Smoothing scheme for corner of route of unmanned aerial vehicle
By calculating the turning angle and radius in the drone route, generating incision circles and replacing the route, the problem of unreasonable corners in the manual planning route is solved, automatic smooth route generation is realized, and the safety of drone flight is improved. efficiency.
Patent Information
- Application Number
- CN202411364603.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-27
- Publication Date
- 2025-01-10
AI Technical Summary
The existing drone route planning methods rely on manual operation, which is prone to unreasonable small corner routes, which increases flight safety risks and lacks the ability to quickly detect and automatically generate smooth routes.
By obtaining the position information of the target waypoint and adjacent waypoints in the drone route, calculate the turning angle and turning radius, determine the incision circle, and generate alternative routes based on the incision circle, so that the turning angle of each waypoint is greater than or Equivalent to the corner threshold, realizing automatic smooth route generation.
Rapid detection and automatic generation of smooth routes to ensure that the corners of the drone segments are greater than the minimum safety value, reduce energy consumption and structural stress, and improve flight safety.
Smart Images
Figure CN119289989A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of unmanned aerial vehicles, and in particular to a method, device, electronic device, non-transient computer-readable storage medium, and computer program product for smoothing the corners of an unmanned aerial vehicle route. Background Art
[0002] When a drone is performing a mission, the planning of route corners is crucial to ensure flight safety and mission efficiency. In actual flight, the flight maneuvers of the drone at route corners need to be carefully designed to ensure flight stability and safety.
[0003] The most commonly used route planning method is to manually plan the UAV mission route on a two-dimensional digital map in the UAV ground control station software. This route planning method requires manually setting the latitude and longitude coordinates of multiple waypoints, and then the UAV ground control station software automatically connects the waypoints to draw the UAV flight route. The planned route is then uploaded to the UAV via a data link, and the UAV begins to fly according to the planned route.
[0004] There are several ways to manually draw and plan routes:
[0005] 1) Manually add waypoints on the map with the mouse and draw the route independently.
[0006] 2) Manually add points of interest (such as reconnaissance target points) on the map using the mouse, and then automatically generate circular waypoints around the points of interest and connect them into routes.
[0007] However, due to the limitations of personnel's personal ability, manually drawn routes are prone to omissions and often have unreasonable small corner routes, which increase safety risks. Therefore, how to quickly detect unreasonable small corner segments in drone planning routes and automatically generate new smooth routes is a technical problem that needs to be solved urgently. Summary of the invention
[0008] In view of the above analysis, the embodiments of the present invention aim to provide a method, device, electronic device, non-transitory computer-readable storage medium, and computer program product for smoothing the corners of a drone route, so as to solve the technical problem of how to quickly detect unreasonable small-corner segments in the planned drone route and automatically generate new smooth routes, which is currently a technical problem that needs to be solved urgently.
[0009] In a first aspect, an embodiment of the present invention provides a method for smoothing the corners of a drone route, characterized in that the method comprises the following steps:
[0010] Obtaining location information of a target waypoint in the UAV route and a first waypoint and a second waypoint adjacent to the target waypoint on both sides;
[0011] Determine the turning angle of the drone route at the target waypoint according to the position information of the target waypoint, the first waypoint, and the second waypoint;
[0012] In response to the turning angle being less than a corner threshold, determining a turning radius of the drone at the target waypoint;
[0013] Determine an inscribed circle tangent to a first flight segment and a second flight segment according to the turning angle and the turning radius, wherein two endpoints of the first flight segment are the target waypoint and the first waypoint, and two endpoints of the second flight segment are the target waypoint and the second waypoint; and
[0014] An alternative route for the UAV at the target waypoint is determined based on the inscribed circle, wherein the turning angle at each waypoint in the alternative route is greater than or equal to the corner threshold.
[0015] Based on further improvement of the above smoothing method, the turning radius is greater than or equal to the minimum turning radius of the UAV at the target waypoint, and the minimum turning radius is determined by the flight speed of the UAV at the target waypoint and the maximum roll angle of the UAV.
[0016] Based on the further improvement of the above smoothing method, determining the alternative route of the UAV at the target waypoint according to the inscribed circle includes:
[0017] Acquire position information of a first tangent point and a second tangent point, wherein the first tangent point is a tangent point between the inscribed circle and the first flight segment, and the second tangent point is a tangent point between the inscribed circle and the second flight segment;
[0018] Intercepting an arc from the first tangent point to the second tangent point from the inscribed circle;
[0019] Selecting one or more replacement points on the arc;
[0020] The first tangent point, the one or more replacement points, and the second tangent point are sequentially connected to obtain the alternative route.
[0021] Based on the further improvement of the above smoothing method, determining the alternative route of the UAV at the target waypoint according to the inscribed circle includes:
[0022] Acquire position information of a first tangent point and a second tangent point, wherein the first tangent point is a tangent point between the inscribed circle and the first flight segment, and the second tangent point is a tangent point between the inscribed circle and the second flight segment;
[0023] Connecting the target waypoint and the center of the inscribed circle to obtain a connecting line segment;
[0024] Obtaining the intersection point of the connecting line segment and the inscribed circle;
[0025] The first tangent point, the intersection point, and the second tangent point are sequentially connected to obtain the alternative route.
[0026] Based on a further improvement of the above-mentioned smoothing method, the altitude value of the alternative route is the same as the altitude value of the target waypoint.
[0027] Based on the further improvement of the above smoothing method, the corner threshold is the minimum turning angle allowed by the drone itself.
[0028] In a second aspect, an embodiment of the present invention provides a device for smoothing the corners of a drone route, comprising:
[0029] A first acquisition module is configured to acquire position information of a target waypoint in a UAV route and a first waypoint and a second waypoint adjacent to the target waypoint on both sides;
[0030] A first determination module is configured to determine a turning angle of the drone route at the target waypoint based on the position information of the target waypoint, the first waypoint, and the second waypoint;
[0031] A second determination module is configured to determine an inscribed circle tangent to a first flight segment and a second flight segment according to the turning angle and the turning radius, wherein two endpoints of the first flight segment are the target waypoint and the first waypoint, and two endpoints of the second flight segment are the target waypoint and the second waypoint;
[0032] The third determination module is configured to determine an alternative route for the UAV at the target waypoint based on the inscribed circle, wherein the turning angle at each waypoint in the alternative route is greater than or equal to the corner threshold.
[0033] In a third aspect, an embodiment of the present invention provides an electronic device, including:
[0034] at least one processor; and
[0035] A memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method for smoothing the corners of the drone route as described in any one of the first aspects of the present invention.
[0036] In a fourth aspect, an embodiment of the present invention provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable the computer to execute the method for smoothing the corners of a drone route as described in any one of the first aspects of the present invention.
[0037] In a fifth aspect, an embodiment of the present invention provides a computer program product, comprising program code instructions. When the program product is executed by a computer, the program code instructions enable the computer to execute the method for smoothing the corners of a drone route as described in any one of the first aspects of the present invention.
[0038] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:
[0039] 1. The solution of the present invention can quickly detect unreasonable small-corner segments in the planned route of the drone and automatically generate new smooth routes.
[0040] 2. After the corner smoothing process of the solution of the present invention, the flight segment corners of the UAV route are all greater than the minimum safety value, reducing the energy consumption and potential structural stress of the UAV during the turning process, and ensuring the safety flight requirements of the UAV.
[0041] In the present invention, the above-mentioned technical solutions can also be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the subsequent description, and some advantages can become obvious from the description, or can be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the contents particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS
[0042] The accompanying drawings are only used for the purpose of illustrating specific embodiments and are not to be considered as limiting the present invention. In the entire drawings, the same reference symbols represent the same components;
[0043] Figure 1 A schematic flow chart of a method for smoothing corners of a UAV route according to an embodiment of the present invention is shown.
[0044] Figure 2 A conceptual schematic diagram of a UAV route planning in an embodiment of the present invention is shown.
[0045] Figure 3 An example of a target waypoint, a first waypoint, and a second waypoint according to an embodiment of the present invention is shown.
[0046] Figure 4 An example of an inscribed circle according to an embodiment of the present invention is shown.
[0047] Figure 5 An example of an alternative route according to an embodiment of the present invention is shown.
[0048] Figure 6 An example of an alternative route according to an embodiment of the present invention is shown.
[0049] Figure 7An exemplary block diagram of a device for smoothing corners of a drone route according to an embodiment of the present invention is shown.
[0050] Figure 8 A schematic block diagram of an example electronic device 800 is shown that may be used to implement embodiments of the present disclosure. DETAILED DESCRIPTION
[0051] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.
[0052] Figure 1 FIG. 2 is a schematic diagram showing a flow chart of a method for smoothing corners of a drone route according to an embodiment of the present invention. Figure 1 As shown, the method for smoothing the corners of the UAV route includes the following steps:
[0053] Step S100: Acquire the location information of a target waypoint in the UAV route and a first waypoint and a second waypoint adjacent to the target waypoint on both sides.
[0054] The drone route in this embodiment may be a manually drawn route. In this embodiment, the manually drawn route data may be obtained through an imported route file. The route data here includes the latitude and longitude data of each waypoint in the route. Figure 2 FIG. 1 is a conceptual diagram of a drone route in an embodiment of the present invention. Figure 2 As shown in the left figure, four waypoints can be marked on the two-dimensional map first ( Figure 2 The waypoints are marked as 1, 2, 3, and 4 in the figure, and then the waypoints are connected in sequence along the flight direction by manual connection to form a route. The right figure shows the route, which includes three segments, each of which is interconnected in sequence, and each segment includes two waypoints. For example, the first segment includes waypoint 1 and waypoint 2.
[0055] The target waypoint in this embodiment can be any other waypoint in the drone route except the first waypoint and the last waypoint. Figure 2 In the example of the right figure, both waypoint 2 and waypoint 3 can be the target waypoints in this embodiment. In this embodiment, the two sides of the target waypoint refer to the upstream direction and downstream direction of the target waypoint. The upstream and downstream here are relative to the flight direction of the drone. Figure 2 For example, the flight direction of the drone is from left to right. If waypoint 2 is selected as the target waypoint, the waypoint adjacent to waypoint 2 in the upstream direction is waypoint 1, and the waypoint adjacent to waypoint 2 in the downstream direction is waypoint 3.
[0056] The first waypoint in this embodiment may be a waypoint adjacent to the target waypoint in the upstream direction. Figure 2 For example, if waypoint 2 is selected as the target waypoint, the first waypoint is waypoint 1. In this embodiment, the second waypoint can be a waypoint adjacent to the target waypoint in the downstream direction. Figure 2 Taking the example of as an example, if waypoint 2 is selected as the target waypoint, the second waypoint is waypoint 3.
[0057] Step S200: Determine the turning angle of the drone route at the target waypoint based on the position information of the target waypoint, the first waypoint, and the second waypoint.
[0058] In this embodiment, the distance between the target waypoint and the first waypoint, the distance between the target waypoint and the second waypoint, and the distance between the first waypoint and the second waypoint can be calculated based on the latitude and longitude values of the target waypoint, the first waypoint, and the second waypoint. Figure 3 An example of a target waypoint, a first waypoint, and a second waypoint according to an embodiment of the present invention is shown. Figure 3 As shown, the target waypoint is waypoint A, the first waypoint is waypoint B, the second waypoint is waypoint C, the distance of segment AB is b, the distance of segment AC is c, and the distance of segment BC is a. The angle θ between segment AB and AC at point A can be calculated according to the following formula:
[0059] cosθ=(b 2 +c 2 -a 2 ) / 2bc
[0060] The calculated angle θ is the turning angle of the UAV route at waypoint A.
[0061] Step S300: In response to the turning angle being less than a corner threshold, determining a turning radius of the UAV at the target waypoint.
[0062] The corner threshold in this embodiment can be any turning angle greater than or equal to the minimum turning angle allowed by the drone itself. For example, if the minimum turning angle allowed by the drone itself is 120 degrees, the corner threshold can be 120 degrees or 130 degrees. In some embodiments, the corner threshold is equal to the minimum turning angle allowed by the drone itself, such as 120 degrees.
[0063] In this embodiment, when it is determined that the turning angle at the target waypoint is less than the corner threshold, the minimum turning radius of the drone at the target waypoint is calculated. In some embodiments, the turning radius of the drone at the target waypoint is greater than or equal to the minimum turning radius of the drone at the target waypoint, wherein the minimum turning radius of the drone at the target waypoint is determined by the flight speed of the drone at the target waypoint and the maximum roll angle of the drone. The minimum turning radius R of the drone at the target waypoint can be calculated by the following formula:
[0064] R=v 2 / (g×tanΦ)
[0065] Among them, g is the acceleration of gravity, v is the flight speed of the UAV at the target waypoint, and Φ is the maximum roll angle of the UAV.
[0066] Step S400: determining an inscribed circle tangent to the first flight segment and the second flight segment according to the turning angle and the turning radius.
[0067] In this embodiment, the first flight segment may be a flight segment consisting of a target waypoint and a first waypoint, and the second flight segment may be a flight segment consisting of a target waypoint and a second waypoint. The coordinates of the center point of the inscribed circle tangent to both the first flight segment and the second flight segment may be calculated through the angle between the first flight segment and the second flight segment and the turning radius of the drone at the target waypoint. Figure 4 An example of an inscribed circle according to an embodiment of the present invention is shown. Figure 4 As shown, the target waypoint is waypoint A, the first waypoint is waypoint B, the second waypoint is waypoint C, the AB segment is the first segment, the AC segment is the second segment, the turning radius of the drone at waypoint A is r, and the angle between the first segment and the second segment is θ. Based on the known radius R and angle θ, the coordinates of the center point O of the inscribed circle tangent to both AC and AB can be calculated. Specifically, the distance from the coordinates of point O to the perpendicular lines of the two line segments AC and AB is r, which can be obtained:
[0068]
[0069] Among them, the distance of segment AB is b, the distance of segment AC is c, the distance of segment BC is a, and X and Y are the coordinates of the center point O. After obtaining the coordinates of the center point O, a circle with a radius of r can be drawn from the center point O, which is tangent to AC and AB respectively. According to the coordinates of the center point O, the coordinates of point A and the angle θ, the radius r is known, and the coordinates of the tangent points A1 and A2 of the inscribed circle with AC and AB can be obtained respectively.
[0070] Step S500: Determine an alternative route for the UAV at the target waypoint based on the inscribed circle.
[0071] In this embodiment, an inscribed circle can be used to find a route for replacing the target waypoint. The turning angle at each waypoint in the alternative route is greater than or equal to the corner threshold. In some embodiments, step S500 may include the following steps:
[0072] Step S10: Acquire position information of a first tangent point and a second tangent point, wherein the first tangent point is the tangent point between the inscribed circle and the first flight segment, and the second tangent point is the tangent point between the inscribed circle and the second flight segment.
[0073] Step S20: intercepting an arc from the first tangent point to the second tangent point from the inscribed circle.
[0074] Step S30: Select one or more replacement points on the arc.
[0075] Step S40: sequentially connect the first tangent point, the one or more replacement points, and the second tangent point to obtain an alternative route.
[0076] Figure 5 An example of an alternative route according to an embodiment of the present invention is shown. Figure 5 Steps S10 to S40 are explained. It should be noted that: Figure 5 Yes Figure 4 Further processing of the example shown.
[0077] According to the above Figure 4 From the description, we can know that the first tangent point is the tangent point A1 between the inscribed circle and the AB line segment, and the second tangent point is the tangent point A2 between the inscribed circle and the AC line segment. After obtaining the coordinates of the tangent points A1 and A2 between the inscribed circle and AC and AB, we can intercept the arc between the tangent point A1 and the tangent point A2. Figure 5 In the figure, the dotted line crossing the intersection points A1 and A2 represents the interception direction of the inscribed circle, and the arc below the dotted line is the intercepted arc. Then, one or more points on the arc can be selected as new waypoints to replace waypoint A. Figure 5 In the example, two points A3 and A4 are selected from the arc as new waypoints to replace waypoint A. Finally, point A1, point A3, point A4, and point A2 are connected in sequence to obtain a new route, which is the alternative route in this embodiment.
[0078] In some embodiments, step S500 may include the following steps:
[0079] Step 10: Obtain position information of a first tangent point and a second tangent point, wherein the first tangent point is the tangent point between the inscribed circle and the first flight segment, and the second tangent point is the tangent point between the inscribed circle and the second flight segment.
[0080] Step 20: Connect the target waypoint and the center of the inscribed circle to obtain a connecting line segment.
[0081] Step 30: Obtain the intersection point of the connecting line segment and the inscribed circle.
[0082] Step 40: sequentially connect the first tangent point, the intersection point, and the second tangent point to obtain an alternative route.
[0083] Figure 6 An example of an alternative route according to an embodiment of the present invention is shown. Figure 6 Steps 10 to 40 are explained. It should be noted that: Figure 6 Yes Figure 4 Further processing of the example shown.
[0084] According to the above Figure 4 From the description, we can see that the first tangent point is the tangent point A1 between the inscribed circle and the AB line segment, and the second tangent point is the tangent point A2 between the inscribed circle and the AC line segment. After obtaining the coordinates of the tangent points A1 and A2, we can connect waypoint A and the center point O of the inscribed circle to obtain line segment AO. Then we can find the intersection point A3 of line segment AO and the inscribed circle. Specifically, first, based on the coordinates of waypoint A and the center point O, we can calculate the expression of line segment AO: y=kx+b, where x is longitude and y is latitude; since point A3 is on line segment AO, it satisfies y3=kx3+b (x3, y3 are the coordinates of point A3). In addition, point A3 is also on the inscribed circle, so it also satisfies r 2 =(x3-x0) 2 +(y3-y0) 2 (x0, y0 are the coordinates of the center point O), and A3 satisfies the condition between point O and point A; the coordinates of the unique point A3 can be obtained according to the above two equations and the condition that A3 satisfies. Finally, A1, A3, and A2 are connected in sequence to obtain a new route, which is the alternative route in this embodiment.
[0085] In some embodiments, the altitude value of the alternative route described in the above embodiments is the same as the altitude value of the target waypoint.
[0086] Figure 7 FIG. 2 shows an exemplary block diagram of a device for smoothing corners of a drone flight path according to an embodiment of the present invention. Figure 7As shown, the device 700 for smoothing the corners of the drone route includes: an acquisition module 701, configured to acquire the position information of the target waypoint in the drone route and the first waypoint and the second waypoint adjacent to the target waypoint on both sides; a first determination module 702, configured to determine the turning angle of the drone route at the target waypoint according to the position information of the target waypoint, the first waypoint and the second waypoint; a second determination module 703, configured to determine the inscribed circle tangent to the first segment and the second segment according to the turning angle and the turning radius, wherein the two endpoints of the first segment are the target waypoint and the first waypoint, and the two endpoints of the second segment are the target waypoint and the second waypoint; a third determination module 704, configured to determine an alternative route for the drone at the target waypoint according to the inscribed circle, wherein the turning angle at each waypoint in the alternative route is greater than or equal to the corner threshold.
[0087] It should be understood that Figure 7 The various modules of the apparatus 700 shown in FIG. Figure 1 The steps in the described method correspond to each other. Therefore, the operations, features and advantages described above for the method are also applicable to the device 700 and the modules included therein. For the sake of brevity, some operations, features and advantages are not repeated here.
[0088] Figure 8 8 is a schematic block diagram of an example electronic device 800 that can be used to implement embodiments of the present disclosure. Figure 8 , a block diagram of an electronic device 800 that can serve as a server or client of the present disclosure will now be described, which is an example of a hardware device that can be applied to various aspects of the present disclosure. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframes, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or claimed herein. Figure 8As shown, the electronic device 800 includes a computing unit 801, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 802 or a computer program loaded from a storage unit 808 into a random access memory (RAM) 803. In RAM803, various programs and data required for the operation of the device 800 can also be stored. The computing unit 801, ROM802 and RAM803 are connected to each other through a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804. Multiple components in the device 800 are connected to the I / O interface 805, including: an input unit 806, such as a keyboard, a mouse, etc.; an output unit 807, such as various types of displays, speakers, etc.; a storage unit 808, such as a disk, an optical disk, etc.; and a communication unit 809, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 809 allows the device 800 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.
[0089] The computing unit 801 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 801 performs the various methods and processes described above, such as a smoothing method for the corners of a drone route. For example, in some embodiments, the smoothing method for the corners of a drone route may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 808. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 800 via the ROM 802 and / or the communication unit 809. When the computer program is loaded into the RAM 803 and executed by the computing unit 801, one or more steps of the gift package recommendation method described above may be performed. Alternatively, in other embodiments, the computing unit 801 may be configured in any other suitable manner (e.g., by means of firmware) to perform a method for smoothing corners of the drone's route.
[0090] An embodiment of the present invention provides a non-transient computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause the computer to execute any of the above-described methods for smoothing the corners of the drone route. In this article, one or more computer-readable non-transient storage media may include one or more semiconductor-based or other integrated circuits (ICs) (e.g., field programmable gate arrays (FPGAs) or application-specific ICs (ASICs)), hard disk drives (HDDs), hybrid hard disk drives (HHDs), optical disks, optical disk drives (ODDs), magneto-optical disks, magneto-optical disk drives, floppy disks, floppy disk drives (FDDs), magnetic tapes, solid-state drives (SSDs), RAM drives, and any other suitable computer-readable non-transient storage media. Computer-readable non-transient storage media may be volatile, non-volatile, or a combination of volatile and non-volatile.
[0091] An embodiment of the present invention provides a computer program product, comprising program code instructions. When the program product is executed by a computer, the program code instructions enable the computer to execute any of the methods for smoothing the corners of a drone route described above.
[0092] Compared with the prior art, the embodiments of the present invention can achieve at least one of the following beneficial effects:
[0093] 1. The solution of the present invention introduces automated testing technology into route inspection, automatically realizes the inspection of route safety, and meets the rapid detection requirements of reconnaissance routes.
[0094] 2. The solution of the present invention uses universal longitude and latitude data, and the algorithm has strong compatibility, which can meet the needs of route safety detection in various scenarios.
[0095] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.
Claims
1. A method for smoothing the corners of a drone route, characterized in that: The following steps are involved: Obtaining location information of a target waypoint in the UAV route and a first waypoint and a second waypoint adjacent to the target waypoint on both sides; Determine the turning angle of the drone route at the target waypoint according to the position information of the target waypoint, the first waypoint, and the second waypoint; In response to the turning angle being less than a corner threshold, determining a turning radius of the drone at the target waypoint; Determine an inscribed circle tangent to a first flight segment and a second flight segment according to the turning angle and the turning radius, wherein two endpoints of the first flight segment are the target waypoint and the first waypoint, and two endpoints of the second flight segment are the target waypoint and the second waypoint; as well as An alternative route for the UAV at the target waypoint is determined according to the inscribed circle, wherein the turning angle at each waypoint in the alternative route is greater than or equal to the corner threshold.
2. The smoothing method according to claim 1, characterized in that: The turning radius is greater than or equal to a minimum turning radius of the UAV at the target waypoint, and the minimum turning radius is determined by a flight speed of the UAV at the target waypoint and a maximum rolling angle of the UAV.
3. The smoothing method according to claim 1, characterized in that: Determining an alternative route for the UAV at the target waypoint based on the inscribed circle includes: Acquire position information of a first tangent point and a second tangent point, wherein the first tangent point is a tangent point between the inscribed circle and the first flight segment, and the second tangent point is a tangent point between the inscribed circle and the second flight segment; Intercepting an arc from the first tangent point to the second tangent point from the inscribed circle; Selecting one or more replacement points on the arc; The first tangent point, the one or more replacement points, and the second tangent point are sequentially connected to obtain the alternative route.
4. The smoothing method according to claim 1, characterized in that: Determining an alternative route for the UAV at the target waypoint based on the inscribed circle includes: Acquire position information of a first tangent point and a second tangent point, wherein the first tangent point is a tangent point between the inscribed circle and the first flight segment, and the second tangent point is a tangent point between the inscribed circle and the second flight segment; Connecting the target waypoint and the center of the inscribed circle to obtain a connecting line segment; Obtaining the intersection point of the connecting line segment and the inscribed circle; The first tangent point, the intersection point, and the second tangent point are sequentially connected to obtain the alternative route.
5. The smoothing method according to claim 1, characterized in that: The altitude value of the alternative route is the same as the altitude value of the target waypoint.
6. The smoothing method according to claim 1, characterized in that: The corner threshold is the minimum turning angle allowed by the drone itself.
7. A device for smoothing the corners of a drone route, characterized in that: include: An acquisition module is configured to acquire position information of a target waypoint in the UAV route and a first waypoint and a second waypoint adjacent to the target waypoint on both sides; A first determination module is configured to determine a turning angle of the drone route at the target waypoint based on the position information of the target waypoint, the first waypoint, and the second waypoint; A second determination module is configured to determine an inscribed circle tangent to a first flight segment and a second flight segment according to the turning angle and the turning radius, wherein two endpoints of the first flight segment are the target waypoint and the first waypoint, and two endpoints of the second flight segment are the target waypoint and the second waypoint; The third determination module is configured to determine an alternative route for the UAV at the target waypoint based on the inscribed circle, wherein the turning angle at each waypoint in the alternative route is greater than or equal to the corner threshold.
8. An electronic device comprising: at least one processor; A memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor so that the at least one processor can execute the method for smoothing the corners of the drone route according to any one of claims 1-6.
9. A non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause the computer to execute the method for smoothing the corners of the drone route according to any one of claims 1-6.
10. A computer program product comprising program code instructions which, when the program product is executed by a computer, cause the computer to perform the method of at least one of claims 1 to 6.