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

Abstract

Embodiments of the present application provide a flight information planning method and device, an unmanned aerial vehicle and a readable storage medium, and relate to the technical field of unmanned aerial vehicles. The method comprises: obtaining an initial transport route of an unmanned aerial vehicle hoisting a target cargo; extracting a turning flight section from the initial transport route; for each turning flight section, determining first flight information of the turning flight section, with the first cargo yaw condition within a preset yaw range when the unmanned aerial vehicle hoists the target cargo based on the turning flight section as the target. The first flight information is used to indicate the flight route and flight speed used by the unmanned aerial vehicle when hoisting the target cargo based on the turning flight section. In this way, flight information can be obtained to enable the unmanned aerial vehicle to automatically hoist the cargo in the turning flight section and ensure safety, thereby saving a large amount of manpower.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, in particular to a flight information planning method and device, an unmanned aerial vehicle and a readable storage medium. BACKGROUND

[0002] An unmanned aerial vehicle is a kind of unmanned aircraft that is controlled by radio remote control equipment and self-provided program control device. When goods need to be transported, a rope is used to connect the unmanned aerial vehicle and the goods, and then the unmanned aerial vehicle is manually controlled to fly, so that the goods are transported from one place to another place by the unmanned aerial vehicle. The unmanned aerial vehicle carrying the goods is manually controlled to fly each time, which can achieve the purpose of transportation, but the unmanned aerial vehicle needs to pass through a turning section during the lifting process, and the operation during the turning section is relatively complex, which results in a large amount of manpower. SUMMARY

[0003] Embodiments of the present application provide a flight information planning method and device, an unmanned aerial vehicle and a readable storage medium, which take the degree of goods deviation of the goods when the unmanned aerial vehicle lifts the goods based on a turning section within a preset deviation range as a target, determine a flight route and a flight speed of the unmanned aerial vehicle for automatically lifting the goods based on the turning section, so that the unmanned aerial vehicle can automatically lift the goods and ensure safety during the turning section, and manual control of the unmanned aerial vehicle is not needed each time, which can reduce labor costs.

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

[0005] In a first aspect, embodiments of the present application provide a flight information planning method, and the method comprises the following steps:

[0006] obtaining an initial transportation route of an unmanned aerial vehicle for lifting target goods;

[0007] extracting a turning section from the initial transportation route;

[0008] for each turning section, taking a first goods deviation condition of the unmanned aerial vehicle for lifting the target goods based on the turning section within a preset deviation range as a target, determining first flight information of the turning section, wherein the first flight information is used to indicate a flight route and a flight speed used by the unmanned aerial vehicle for lifting the target goods based on the turning section.

[0009] In a second aspect, embodiments of the present application provide a flight information planning device, and the device comprises the following modules:

[0010] an obtaining module configured to obtain an initial transportation route of an unmanned aerial vehicle for lifting target goods;

[0011] an extracting module configured to extract a turning section from the initial transportation route;

[0012] The planning module is configured to determine first flight information of each turning flight section, so that the first flight information is within a preset deviation range based on a first cargo deviation of the UAV when the UAV hoists the target cargo based on the turning flight section.

[0013] In a third aspect, an embodiment of the present application provides a UAV, comprising a processor and a memory, the memory storing machine executable instructions capable of being executed by the processor, and the processor is capable of executing the machine executable instructions to implement the flight information planning method in the foregoing embodiments.

[0014] In a fourth aspect, an embodiment of the present application provides a readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the flight information planning method in the foregoing embodiments.

[0015] The flight information planning method, device, UAV and readable storage medium provided by the embodiments of the present application first obtain an initial transportation route of the UAV hoisting the target cargo, then extract a turning flight section from the initial transportation route, and then determine first flight information of the turning flight section, so that the first flight information is within a preset deviation range based on a first cargo deviation of the UAV when the UAV hoists the target cargo based on the turning flight section. The first flight information is used to indicate a flight route and a flight speed used by the UAV when hoisting the target cargo based on the turning flight section. In this way, the flight route and the flight speed used by the UAV for automatically hoisting the cargo in the turning flight section are determined by taking the small cargo deviation degree in the turning flight section as the target, so that the UAV can automatically hoist the cargo and can ensure safety, and manual remote control of the UAV flight is not required each time, which can reduce labor costs. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor.

[0017] Figure 1 The block diagram of the UAV provided by the embodiments of the present application is shown in FIG. 1;

[0018] Figure 2 The flowchart of the flight information planning method provided by the embodiments of the present application is shown in FIG. 2;

[0019] Figure 3 The flowchart of the flight information planning method provided by the embodiments of the present application is shown in FIG. 2; Figure 2A flowchart of sub-steps included in step S130;

[0020] Figure 4 A flowchart of a flight information planning method provided by an embodiment of the present application;

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

[0022] Icon: 100 - unmanned aerial vehicle; 110 - memory; 120 - processor; 130 - communication unit; 200 - flight information planning device; 210 - obtaining module; 220 - extracting module; 230 - planning module. DETAILED DESCRIPTION

[0023] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. The components of the embodiments of the present application described and shown in the drawings herein 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 drawings is not intended to limit the scope of the claimed present application, but only 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 the relational terms such as "first" and "second" and the like are used only to distinguish one entity or operation from another, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or apparatus including a series of elements includes not only those elements, but also other elements not explicitly listed or inherent to such a process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus including the element.

[0026] Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The following embodiments and features in the embodiments can be combined with each other without conflict.

[0027] Please refer to Figure 1 , Figure 1A block diagram of a UAV 100 is provided in embodiments of the present application. The UAV 100 can be, but is not limited to, a fixed-wing UAV, a rotary-wing UAV, etc. The UAV 100 can 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, the elements can be electrically connected to each other through one or more communication buses or signal lines.

[0028] The memory 110 is configured to store programs or data. The memory 110 can 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 read-only memory (EEPROM), etc.

[0029] The processor 120 is configured to read / write the data or programs stored in the memory 110 and perform corresponding functions. For example, the memory 110 stores a flight information planning apparatus 200. The flight information planning apparatus 200 includes at least one software function module stored in the memory 110 in the form of software or firmware. The processor 120 runs the software programs and modules stored in the memory 110, such as the flight information planning apparatus 200 in embodiments of the present application, to perform various function applications and data processing, i.e., to implement the flight information planning method in embodiments of the present application.

[0030] The communication unit 130 is configured to establish a communication connection between the UAV 100 and other communication terminals through a network and to receive and transmit data through the network.

[0031] It should be understood that, Figure 1 The structure shown is only a structural schematic diagram of the UAV 100. The UAV 100 can further include more or fewer components than those shown in Figure 1 or have a different configuration than that shown in Figure 1 . Figure 1 The components shown in may be implemented in hardware, software, or a combination thereof.

[0032] Figure 2 , Figure 2A flowchart of a flight information planning method provided by an embodiment of the present application is shown. The method can be applied to the unmanned aerial vehicle described above. The specific flow of the flight information planning method is described in detail below. In this embodiment, the method can include steps S110-S140.

[0033] In step S110, an initial transport route of the target cargo hoisted by the unmanned aerial vehicle is obtained.

[0034] In this embodiment, the target cargo is the cargo hoisted by the unmanned aerial vehicle based on the flight information planned subsequently. The initial transport route is the flight route of the unmanned aerial vehicle when hoisting the target cargo initially determined. The two endpoints of the initial transport route can be loading and unloading points. The specific obtaining manner of the initial transport route can be set according to actual conditions, which is not limited here.

[0035] In step S120, a turning flight section is extracted from the initial transport route.

[0036] In this embodiment, the initial transport route can be analyzed to determine the turning flight section included in the initial transport route. The turning flight section is a route section with an included angle less than a preset angle in the initial transport route. The turning flight section can be determined from the initial transport route by analyzing the included angle. The specific number of the turning flight sections divided is determined by the initial transport route.

[0037] In step S130, for each turning flight section, first flight information of the turning flight section is determined, with the first cargo yawing condition of the unmanned aerial vehicle hoisting the target cargo based on the turning flight section within a preset yawing range as a target.

[0038] The higher the flight speed during hoisting is, the higher the hoisting operation efficiency is. However, if the route has a certain turning, the flight speed of the unmanned aerial vehicle in the turning flight section is too high, which can cause the cargo hoisted to yaw seriously, affecting the safety of the aircraft. Therefore, in this embodiment, for each turning flight section, first flight information of the turning flight section is determined, with the first cargo yawing condition of the unmanned aerial vehicle hoisting the target cargo based on the turning flight section within a preset yawing range as a target. The first cargo condition is used to indicate the yawing degree of the target cargo during hoisting based on the turning flight section. The first cargo yawing condition within the preset yawing range indicates that the yawing degree is small. The first flight information of a turning flight section is used to indicate the flight route and flight speed of the unmanned aerial vehicle hoisting the target cargo based on the turning flight section subsequently. The flight route based on the turning flight section can be the same as or different from the turning flight section, which is determined by the specific manner of determining the first flight information. In this way, the safety of the unmanned aerial vehicle in the turning flight section can be ensured.

[0039] The flight path indicated by the first flight information of each turning segment is the turning path used by the UAV when it subsequently lifts the target cargo in that turning segment. That is, the UAV will automatically fly according to the turning path. Furthermore, the first flight information of the turning segment in the initial transport route is obtained with the goal of minimizing the cargo sway during the turning segment flight. Therefore, it can also reduce the situation where the cargo sway is severe due to the high speed of the turning segment, thereby ensuring the safety of the aircraft.

[0040] Optionally, as a possible implementation, the initial transport route is obtained based on recorded information from flight route recording. After enabling the flight route recording function, during the user's manual flight of the drone (with or without cargo), the flight controller records the current coordinate position of the drone at fixed time intervals to fit the historical flight trajectory. The recorded coordinate position points can be saved to the recording information. After recording, the recording information includes multiple historical coordinate position points, which are three-dimensional position points. After recording, connecting all the coordinate position points in the recording information forms the drone's historical flight route. The drone can automatically fly according to each of these coordinate position points, either from the starting point to the destination or from the destination back to the starting point. This historical flight route can be called the recorded flight route. That is, the initial transport route can be a recorded flight route, i.e., the recorded route. It is understood that the starting and ending points of the recorded historical trajectory can be the same as the loading and unloading points of the target cargo (i.e., the transport starting and ending points of the target cargo).

[0041] Alternatively, as another possible implementation, information such as loading and unloading points and obstacles between them can be obtained to perform route planning, thereby obtaining a route as the initial transportation route.

[0042] After obtaining the initial transport route, the turning segment can be extracted from the initial transport route through analysis.

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

[0044] One possible implementation is to determine the first flight information for a turning segment as follows: The degree of cargo sway (i.e., the second cargo sway condition) can be pre-determined when the UAV, carrying cargo of different weights with different rope lengths, flies at different speeds along routes with different degrees of curvature. The maximum flight speed within the preset sway range is then selected to obtain multiple sample information and corresponding sample velocities. The sample information includes rope length, weight, and route curvature (i.e., the curvature of the flight path), and the sample velocity is the maximum flight speed within the preset sway range for the second cargo sway condition under the corresponding sample information. Subsequently, a target model is trained based on the above multiple sample information and corresponding sample velocities. This target model includes the correspondence between the maximum flight speed and cargo weight, rope length, and route curvature. The rope length represents the distance between the cargo being carried and the UAV.

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

[0046] Thus, by using the aforementioned adaptive turning segment speed determination method, a suitable turning speed can be determined based on the curvature of the turning segment, the weight of the target cargo, and the rope length when the UAV subsequently lifts the target cargo, thus balancing transportation efficiency and flight safety.

[0047] The inventors of this application have discovered that the aforementioned method of training a target model and then obtaining the target flight speed based on that model is quite complex to implement. Establishing the correlation between the maximum flight speed and cargo weight, rope length, and the curvature of the flight path involves too many variables, making data collection cumbersome. As an alternative implementation, the initial transport route is a recorded route, which can be obtained through… Figure 3 The method shown obtains the first flight information of the turning segment without collecting a large amount of data to train the model. In this method, the weight of the target cargo and the corresponding rope length are the same as the weight of the cargo and the rope length hoisted during the flight path recording. Please refer to... Figure 3 , Figure 3 for Figure 2 A flowchart illustrating the sub-steps included in step S130. In this embodiment, step S130 may include sub-steps S131 to S132.

[0048] Sub-step S131: Based on the recorded information, determine whether the sway of the third cargo corresponding to the turning segment during the recording process exceeds the preset sway range, and obtain the determination result.

[0049] Sub-step S132: Based on the recorded information and the judgment result, obtain the first flight information corresponding to the turning segment.

[0050] In this embodiment, the drone did not fly empty during the flight path recording; instead, it carried cargo. The flight path recording also included the third cargo sway condition of the cargo carried by the drone; that is, the recorded information included not only each position but also the corresponding third cargo sway condition. The third cargo sway condition can be obtained from IMU (Inertial Measurement Unit) data on the hook.

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

[0052] As one possible implementation, cargo sway can be represented by pitch angle and / or roll angle. Correspondingly, the first cargo sway includes a first pitch angle and / or a first roll angle, the second cargo sway includes a second pitch angle and / or a second roll angle, and the third cargo sway includes a third pitch angle and / or a third roll angle. Whether the third cargo sway exceeds the preset sway range can be determined by the following method.

[0053] When yaw is represented by pitch and roll angles, it is determined whether the third pitch angle is greater than the first preset pitch angle, and whether the third roll angle is greater than the first preset roll angle. The first preset pitch and roll angles can be set according to 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 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 of the third cargo does not exceed the preset yaw range.

[0054] When the sway condition is represented only 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 sway condition of the third cargo exceeds the preset sway range; if the third pitch angle is less than or equal to the first preset pitch angle, it is determined that the sway condition of the third cargo does not exceed the preset sway range.

[0055] When the sway condition is represented only 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] Given the judgment result, the first flight information for the turning segment can be analyzed based on the judgment result and the recorded information. Thus, the first flight information for the turning segment can be obtained in a convenient manner.

[0057] Optionally, during the flight path recording process, the UAV's flight speed is also recorded. That is, the recorded information includes not only the position and the corresponding cargo sway, but also the corresponding flight speed. The turning segment can be used as the flight path indicated by the first flight information corresponding to that turning segment. Based on the judgment result and the flight speed corresponding to that turning segment in the recorded information, and taking the first cargo sway when the UAV lifts the target cargo based on that turning segment as the target within the preset sway range, the target flight speed corresponding to that turning segment is determined. This facilitates the rapid determination of the flight path indicated by the first flight information and the determination of a suitable turning speed using the flight speed and cargo sway data during flight path recording, making implementation relatively simple.

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

[0059] Optionally, the greater the deviation of the third cargo from the preset deviation range, the greater the corresponding speed reduction value. That is, the larger the deviation, the greater the speed reduction, and the smaller the deviation, the smaller the speed reduction. This helps to ensure the adjustment effect and avoids the situation where the speed reduction is small when the deviation is very large, resulting in a large deviation after speed adjustment.

[0060] Optionally, as a possible implementation, the target flight speed corresponding to the turning segment can be obtained quickly 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 UAV can store different pitch angle ranges and corresponding first speed adjustment information. The minimum pitch angle within the different pitch angle ranges is the first preset pitch angle. The speed reduction value indicated by the first speed adjustment information in the first direction increases as the minimum value of the corresponding pitch angle range increases. That is, the greater 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 greater the reduction). The first speed adjustment information is used to reduce the cargo pitch angle; that is, reducing the flight speed by a certain speed value in the first flight direction can reduce the cargo pitch angle.

[0062] When the third cargo sway includes a third pitch angle and the third pitch angle is greater than the first preset pitch angle, the pitch angle range where the third pitch angle is located can be determined by comparing different pitch angle ranges 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 UAV may also store different roll angle ranges and corresponding second speed adjustment information, where the minimum roll angle within the different roll angle ranges is the first preset roll angle. The speed reduction value indicated by the second speed adjustment information in the second direction increases as the minimum value of the corresponding roll angle range increases; that is, the greater 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 greater the reduction). The second speed adjustment information is used to reduce the cargo roll angle; that is, reducing the speed by a certain value in the second direction relative to the flight speed can reduce the cargo roll angle.

[0064] In the case where the third cargo sway includes a third roll angle and the third roll angle is greater than the first preset roll angle, the roll angle range where the third roll angle is located can be determined by comparing the different roll angle ranges 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 sway 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 for the turning segment is obtained based on the flight speed corresponding to the turning segment in the recorded information and the obtained first target speed adjustment information. 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 for the turning segment is obtained based on the flight speed corresponding to the turning segment in the recorded information and the obtained second target speed adjustment information. 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 for the turning segment is obtained based on the flight speed corresponding to the turning segment in the recorded information and the obtained first and second target speed adjustment information.

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

[0067] Thus, when the third cargo sway condition includes a third pitch angle and / or a third roll angle, and when the third cargo sway condition exceeds the preset sway range, the target flight speed for the turning segment can be obtained based on 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, first speed adjustment information, and second speed adjustment information recorded in the recording information all correspond to vectors, and the first speed adjustment information and second speed adjustment information indicate the speed direction and the reduced speed value.

[0069] Thus, the target flight speed can be obtained by reducing the flight speed corresponding to the turning segment in the recorded information according to the set gear. The gear corresponds to the pitch angle range and roll angle range mentioned above.

[0070] The following example uses the pitch and roll angles to represent cargo sway, illustrating how to obtain the target flight speed.

[0071] Assume the first preset pitch angle and the first preset roll angle are both 15 degrees. Decreasing the speed value in direction A reduces the cargo pitch angle, and decreasing the speed value in direction B reduces the cargo roll angle. Assume two pitch angle ranges are set: one range is greater than 25 degrees, indicated by the first speed adjustment information a1; the other range is 15°–20°, indicated by the first speed adjustment information a2, where the speed reduction value for a2 is less than that for a1. Similarly, assume two roll angle ranges are set: one range is greater than 25 degrees, indicated by the second speed adjustment information b1; the other range is 15°–20°, indicated by the second speed adjustment information b2, where the speed reduction value for b2 is less than that for b1.

[0072] Assuming that during recording, at a certain location, 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 adjusted target flight speed is v-a1-b2.

[0073] If the turning segment is used as the flight route indicated by the first flight information of the turning segment, and the judgment result indicates that the sway of the third cargo 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, the swaying of the third cargo can be used to determine whether the cargo is essentially stable. If so, the corresponding flight speed in the recorded information can be appropriately increased, and the increased flight speed can be used as the target flight speed. In this way, operational 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. When the third cargo yaw condition includes a third pitch angle and a third roll angle, if the third pitch angle is less than a second preset pitch angle and the third roll angle is less than a second preset roll angle, it can be determined that the cargo is essentially without 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. Conversely, 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 essentially without yaw. 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] If the third cargo sway condition includes a third pitch angle or a third roll angle, and if the angle included in the third cargo sway condition is less than the corresponding second preset pitch angle or second preset roll angle, then it can be determined that the cargo is essentially not swaying. If the angle included in the third cargo sway condition is not less than the corresponding second preset pitch angle or second preset roll angle, then it can be determined that the cargo is not essentially not swaying.

[0077] For a given turning segment, the recorded information may include multiple positions belonging to that turning segment and their corresponding flight speeds and third cargo skewing conditions. In this case, the flight speeds and third cargo skewing conditions of each position corresponding to that turning segment can be obtained from the recorded information. For each position, based on its flight speed and third cargo skewing condition, the target flight speed corresponding to each position can be obtained through the aforementioned method, and then summarized into the target flight speed corresponding to that turning segment.

[0078] Optionally, if 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. Based on the judgment result and the turning segment, the flight path indicated by the first flight information corresponding to the turning segment is determined with the first cargo sway condition when the UAV lifts the target cargo based on the turning segment within the preset sway range as the target. If the third cargo sway condition exceeds the preset sway range, the area between the two endpoints of the turning segment can be adjusted to reduce the curvature of the adjusted turning segment. At this time, the flight path 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. Thus, by reducing the curvature of the turning segment, cargo sway can be reduced when flying based on the flight speed corresponding to the recorded information.

[0079] Optionally, the first flight information corresponding to the turning segment can also be obtained by adjusting the speed and curvature. In this method, if the third cargo sway exceeds the preset sway range, the flight speed corresponding to the turning segment in the recorded information is reduced to obtain the target flight speed for the turning segment, and the area between the two endpoints 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 method is obtained by adjusting the corresponding flight speed in the recorded information, and the indicated flight path is the turning segment after curvature adjustment. 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 and will not be repeated here.

[0080] When the initial transport route is a recorded route, compared to the method of setting the flight speed when reproducing the route by the user, the method provided in this embodiment, which obtains 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 hoisting scenario.

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

[0082] Please refer to Figure 4 , Figure 4 This is a second schematic flowchart illustrating the flight information planning method provided in this application embodiment. In this embodiment, the method may further include steps S140 to S150.

[0083] Step S140: Extract the straight segment from the initial transport route.

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

[0085] In this embodiment, angle analysis can be performed on the initial transport route to determine the straight segments within it. Second flight information can be obtained for each straight segment. This second flight information indicates the flight path and speed used by the UAV when lifting the target cargo based on that straight segment. The flight path indicated by the second flight information for each straight segment may be the same as or different from the straight segment itself, depending on how the second flight information is obtained. The flight speed indicated by the second flight information for each straight segment can be determined based on actual needs and is not specifically limited here.

[0086] Straight flight segments allow for higher speeds, thus improving transport efficiency. Based on this requirement, the second flight information for straight segments in the initial transport route can be determined. Optionally, for each straight segment, the second flight information for that straight segment can be determined according to a preset acceleration, thereby improving transport efficiency.

[0087] Optionally, for a straight flight segment, the UAV can be set to fly at maximum acceleration. If the distance between its position at maximum speed and the end point of the straight flight segment is still large, it can fly at a constant maximum speed until the distance to the end point of the straight flight segment becomes smaller, at which point it can decelerate to enter the next flight segment (e.g., enter a turning flight segment). If the distance between its position before reaching maximum speed and the end point of the straight flight segment is already small, it can stop accelerating and decelerate to enter the next flight segment.

[0088] Alternatively, for a straight flight segment, if the length of the segment exceeds a preset length, the UAV is programmed to fly at maximum acceleration until it reaches its maximum speed, then maintains a constant speed at that maximum until the distance to the end of the segment is minimal, at which point it decelerates to enter the next segment. If the length of the straight flight segment is less than the preset length, the UAV is programmed to fly at a smaller acceleration until it reaches a preset speed less than its maximum speed, then maintains a constant speed until the distance to the end of the segment is minimal, at which point it enters the next segment.

[0089] It is worth noting that the above method for determining the flight speed of a straight flight segment is only an example. Other methods can also be used, such as using the speed specified by the user as the flight speed corresponding to the straight flight segment. The specific method for determining the flight speed of a straight flight segment can be determined based on the actual situation, and no specific limitation is made here.

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

[0091] Optionally, the initial transport route can be divided into straight segments and turning segments, that is, the divided straight segments and turning segments constitute the initial transport route. Thus, the flight routes indicated by the first flight information of each turning segment and the flight routes indicated by the second flight information of each straight segment constitute the target transport route used by the UAV for subsequent lifting of the target cargo. The UAV can then automatically fly along the target transport route to transport the target cargo from the transport starting point to the corresponding transport destination.

[0092] To perform the corresponding steps in the above embodiments and various possible methods, an implementation of the flight information planning device 200 is given below. Optionally, the flight information planning device 200 can adopt the above-described... Figure 1 The device structure of the drone 100 is shown. Further, please refer to... Figure 5 , Figure 5 This is a block diagram of the flight information planning device 200 provided in this embodiment. 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 in the above embodiments. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding content in the above 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 acquire the initial transport route for the drone to lift the target cargo.

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

[0095] The planning module 230 is used to determine the first flight information for each turning segment, with the first cargo sway during the UAV's lifting of the target cargo within a preset sway range as the target. The first flight information indicates the flight route and speed used by the UAV when lifting the target cargo during the turning segment.

[0096] Optionally, the above modules can be stored in the form of software or firmware. Figure 1 The memory 110 shown may be stored in or embedded in the operating system (OS) of the drone 100, and may be accessed by... Figure 1 The processor 120 executes the program. Meanwhile, the data and program code required to execute the above modules can be stored in the memory 110.

[0097] This application also provides a readable storage medium storing a computer program thereon, which, when executed by a processor, implements the flight information planning method described above.

[0098] In summary, this application provides a flight information planning method, apparatus, unmanned aerial vehicle (UAV), and readable storage medium. First, an initial transport route for the UAV to lift target cargo is obtained. Then, turning segments are extracted from this initial transport route. For each turning segment, with the first cargo sway during UAV lifting the target cargo within a preset sway range as the target, first flight information for that turning segment is determined. This first flight information indicates the flight path and speed used by the UAV when lifting the target cargo in that turning segment. Thus, by determining the flight path and speed for the UAV to automatically lift cargo in the turning segment with the goal of minimizing cargo sway, the UAV can automatically lift cargo safely without requiring manual remote control of the UAV each time, reducing labor costs.

[0099] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

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

[0101] If the aforementioned functions are implemented as software functional 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 this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0102] The above description is merely an optional embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A flight information planning method, characterized in that, The method includes: Obtain the initial transport route for the drone to lift the target cargo; Extract the turning segment from the initial transport route; For each turning segment, the first flight information of the turning segment is determined with the first cargo sway condition of the UAV when lifting the target cargo in the turning segment being within a preset sway range as the target. The first flight information is used to indicate the flight route and flight speed used by the UAV when lifting the target cargo in the turning segment. The first cargo sway condition includes a first pitch angle and / or a first roll angle.

2. The method according to claim 1, characterized in that, For each turning segment, the first flight information for that turning segment is determined based on the first cargo sway condition of the UAV when lifting the target cargo within a preset sway range, including: The curvature of the turning segment, the rope length when the UAV lifts the target cargo, and the cargo weight are input into a pre-trained target model to obtain 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.

3. The method according to claim 1, characterized in that, The initial transport route is obtained based on the recorded information from the route recording. The recorded information also includes the third cargo sway condition corresponding to each position. The third cargo sway condition includes a third pitch angle and / or a third roll angle. The weight of the target cargo and the corresponding rope length are the same as the weight of the cargo and the rope length hoisted during the route recording. For each turning segment, with the first cargo sway condition of the UAV hoisting the target cargo within a preset sway range as the target, the first flight information for that turning segment is determined based on the curvature of that turning segment, including: Based on the recorded information, determine whether the sway of the third cargo corresponding to the turning segment during the recording process exceeds the preset sway range, and obtain the determination result; Based on the recorded information and the judgment result, the first flight information corresponding to the turning segment is obtained.

4. The method according to claim 3, characterized in that, The recorded information also includes the flight speed corresponding to each position. The step of obtaining the first flight information corresponding to the turning segment based on the recorded information and the judgment result includes: Based on the judgment result and the flight speed corresponding to the turning segment in the recorded information, the 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, The step of determining the target flight speed corresponding to the turning segment based on the judgment result and the flight speed corresponding to the turning segment in the recorded information includes: If the judgment result indicates that the sway of the third cargo exceeds the preset sway 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; If the judgment result indicates that the sway of the third cargo does not exceed the preset sway range, the flight speed corresponding to the turning segment in the recorded information is taken 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 exceeds the preset sway range, the greater the corresponding speed reduction.

7. The method according to claim 5, characterized in that, The step of reducing the flight speed in the recorded information corresponding to the turning segment to obtain the target flight speed corresponding to the turning segment includes: Based on the flight speed corresponding to the turning segment in the recorded information, the obtained first target speed adjustment information and / or second target speed adjustment information, the target flight speed for the turning segment is obtained; The first target speed adjustment information is determined in the following way: when the third pitch angle is greater than the first preset pitch angle, the first target speed adjustment information is obtained according to the saved different pitch angle ranges and the corresponding first speed adjustment information, as well as the third pitch angle. The speed reduction value indicated by the first speed adjustment information in the first direction increases as the minimum value of the corresponding pitch angle range increases. The first speed adjustment information is used to reduce the cargo pitch angle. The second target speed adjustment information is determined in the following way: 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, as well as the third roll angle. The speed reduction value indicated by the second speed adjustment information in the second direction increases as the minimum value of the corresponding roll angle range increases. 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 step of obtaining the first flight information corresponding to the turning segment based on the recorded information and the judgment result includes: If the third cargo sway exceeds the preset sway range, the area between the two endpoints of the turning segment is adjusted to reduce the curvature of the adjusted turning segment. The flight path 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 step of obtaining the first flight information corresponding to the turning segment based on the recorded information and the judgment result includes: If the third cargo sway exceeds the preset sway 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 endpoints of the turning segment is adjusted to reduce the curvature of the adjusted turning segment, wherein the flight path 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 1-9, characterized in that, The method further includes: Extract straight segments from the initial transport route; For each straight flight segment, second flight information for that straight flight segment is determined, wherein the second flight information is used to indicate the flight route and 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, For each straight flight segment, the second flight information for that straight flight segment is determined, including: For each straight flight segment, the flight speed of that straight flight segment is determined based on the preset acceleration, and the corresponding flight route indicated by the second flight information is determined based on that straight flight segment.

12. A flight information planning device, characterized in that, The device includes: The acquisition module is used to obtain the initial transport route for the drone to lift the target cargo; The extraction module is used to extract the turning segment from the initial transport route; The planning module is used to determine the first flight information for each turning segment, with the first cargo sway condition of the UAV when lifting the target cargo in the turning segment being within a preset sway range as the target. The first flight information is used to indicate the flight route and flight speed used by the UAV when lifting the target cargo in the turning segment. The first cargo sway condition includes a first pitch angle and / or a first roll angle.

13. A drone, characterized in that, It includes a processor and a memory, the memory storing machine-executable instructions that can be executed by the processor, the processor executing the machine-executable instructions to implement the flight information planning method according to 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 the processor, it implements the flight information planning method as described in any one of claims 1-11.

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