be Figure 1 Meanwhile, the data and program codes required for executing the above modules may be stored in the memory 110.

[0097] An embodiment of the present application also provides a readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the flight information planning method is implemented.

[0098] In summary, the embodiments of the present application provide a flight information planning method, device, drone, and readable storage medium. First, the initial transportation route for the drone to lift the target cargo is obtained, and then the turning segment is extracted from the initial transportation route. Then, for each turning segment, the first cargo sway condition when the drone lifts the target cargo based on the turning segment is within a preset sway range, and the first flight information of the turning segment is determined. The first flight information is used to indicate the flight route and flight speed used by the drone when lifting the target cargo based on the turning segment. In this way, the flight route and flight speed for the drone to automatically lift the cargo in the turning segment are determined with the cargo sway degree being small in the turning segment, so that the drone can automatically lift the cargo and ensure safety, without the need to manually remotely control the drone flight each time, which can reduce labor costs.

[0099] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0100] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0101] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0102] The above description is only an optional embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A flight information planning method, characterized in that: The method comprises: Obtain the initial transport route for the drone to transport the target cargo; extracting a diversion segment from the initial transport route; For each turning segment, the first flight information of the turning segment is determined with the goal that the first cargo swing condition when the UAV lifts the target cargo based on the turning segment is within a preset swing range, wherein the first flight information is used to indicate the flight route and flight speed used by the UAV when lifting the target cargo based on the turning segment.

2. The method according to claim 1, characterized in that For each turning segment, taking the first cargo yaw condition when the drone lifts the target cargo based on the turning segment within a preset yaw range as a target, determining the first flight information of the turning segment includes: The curvature of the turning segment, the rope length and the cargo weight of the target cargo when the UAV is lifting the target cargo are input into a pre-trained target model to obtain the target flight speed corresponding to the turning segment, wherein the flight route indicated by the first flight information corresponding to the turning segment is the same as that of the turning segment.

3. The method according to claim 1, characterized in that The initial transport route is obtained based on the recorded information obtained by route recording, the recorded information also includes the third cargo yaw corresponding to each position, the cargo weight and the corresponding rope length of the target cargo are the same as the cargo weight and rope length hoisted during route recording, and for each turning segment, the first cargo yaw when the drone hoists the target cargo based on the turning segment is within a preset yaw range, and the first flight information of the turning segment is determined according to the curvature of the turning segment, including: According to the recording information, determining whether the third cargo sway corresponding to the turning segment during the recording process exceeds the preset sway range, and obtaining a determination result; The first flight information corresponding to the turning segment is obtained according to the recorded information and the judgment result.

4. The method according to claim 3, characterized in that The recorded information also includes the flight speed corresponding to each position. The first flight information corresponding to the turning segment is obtained according to the recorded information and the judgment result, including: According to the judgment result and the flight speed corresponding to the turning segment in the recorded information, a target flight speed corresponding to the turning segment is determined, wherein the flight route indicated by the second flight information corresponding to the turning segment is the same as that of the turning segment.

5. The method according to claim 4, characterized in that Determining a target flight speed corresponding to the turning segment according to the judgment result and the flight speed corresponding to the turning segment in the recorded information includes: When the judgment result indicates that the yaw condition of the third cargo exceeds the preset yaw range, reducing the flight speed corresponding to the turning segment in the recorded information to obtain a target flight speed corresponding to the turning segment; When the judgment result indicates that the third cargo sway does not exceed the preset sway range, the flight speed corresponding to the turning segment in the recorded information is used as the target flight speed corresponding to the turning segment, or the flight speed corresponding to the turning segment in the recorded information is increased to obtain the target flight speed corresponding to the turning segment.

6. The method according to claim 5, characterized in that The more the third cargo sway condition exceeds the preset sway range, the greater the corresponding speed reduction value.

7. The method according to claim 5, characterized in that The third cargo yaw condition includes a third pitch angle and / or a third roll angle, and the reducing the flight speed corresponding to the turning segment in the recorded information to obtain a target flight speed corresponding to the turning segment includes: Obtaining a target flight speed for the turning segment according to the flight speed corresponding to the turning segment in the recorded information, the obtained first target speed adjustment information and / or the second target speed adjustment information; The first target speed adjustment information is determined in the following manner: when the third pitch angle is greater than the first preset pitch angle, the first target speed adjustment information is obtained according to the different pitch angle ranges and the corresponding first speed adjustment information stored, and the third pitch angle, the speed reduction value in the first direction indicated by the first speed adjustment information increases with the increase of the minimum value of the corresponding pitch angle range, and the first speed adjustment information is used to reduce the cargo pitch angle; Among them, the second target speed adjustment information is determined in the following manner: when the third roll angle is greater than the first preset roll angle, the second target speed adjustment information is obtained according to the saved different roll angle ranges and the corresponding second speed adjustment information, and the third roll angle, the speed reduction value in the second direction indicated by the second speed adjustment information increases with the increase of the minimum value of the corresponding roll angle range, and the second speed adjustment information is used to reduce the roll angle of the cargo.

8. The method according to claim 3, characterized in that The recorded information also includes the flight speed corresponding to each position. The first flight information corresponding to the turning segment is obtained according to the recorded information and the judgment result, including: When the third cargo yaw condition exceeds the preset yaw range, the area between the two end points of the turning segment is adjusted to reduce the curvature of the adjusted turning segment, wherein the flight route indicated by the first flight information corresponding to the turning segment is the adjusted turning segment, and the indicated flight speed is the flight speed corresponding to the turning segment in the recorded information.

9. The method according to claim 3, characterized in that: The recorded information also includes the flight speed corresponding to each position. The first flight information corresponding to the turning segment is obtained according to the recorded information and the judgment result, including: When the third cargo yaw condition exceeds the preset yaw range, the flight speed corresponding to the turning segment in the recorded information is reduced to obtain the target flight speed corresponding to the turning segment; and the area between the two end points of the turning segment is adjusted to reduce the curvature of the adjusted turning segment, wherein the flight route indicated by the first flight information corresponding to the turning segment is the adjusted turning segment.

10. The method according to any one of claims 1 to 9, characterized in that: The method further comprises: Extracting straight segments from the initial transport route; For each straight flight segment, second flight information of the straight flight segment is determined, wherein the second flight information is used to indicate the flight route and flight speed used by the UAV when lifting the target cargo based on the straight flight segment.

11. The method according to claim 10, characterized in that The step of determining the second flight information of each straight flight segment includes: For each straight flight segment, the flight speed of the straight flight segment is determined according to the preset acceleration, and the flight route indicated by the corresponding second flight information is determined according to the straight flight segment.

12. A flight information planning device, characterized in that: The device comprises: An acquisition module is used to obtain the initial transportation route for the drone to transport the target cargo; An extraction module, used for extracting a diverting segment from the initial transport route; The planning module is used to determine the first flight information of each turning segment, with the first cargo swing condition of the UAV when lifting the target cargo based on the turning segment being within a preset swing range as the goal, wherein the first flight information is used to indicate the flight route and flight speed used by the UAV when lifting the target cargo.

13. A drone, characterized in that: It comprises a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor can execute the machine executable instructions to implement the flight information planning method described in any one of claims 1-11.

14. A readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the flight information planning method as described in any one of claims 1 to 11 is implemented.

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