A UAV flight trajectory control method based on cloud computing

Abstract

The present invention discloses a method for controlling the flight trajectory of an unmanned aerial vehicle (UAV) based on cloud computing, and relates to the technical field of data analysis. The method retrieves historical data of similar tasks for current target locations and mission data through a database and pre-plans the trajectory of the current UAV flight mission; evaluates flight environment data in real time through a real-time UAV environment monitoring system, and adjusts and judges the pre-planned flight trajectory based on the evaluation data; based on the judgment result of the pre-planned flight trajectory, performs an analysis of associated spatial safety distribution points on trajectory points with adjustment requirements, and constructs a corresponding safety distribution point set based on the analysis data; performs a comprehensive safety effectiveness evaluation on each spatial safety distribution point in the set, and adjusts the pre-planned flight trajectory according to the evaluation result; feeds back the real-time flight data of the UAV to a monitoring end, synchronously displays the real-time trajectory adjustment record, and feeds back a trajectory adjustment command to the UAV.

Description

Technical Field

[0001] The present invention relates to the field of data analysis, and in particular to a method for controlling the flight trajectory of an unmanned aerial vehicle (UAV) based on cloud computing. Background Art

[0002] Cloud computing-based drone flight trajectory control is a technology that uses remote cloud servers to process drone flight data and provide decision support. It collects drone flight environment data and performs cloud platform analysis and calculations, combining advanced algorithms to plan and optimize the drone's flight trajectory.

[0003] For flight safety, current drones strictly control their flight control systems and can only fly along pre-set trajectories or areas. However, the environment during a drone mission is volatile, making it difficult to fully plan safety within the pre-planned route. Therefore, the complex flight conditions during the drone's flight need to be monitored and adjusted in a timely manner. However, in the current environment, real-time control of drones requires remote manual monitoring and timely control based on human experience, and autonomous intelligent control is impossible. Summary of the Invention

[0004] The purpose of the present invention is to provide a method for controlling the flight trajectory of an unmanned aerial vehicle (UAV) based on cloud computing to solve the problems raised in the prior art.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A method for controlling the flight trajectory of an unmanned aerial vehicle (UAV) based on cloud computing, the method comprising the following steps:

[0007] S100, retrieve historical data of similar tasks for the current target location and mission data from the UAV mission database; and pre-plan the trajectory of the current UAV flight mission based on the historical data;

[0008] S200, executing a flight command for the UAV based on the pre-planned flight trajectory, and performing real-time evaluation of flight environment data through the UAV real-time environment monitoring system, and adjusting and judging the pre-planned flight trajectory based on the evaluation data;

[0009] S300: Based on the pre-planned flight trajectory determination results, perform an analysis of associated spatial safety distribution points for trajectory points requiring adjustment, and construct a corresponding safety distribution point set based on the analysis data; perform a comprehensive safety effectiveness evaluation on each spatial safety distribution point in the set, and adjust the pre-planned flight trajectory based on the evaluation results;

[0010] S400: Feedback the real-time flight data of the UAV to the monitoring terminal, synchronously display the real-time trajectory adjustment record and feedback the trajectory adjustment command to the UAV.

[0011] The S100 retrieves historical data of similar tasks for the current target location and task data through the UAV task database; the specific steps for pre-planning the trajectory of the current UAV flight task based on the historical data are as follows:

[0012] S101, based on the current UAV flight mission data and mission execution endpoint data, searching for historical UAV mission execution data in the UAV mission database using mission type and target endpoint as search filter terms;

[0013] S102. According to the database search results, retrieve the search and screening data and integrate the mission execution trajectory data, flight data and environmental data of each historical UAV in the search data to pre-plan the flight trajectory route of the current UAV mission and preset the UAV flight parameters.

[0014] The environmental data includes meteorological data and spatial data; the UAV flight parameters are the operating parameters of the UAV; the meteorological data includes wind speed data, temperature data, humidity data and air pressure data, etc.; the spatial data is the spatial obstacle data on the UAV flight trajectory; the UAV flight parameter data includes flight speed data, flight direction data, flight angle data and power data, etc.

[0015] The specific steps of executing the flight command of the UAV based on the pre-planned flight trajectory and evaluating the flight environment data in real time through the UAV real-time environment monitoring system are as follows:

[0016] S201, by transmitting the pre-planned flight trajectory route and flight parameters to the drone command storage unit, and controlling and executing the command of the drone command storage unit through wireless communication, so as to realize remote execution of the flight mission of the drone;

[0017] S202. Based on the UAV flight trajectory, the UAV onboard environmental monitoring system is used to collect the UAV's real-time environmental data, which is then packaged through the UAV's onboard storage unit and transmitted to the monitoring end via wireless communication. The monitoring end evaluates and analyzes the UAV's real-time environmental data and adjusts and determines the UAV's current flight trajectory based on the evaluation results.

[0018] The real-time environmental data of the drone is evaluated and analyzed, specifically by classifying and processing the environmental data collected by the drone and constructing a corresponding real-time environmental data form; based on the real-time environmental data form, a comprehensive safety risk assessment is performed on the real-time environment of the drone, and risk assessment is performed on the meteorological data and spatial data of the real-time location of the drone respectively. The calculation formula is:

[0019]

[0020] Among them, Se(x,y,z) is the meteorological data risk assessment value corresponding to the real-time UAV position coordinates (x,y,z); n is the number of types of collected meteorological data; f n is the safety impact coefficient of the meteorological data of type n; E n The collected data of meteorological data of type n is corresponding to the number;

[0021]

[0022] Among them, Sr(x, y, z) is the spatial data risk assessment value corresponding to the real-time UAV position coordinates (x, y, z); l is the UAV environmental survey distance; h is the distance from the UAV to the obstacle if there is an obstacle on the UAV flight trajectory; d is the safety emergency distance for the UAV to avoid obstacles; γ is the obstacle risk assessment parameter; k is the UAV obstacle safety emergency parameter;

[0023] By judging whether the spatial risk assessment value Sr(x,y,z) of the current UAV location is k; if it is k, it is judged that there is a safety risk at the current UAV location and the UAV pre-planned trajectory route is adjusted; if it is not k, the risk assessment value of the real-time meteorological data and spatial data of the UAV location is integrated to analyze the comprehensive safety risk of the UAV's real-time environmental data. The calculation formula is

[0024] SA(x,y,z)=w1*Se(x,y,z)+ W 2*Sr(x,y,z);

[0025] Among them, SA(x,y,z) is the comprehensive safety risk value of the real-time environmental data corresponding to the real-time drone position coordinates (x,y,z); w1 and w2 are the allocation weights; since d<h≤l, the maximum critical value of d / h is 1, and the maximum critical value of Sr(x,y,z) is γ, but in reality this critical value cannot be reached; therefore, when d<h≤l, the value of Sr(x,y,z) is less than γ, and the value of k is greater than γ. Therefore, when judging spatial risk, we judge whether it is k. If it is not k, it is less than k.

[0026] By retrieving the historical database and introducing the comparative safety threshold SA(s), if SA(x, y, z) ≥ SA(s), it is judged that there is a safety risk at the current location of the drone and the pre-planned trajectory of the drone is adjusted; if SA(x, y, z) < SA(s), it is judged that the current location of the drone is safe and the pre-planned trajectory of the drone is not adjusted.

[0027] S300, based on the pre-planned flight trajectory determination result, performs an analysis of the associated spatial safety distribution points for trajectory points requiring adjustment, constructs a corresponding safety distribution point set based on the analysis data, performs a comprehensive safety effectiveness evaluation on each spatial safety distribution point in the set, and adjusts the pre-planned flight trajectory based on the evaluation results. Specific steps are as follows:

[0028] S301. Based on the judgment result of the pre-planned trajectory route adjustment of the drone, the trajectory points on the trajectory route that needs adjustment are analyzed for corresponding associated spatial safety distribution points; a spherical space is constructed with the drone's survey distance as the radius; the spherical space is vertically divided into two hemispheres with the drone's location as the point, and the hemisphere indicated by the drone's flight direction is used as the associated space for the drone's trajectory route adjustment. The drone's safe adjustment trajectory points in the space are analyzed to obtain associated spatial safety distribution points, and a corresponding safety distribution point set is constructed;

[0029] S302. Obtain the safety distribution points of the drone trajectory adjustment associated space based on the drone safety distribution point set, perform a comprehensive safety effectiveness evaluation on the safety distribution points in each space, obtain the coordinates of the optimal adjustment safety distribution points based on the evaluation results, and use them as the drone trajectory adjustment coordinates to perform pre-planned trajectory route adjustment.

[0030] The analysis of the safety distribution points in the associated space is specifically performed by plane-dividing the associated space adjusted by the trajectory of the drone; cutting the vertical circular surface of the semicircular space where the drone is located with the horizontal surface where the drone is located to obtain the upper semicircular surface and the lower semicircular surface of the circular surface where the drone is located; taking the upper semicircular surface where the drone is located as the traversal starting point, traversing the associated space at all angles until the traversal operation is completed by traversing to the lower semicircular surface; labeling the traversed semicircular planes in the associated space and constructing a plane set; wherein, since the cutting surface of the drone space is divided into the upper semicircular surface and the lower semicircular surface, the associated space is traversed at all angles from the upper semicircle to the lower semicircular surface, and the corresponding full angle is π;

[0031] The spatial distribution points in each semicircular plane in the plane set are screened and analyzed for safety adjustment trajectory points, and the corresponding plane safety distribution point set is constructed. The calculation formula is:

[0032] P(m)={i|A(m)·[bc(m,i)]>0};

[0033] Where P(m) is the set of safe distribution points within the semicircular surface numbered m; A(m) is the normal vector within the semicircular surface numbered m; c(m,i) is the feature vector constructed by combining the spatial coordinates of the spatial distribution point numbered i within the semicircular surface numbered m with the comprehensive safety risk value of the corresponding spatial point; b is the feature vector constructed by combining the spatial coordinates of the real-time position of the drone with the comparative safety threshold; the vectors are calculated by dot multiplication;

[0034] Coordinate the safety distribution point sets in each semicircle and construct a comprehensive and associated spatial safety distribution point set.

[0035] Retrieve each spatial safety distribution point in the associated spatial safety distribution point set corresponding to the current UAV and perform a comprehensive safety effectiveness evaluation on each spatial safety distribution point. The calculation formula is:

[0036]

[0037] Where Sp(u) is the safety effectiveness evaluation value of the spatial safety distribution point labeled u in the corresponding set of associated spatial safety distribution points; Q[u:(x, y, z)] is the effectiveness evaluation dynamic parameter of the spatial coordinates of the spatial safety distribution point labeled u; v is the real-time flight speed vector of the UAV; θ(u) is the angle between the line segment connecting the spatial safety distribution point labeled u and the current UAV's position and the pre-planned return route of the current UAV;

[0038] Based on the safety effectiveness evaluation analysis results of each spatial safety distribution point in the associated spatial safety distribution point set, the spatial safety distribution point corresponding to the maximum evaluation value is selected as the optimal adjustment safety distribution point coordinate, and it is used as the UAV trajectory adjustment coordinate for pre-planned trajectory route adjustment.

[0039] The performance evaluation dynamic parameter is dynamically analyzed according to the location of the spatial safety distribution point, and its calculation formula is:

[0040]

[0041] Among them, α and β are constraint parameters; exp is the exponential function.

[0042] The specific steps of S400 for monitoring the real-time flight data of the drone, displaying the real-time trajectory adjustment record, and feeding back the trajectory adjustment command to the drone are as follows:

[0043] Remotely feed back the drone's real-time flight data to the monitoring terminal for display;

[0044] The pre-trajectory adjustment analysis of the UAV is recorded and displayed, the trajectory adjustment coordinates are transmitted to the UAV, and an adjustment command is issued to adjust the flight trajectory of the UAV.

[0045] Compared with the prior art, the present invention has the following beneficial effects:

[0046] The present invention uses cloud monitoring combined with remote communication to carry out full-mission autonomous planning, monitoring and control analysis of the UAV's flight trajectory; retrieves historical data through cloud big data to determine the UAV's pre-planned trajectory route, and conducts risk assessment by combining the UAV's real-time flight environment data to determine the risk trajectory point; determines the control direction by screening and analyzing the spatial safety distribution points of the risk trajectory point association space; determines the optimal adjustment position point in the current risk trajectory point association space in combination with the safety efficiency assessment of each safety point, outputs the position coordinates and controls the UAV to adjust the flight trajectory, thereby realizing autonomous trajectory planning, monitoring and control for the entire cycle of the UAV flight mission, and greatly improving the safety and autonomy of the UAV's intelligent flight. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is a schematic diagram of the steps of a cloud computing-based UAV flight trajectory control method of the present invention. DETAILED DESCRIPTION

[0048] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0049] Example: Figure 1 As shown, the present invention provides a technical solution:

[0050] A method for controlling the flight trajectory of an unmanned aerial vehicle (UAV) based on cloud computing, the method comprising the following steps:

[0051] S100, retrieve historical data of similar tasks for the current target location and mission data from the UAV mission database; and pre-plan the trajectory of the current UAV flight mission based on the historical data;

[0052] S200, executing a flight command for the UAV based on the pre-planned flight trajectory, and performing real-time evaluation of flight environment data through the UAV real-time environment monitoring system, and adjusting and judging the pre-planned flight trajectory based on the evaluation data;

[0053] S300: Based on the pre-planned flight trajectory determination results, perform an analysis of associated spatial safety distribution points for trajectory points requiring adjustment, and construct a corresponding safety distribution point set based on the analysis data; perform a comprehensive safety effectiveness evaluation on each spatial safety distribution point in the set, and adjust the pre-planned flight trajectory based on the evaluation results;

[0054] S400: Feedback the real-time flight data of the UAV to the monitoring terminal, synchronously display the real-time trajectory adjustment record and feedback the trajectory adjustment command to the UAV.

[0055] The S100 retrieves historical data of similar tasks for the current target location and task data through the UAV task database; the specific steps for pre-planning the trajectory of the current UAV flight task based on the historical data are as follows:

[0056] S101, based on the current UAV flight mission data and mission execution endpoint data, searching for historical UAV mission execution data in the UAV mission database using mission type and target endpoint as search filter terms;

[0057] S102. According to the database search results, retrieve the search and screening data and integrate the mission execution trajectory data, flight data and environmental data of each historical UAV in the search data to pre-plan the flight trajectory route of the current UAV mission and preset the UAV flight parameters.

[0058] The environmental data includes meteorological data and spatial data; the UAV flight parameters are the operating parameters of the UAV.

[0059] The specific steps of executing the flight command of the UAV based on the pre-planned flight trajectory and evaluating the flight environment data in real time through the UAV real-time environment monitoring system are as follows:

[0060] S201, by transmitting the pre-planned flight trajectory route and flight parameters to the drone command storage unit, and controlling and executing the command of the drone command storage unit through wireless communication, so as to realize remote execution of the flight mission of the drone;

[0061] S202. Based on the UAV flight trajectory, the UAV onboard environmental monitoring system is used to collect the UAV's real-time environmental data, which is then packaged through the UAV's onboard storage unit and transmitted to the monitoring end via wireless communication. The monitoring end evaluates and analyzes the UAV's real-time environmental data and adjusts and determines the UAV's current flight trajectory based on the evaluation results.

[0062] The real-time environmental data of the drone is evaluated and analyzed, specifically by classifying and processing the environmental data collected by the drone and constructing a corresponding real-time environmental data form; based on the real-time environmental data form, a comprehensive safety risk assessment is performed on the real-time environment of the drone, and risk assessment is performed on the meteorological data and spatial data of the real-time location of the drone respectively. The calculation formula is:

[0063]

[0064] Among them, Se(x,y,z) is the meteorological data risk assessment value corresponding to the real-time UAV position coordinates (x,y,z); n is the number of types of collected meteorological data; f n is the safety impact coefficient of the meteorological data of type n; E n The collected data of meteorological data of type n is corresponding to the number;

[0065]

[0066] Among them, Sr(x, y, z) is the spatial data risk assessment value corresponding to the real-time UAV position coordinates (x, y, z); l is the UAV environmental survey distance; h is the distance from the UAV to the obstacle if there is an obstacle on the UAV flight trajectory; d is the safety emergency distance for the UAV to avoid obstacles; γ is the obstacle risk assessment parameter; k is the UAV obstacle safety emergency parameter;

[0067] By judging whether the spatial risk assessment value Sr(x,y,z) of the current UAV location is k; if it is k, it is judged that there is a safety risk at the current UAV location and the UAV pre-planned trajectory route is adjusted; if it is not k, the risk assessment value of the real-time meteorological data and spatial data of the UAV location is integrated to analyze the comprehensive safety risk of the UAV's real-time environmental data. The calculation formula is

[0068] SA(x,y,z)=w1*Se(x,y,z)+w2*Sr(x,y,z);

[0069] Where SA(x, y, z) is the comprehensive safety risk value of the real-time environmental data corresponding to the real-time UAV position coordinates (x, y, z); w1 and w2 are the allocation weights;

[0070] By retrieving the historical database and introducing the comparative safety threshold SA(s), if SA(x, y, z) ≥ SA(s), it is judged that there is a safety risk at the current location of the drone and the pre-planned trajectory of the drone is adjusted; if SA(x, y, z) < SA(s), it is judged that the current location of the drone is safe and the pre-planned trajectory of the drone is not adjusted.

[0071] S300, based on the pre-planned flight trajectory determination result, performs an analysis of the associated spatial safety distribution points for trajectory points requiring adjustment, constructs a corresponding safety distribution point set based on the analysis data, performs a comprehensive safety effectiveness evaluation on each spatial safety distribution point in the set, and adjusts the pre-planned flight trajectory based on the evaluation results. Specific steps are as follows:

[0072] S301. Based on the judgment result of the pre-planned trajectory route adjustment of the drone, the trajectory points on the trajectory route that needs adjustment are analyzed for corresponding associated spatial safety distribution points; a spherical space is constructed with the drone's survey distance as the radius; the spherical space is vertically divided into two hemispheres with the drone's location as the point, and the hemisphere indicated by the drone's flight direction is used as the associated space for the drone's trajectory route adjustment. The drone's safe adjustment trajectory points in the space are analyzed to obtain associated spatial safety distribution points, and a corresponding safety distribution point set is constructed;

[0073] S302. Obtain the safety distribution points of the drone trajectory adjustment associated space based on the drone safety distribution point set, perform a comprehensive safety effectiveness evaluation on the safety distribution points in each space, obtain the coordinates of the optimal adjustment safety distribution points based on the evaluation results, and use them as the drone trajectory adjustment coordinates to perform pre-planned trajectory route adjustment.

[0074] The analysis of the safety distribution points in the associated space is specifically performed by dividing the associated space adjusted by the drone's trajectory into a plane; cutting the circular surface of the semicircular space where the drone is located vertically and cutting the circular surface with the horizontal plane where the drone is located to obtain the upper and lower semicircular surfaces of the circular surface where the drone is located; using the upper semicircular surface where the drone is located as the traversal starting point, traversing the associated space at all angles until the traversal operation is completed by traversing the lower semicircular surface; labeling the traversed semicircular planes in the associated space and constructing a plane set;

[0075] The spatial distribution points in each semicircular plane in the plane set are screened and analyzed for safety adjustment trajectory points, and the corresponding plane safety distribution point set is constructed. The calculation formula is:

[0076] P(m)={i|A(m)·[bc(m,i)]>0};

[0077] Where P(m) is the set of safe distribution points within the semicircular surface numbered m; A(m) is the normal vector within the semicircular surface numbered m; c(m,i) is the feature vector constructed by combining the spatial coordinates of the spatial distribution point numbered i within the semicircular surface numbered m with the comprehensive safety risk value of the corresponding spatial point; b is the feature vector constructed by combining the spatial coordinates of the real-time position of the drone with the comparative safety threshold.

[0078] Coordinate the safety distribution point sets in each semicircle and construct a comprehensive and associated spatial safety distribution point set.

[0079] Retrieve each spatial safety distribution point in the associated spatial safety distribution point set corresponding to the current UAV and perform a comprehensive safety effectiveness evaluation on each spatial safety distribution point. The calculation formula is:

[0080]

[0081] Where Sp(u) is the safety effectiveness evaluation value of the spatial safety distribution point labeled u in the corresponding set of associated spatial safety distribution points; Q[u:(x, y, z)] is the effectiveness evaluation dynamic parameter of the spatial coordinates of the spatial safety distribution point labeled u; v is the real-time flight speed vector of the UAV; θ(u) is the angle between the line segment connecting the spatial safety distribution point labeled u and the current UAV's position and the pre-planned return route of the current UAV;

[0082] Based on the safety effectiveness evaluation analysis results of each spatial safety distribution point in the associated spatial safety distribution point set, the spatial safety distribution point corresponding to the maximum evaluation value is selected as the optimal adjustment safety distribution point coordinate, and it is used as the UAV trajectory adjustment coordinate for pre-planned trajectory route adjustment.

[0083] The performance evaluation dynamic parameter is dynamically analyzed according to the location of the spatial safety distribution point, and its calculation formula is:

[0084]

[0085] Among them, α and β are constraint parameters; exp is the exponential function.

[0086] The specific steps of S400 for monitoring the real-time flight data of the drone, synchronously displaying the real-time trajectory adjustment record and feeding back the trajectory adjustment command to the drone are as follows;

[0087] Remotely feed back the drone's real-time flight data to the monitoring terminal for display;

[0088] The pre-trajectory adjustment analysis of the UAV is recorded and displayed, the trajectory adjustment coordinates are transmitted to the UAV, and adjustment commands are issued to adjust the flight trajectory of the UAV;

[0089] In the examples:

[0090] At present, a certain drone monitoring platform needs to plan the flight mission of the drone, which adopts the drone flight trajectory control method based on cloud computing of the present invention; based on the current drone flight mission data and mission execution endpoint data, the historical drone mission execution data is retrieved in the drone mission database with the mission type and target endpoint as the search filter words; according to the database search results, the search filter data is retrieved and the mission execution trajectory data, flight data and environmental data of each historical drone in the search data are comprehensively retrieved, and the current drone mission execution flight trajectory route is pre-planned and the drone flight parameters are preset; the environmental data includes meteorological data and spatial data; the drone flight parameters are the operating parameters of the drone

[0091] By transmitting the pre-planned flight trajectory and flight parameters to the drone's command storage unit, the drone's command storage unit is controlled and executed through wireless communication, thereby realizing the remote execution of the drone's flight mission; based on the drone's flight trajectory, the drone's onboard environmental monitoring system is used to collect the drone's real-time environmental data, which is packaged through the drone's onboard storage unit and transmitted to the monitoring end through wireless communication; the monitoring end evaluates and analyzes the drone's real-time environmental data and adjusts the drone's current flight trajectory based on the evaluation results;

[0092] The real-time environmental data of the drone is evaluated and analyzed. Specifically, the environmental data collected by the drone is classified and processed to construct a corresponding real-time environmental data form. Based on the real-time environmental data form, a comprehensive safety risk assessment of the drone's real-time environment is performed. The risk assessment is performed on the meteorological data and spatial data of the drone's real-time location respectively. The calculation formula is:

[0093]

[0094] By judging whether the spatial risk assessment value Sr(x,y,z) of the current UAV location is k; if it is k, it is judged that there is a safety risk at the current UAV location and the UAV pre-planned trajectory route is adjusted; if it is not k, the risk assessment value of the real-time meteorological data and spatial data of the UAV location is integrated to analyze the comprehensive safety risk of the UAV's real-time environmental data. The calculation formula is

[0095] SA(x,y,z)=w1*Se(x,y,z)+w2*Sr(x,y,z);

[0096] By retrieving the historical database and introducing the comparison safety threshold SA(s), if SA(x,y,z)≥SA(s), it is determined that the current drone location has a safety risk and the drone's pre-planned trajectory route is adjusted; if SA(x,y,z)<SA(s), it is determined that the current drone location is safe and the drone's pre-planned trajectory route is not adjusted;

[0097] Based on the judgment results of the drone's pre-planned trajectory route adjustment, the corresponding associated spatial safety distribution points on the trajectory route where adjustment is required are analyzed; a spherical space is constructed with the drone's survey distance as the radius; the spherical space is vertically divided into two hemispheres with the drone's location as the point, and the hemisphere space indicated by the drone's flight direction is used as the associated space for the drone's trajectory route adjustment. The drone's safe adjustment trajectory points in the space are analyzed to obtain the associated spatial safety distribution points, and a corresponding safety distribution point set is constructed;

[0098] Based on the set of drone safety distribution points, the safety distribution points in the associated space of drone trajectory adjustment are obtained. A comprehensive safety effectiveness evaluation is performed on the safety distribution points in each space. Based on the evaluation results, the coordinates of the optimal adjusted safety distribution points are obtained and used as the drone trajectory adjustment coordinates for pre-planned trajectory route adjustment.

[0099] The analysis of the safety distribution points in the associated space is specifically carried out by dividing the associated space adjusted by the drone's trajectory into a plane; by cutting the vertical circular surface of the semicircular space where the drone is located, cutting the circular surface with the horizontal plane where the drone is located, and obtaining the upper and lower semicircular surfaces of the circular surface where the drone is located; using the upper semicircular surface where the drone is located as the traversal starting point, traversing the associated space at all angles until the traversal operation is completed by reaching the lower semicircular surface; labeling the traversed semicircular planes in the associated space and constructing a plane set;

[0100] The spatial distribution points in each semicircular plane in the plane set are screened and analyzed for safety adjustment trajectory points, and the corresponding plane safety distribution point set is constructed. The calculation formula is:

[0101] P(m)={i|A(m)·[bc(m,i)]>0};

[0102] Coordinate the safe distribution point sets in each semicircle and construct a comprehensive and correlated set of safe distribution points in space;

[0103] Retrieve each spatial safety distribution point in the associated spatial safety distribution point set corresponding to the current UAV and perform a comprehensive safety effectiveness evaluation on each spatial safety distribution point. The calculation formula is:

[0104]

[0105] Based on the safety effectiveness evaluation analysis results of each spatial safety distribution point in the associated spatial safety distribution point set, the spatial safety distribution point corresponding to the maximum evaluation value is selected as the optimal adjustment safety distribution point coordinate, and the coordinate is used as the UAV trajectory adjustment coordinate to adjust the pre-planned trajectory route;

[0106] The dynamic parameters of performance evaluation are dynamically analyzed according to the location of spatial safety distribution points, and the calculation formula is:

[0107]

[0108] The real-time flight data of the UAV is remotely fed back to the monitoring terminal for display; the pre-trajectory adjustment analysis of the UAV is recorded and displayed, the trajectory adjustment coordinates are transmitted to the UAV, and adjustment commands are issued to adjust the flight trajectory of the UAV.

[0109] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. A method for controlling the flight trajectory of an unmanned aerial vehicle based on cloud computing, characterized by: The method comprises the following steps: S100, retrieve historical data of similar tasks for the current target location and mission data from the UAV mission database; and pre-plan the trajectory of the current UAV flight mission based on the historical data; S200, executing a flight command for the UAV based on the pre-planned flight trajectory, and performing real-time evaluation of flight environment data through the UAV real-time environment monitoring system, and adjusting and judging the pre-planned flight trajectory based on the evaluation data; S300: Based on the pre-planned flight trajectory determination results, perform an analysis of associated spatial safety distribution points for trajectory points requiring adjustment, and construct a corresponding safety distribution point set based on the analysis data; perform a comprehensive safety effectiveness evaluation on each spatial safety distribution point in the set, and adjust the pre-planned flight trajectory based on the evaluation results; The specific steps of S300 are as follows: S301. Based on the judgment result of the pre-planned trajectory route adjustment of the drone, the trajectory points on the trajectory route that needs adjustment are analyzed for corresponding associated spatial safety distribution points; a spherical space is constructed with the drone's survey distance as the radius; the spherical space is vertically divided into two hemispheres with the drone's location as the point, and the hemisphere indicated by the drone's flight direction is used as the associated space for the drone's trajectory route adjustment. The drone's safe adjustment trajectory points in the space are analyzed to obtain associated spatial safety distribution points, and a corresponding safety distribution point set is constructed; S302: Obtain safe distribution points in the associated space for drone trajectory adjustment based on the drone safety distribution point set, perform a comprehensive safety effectiveness evaluation on the safety distribution points in each space, obtain the coordinates of the optimal adjusted safe distribution points based on the evaluation results, and use them as the drone trajectory adjustment coordinates to adjust the pre-planned trajectory route; S400: Feedback the real-time flight data of the UAV to the monitoring terminal, synchronously display the real-time trajectory adjustment record and feedback the trajectory adjustment command to the UAV.

2. The method for controlling the flight trajectory of an unmanned aerial vehicle based on cloud computing according to claim 1, wherein: The S100 retrieves historical data of similar tasks for the current target location and task data through the UAV task database; the specific steps for pre-planning the trajectory of the current UAV flight task based on the historical data are as follows: S101, based on the current UAV flight mission data and mission execution endpoint data, searching for historical UAV mission execution data in the UAV mission database using mission type and target endpoint as search filter terms; S102. According to the database search results, retrieve the search and screening data and integrate the mission execution trajectory data, flight data and environmental data of each historical UAV in the search data to pre-plan the flight trajectory route of the current UAV mission and preset the UAV flight parameters.

3. The method for controlling the flight trajectory of an unmanned aerial vehicle based on cloud computing according to claim 2, wherein: The environmental data includes meteorological data and spatial data; the UAV flight parameters are the operating parameters of the UAV.

4. The method for controlling the flight trajectory of an unmanned aerial vehicle based on cloud computing according to claim 3, wherein: The specific steps of executing the flight command of the UAV based on the pre-planned flight trajectory and evaluating the flight environment data in real time through the UAV real-time environment monitoring system are as follows: S201, by transmitting the pre-planned flight trajectory route and flight parameters to the drone command storage unit, and controlling and executing the command of the drone command storage unit through wireless communication, so as to realize remote execution of the flight mission of the drone; S202. Based on the UAV flight trajectory, the UAV onboard environmental monitoring system is used to collect the UAV's real-time environmental data, which is then packaged through the UAV's onboard storage unit and transmitted to the monitoring end via wireless communication. The monitoring end evaluates and analyzes the UAV's real-time environmental data and adjusts and determines the UAV's current flight trajectory based on the evaluation results.

5. The method for controlling the flight trajectory of an unmanned aerial vehicle based on cloud computing according to claim 4, characterized in that: The real-time environmental data of the drone is evaluated and analyzed, specifically by classifying and processing the environmental data collected by the drone to construct a corresponding real-time environmental data form; Based on the real-time environmental data form, a comprehensive safety risk assessment of the drone's real-time environment is conducted. The risk assessment is performed on the meteorological data and spatial data of the drone's real-time location respectively. The calculation formula is: ； Among them, Se(x,y,z) is the meteorological data risk assessment value corresponding to the real-time UAV position coordinates (x,y,z); n is the number of types of collected meteorological data; f n is the safety impact coefficient of the meteorological data of type n; E n The collected data of meteorological data of type n is corresponding to the number; ； Among them, Sr(x, y, z) is the spatial data risk assessment value corresponding to the real-time UAV position coordinates (x, y, z); l is the UAV environmental survey distance; h is the distance from the UAV to the obstacle if there is an obstacle on the UAV flight trajectory; d is the safety emergency distance for the UAV to avoid obstacles; γ is the obstacle risk assessment parameter; k is the UAV obstacle safety emergency assessment parameter; By judging whether the spatial risk assessment value Sr(x,y,z) of the current UAV location is k; if it is k, it is judged that there is a safety risk at the current UAV location and the UAV pre-planned trajectory route is adjusted; if it is not k, the risk assessment value of the real-time meteorological data and spatial data of the UAV location is integrated to analyze the comprehensive safety risk of the UAV's real-time environmental data. The calculation formula is ； Where SA(x, y, z) is the comprehensive safety risk value of the real-time environmental data corresponding to the real-time UAV position coordinates (x, y, z); w1 and w2 are the allocation weights; By retrieving the historical database and introducing the comparative safety threshold SA(s), if SA(x, y, z) ≥ SA(s), it is judged that there is a safety risk at the current location of the drone and the pre-planned trajectory of the drone is adjusted; if SA(x, y, z) < SA(s), it is judged that the current location of the drone is safe and the pre-planned trajectory of the drone is not adjusted.

6. The method for controlling the flight trajectory of an unmanned aerial vehicle based on cloud computing according to claim 5, characterized in that: The analysis of the safety distribution points in the associated space is specifically performed by dividing the associated space adjusted by the drone's trajectory into a plane; cutting the circular surface of the semicircular space where the drone is located vertically and cutting the circular surface with the horizontal plane where the drone is located to obtain the upper and lower semicircular surfaces of the circular surface where the drone is located; using the upper semicircular surface where the drone is located as the traversal starting point, traversing the associated space at all angles until the traversal operation is completed by traversing the lower semicircular surface; labeling the traversed semicircular planes in the associated space and constructing a plane set; The spatial distribution points in each semicircular plane in the plane set are screened and analyzed for safety adjustment trajectory points, and the corresponding plane safety distribution point set is constructed. The calculation formula is: ； Where P(m) is the set of safe distribution points within the semicircular surface numbered m; A(m) is the normal vector within the semicircular surface numbered m; c(m,i) is the feature vector constructed by combining the spatial coordinates of the spatial distribution point numbered i within the semicircular surface numbered m with the comprehensive safety risk value of the corresponding spatial point; b is the feature vector constructed by combining the spatial coordinates of the real-time position of the drone with the comparative safety threshold. Coordinate the safety distribution point sets in each semicircle and construct a comprehensive and associated spatial safety distribution point set.

7. The method for controlling the flight trajectory of an unmanned aerial vehicle based on cloud computing according to claim 6, characterized in that: Retrieve each spatial safety distribution point in the associated spatial safety distribution point set corresponding to the current UAV and perform a comprehensive safety effectiveness evaluation on each spatial safety distribution point. The calculation formula is: ； Where Sp(u) is the safety effectiveness evaluation value of the spatial safety distribution point labeled u in the corresponding set of associated spatial safety distribution points; Q[u:(x, y, z)] is the effectiveness evaluation dynamic parameter of the spatial coordinates of the spatial safety distribution point labeled u; v is the real-time flight speed vector of the UAV; θ(u) is the angle between the line segment connecting the spatial safety distribution point labeled u and the current UAV's position and the pre-planned return route of the current UAV; Based on the safety effectiveness evaluation analysis results of each spatial safety distribution point in the associated spatial safety distribution point set, the spatial safety distribution point corresponding to the maximum evaluation value is selected as the optimal adjustment safety distribution point coordinate, and it is used as the UAV trajectory adjustment coordinate for pre-planned trajectory route adjustment.

8. The method for controlling the flight trajectory of an unmanned aerial vehicle based on cloud computing according to claim 7, wherein: The performance evaluation dynamic parameter is dynamically analyzed according to the location of the spatial safety distribution point, and its calculation formula is: ； Among them, α and β are constraint parameters; exp is the exponential function.

9. The method for controlling the flight trajectory of an unmanned aerial vehicle based on cloud computing according to claim 8, characterized in that: The specific steps of S400 for monitoring the real-time flight data of the drone, displaying the real-time trajectory adjustment record, and feeding back the trajectory adjustment command to the drone are as follows: Remotely feed back the drone's real-time flight data to the monitoring terminal for display; The pre-trajectory adjustment analysis of the UAV is recorded and displayed, the trajectory adjustment coordinates are transmitted to the UAV, and an adjustment command is issued to adjust the flight trajectory of the UAV.

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