Method and device for adjusting flight route height of unmanned aerial vehicle and electronic equipment

Abstract

The invention relates to an unmanned aerial vehicle route height adjusting method and device and electronic equipment, relates to the field of unmanned aerial vehicles, and solves the technical problem of flight danger caused by an unreasonable flight height planning value in an existing unmanned aerial vehicle route. The method comprises the following steps: determining whether to sample on a leg and the position of each sampling point on the leg according to latitude and longitude values of two end points of any leg in an unmanned aerial vehicle route; according to the latitude and longitude values of the two end points and the position of each sampling point, the elevation value is obtained; in response to the situation that the difference between the elevation value of any end point or any sampling point and the initial height value of the elevation value does not meet the safety threshold range, increasing the initial height value to enable the difference between the elevation value and the initial height value of the elevation value to meet the safety threshold range; and in response to the fact that the number of the sampling points with the increased initial height values is larger than or equal to a preset threshold value, the sampling points with the increased initial height values are numbered according to the flight direction of the unmanned aerial vehicle, and the current height is determined according to the numbers.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicles, and in particular to a method, a device and an electronic device for adjusting the altitude of a route of an unmanned aerial vehicle. Background Art

[0002] UAV route planning refers to deriving an optimal flight path based on the target characteristics of the mission under certain constraints. Since UAVs may not be able to achieve drastic altitude changes during flight, it is very important to ensure the stability of the route altitude in UAV flight planning, which helps to improve flight 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] The flight altitude value of the route drawn by the current route planning method is automatically generated, usually a fixed value (such as 3000 meters). The manually drawn route does not take into account the climbing or diving angle and flight altitude constraints of the drone. The flight altitude of the drone is crucial for safe flight. The appropriate flight altitude can help the drone avoid collisions with other aircraft, avoid obstacles, maintain an appropriate field of view and communication range, and ensure the stability and efficiency of the drone when performing tasks. However, due to the personal ability of the operator or facing some complex, dynamic, multi-constrained, and highly uncertain reconnaissance environments, the manually drawn routes usually do not fully consider the impact of ground elevation and ground obstacles. Some sections are too low, causing the route to pass through ground objects such as mountains, forests, high-rise buildings, etc., causing flight hazards. In addition, the drone routes planned by the prior art also have drastic changes in route altitude and repeated oscillations. Dramatic altitude changes or repeated oscillations in route altitude may cause the drone to lose control. In extreme cases, it may exceed the response capability of the drone, causing safety accidents in which the drone is destroyed and people are busy. Summary of the invention

[0008] In view of the above analysis, the embodiments of the present invention aim to provide a method, device and electronic device for adjusting the altitude of a UAV route, so as to solve the technical problem of flight hazards caused by unreasonable flight altitude planning values ​​in existing UAV routes.

[0009] In a first aspect, an embodiment of the present invention provides a method for adjusting the altitude of a drone route, comprising the following steps:

[0010] According to the latitude and longitude values ​​of the two end points of any segment in the UAV route, determine whether to perform sampling on the segment and the position of each sampling point on the segment;

[0011] According to the latitude and longitude values ​​of the two endpoints and the positions of the sampling points, obtaining the elevation values ​​of the two endpoints and the sampling points;

[0012] In response to the difference between the elevation value of any of the endpoints or any of the sampling points and its initial elevation value not satisfying a safety threshold range, increasing the initial elevation value of the corresponding endpoint or the corresponding sampling point so that the difference between the elevation value of the endpoint or the sampling point and its initial elevation value satisfies a safety threshold range; and

[0013] In response to the number of the sampling points for increasing the initial height value being greater than or equal to a preset threshold, the sampling points for increasing the initial height value are numbered according to the flight direction of the drone, and the current height of the sampling points is determined according to the numbers of the sampling points.

[0014] Based on the further improvement of the above adjustment method, according to the latitude and longitude values ​​of the two end points of any segment in the UAV route, determining whether to perform sampling on the segment includes:

[0015] Calculate the absolute value of the longitude difference and the absolute value of the latitude difference between the two endpoints;

[0016] It is determined whether the absolute value of the longitude difference and the absolute value of the latitude difference are both less than a distance threshold. If so, sampling is not performed; otherwise, sampling is performed on the flight segment.

[0017] Based on the further improvement of the above adjustment method, according to the latitude and longitude values ​​of the two end points of any segment in the UAV route, determining the position of the sampling point on the segment includes:

[0018] Selecting the larger of the absolute value of the difference in longitude and the absolute value of the difference in latitude between the two endpoints;

[0019] Sampling is performed on the flight segment at every preset distance from the endpoint as the starting point to the endpoint as the end point along the selected longitude or latitude direction.

[0020] A further improvement based on the above adjustment method further includes the following steps:

[0021] In response to the difference between the elevation value of the endpoint or the sampling point and its initial elevation value satisfying a safety threshold range, the initial elevation value of the endpoint or the sampling point is maintained.

[0022] Based on the further improvement of the above adjustment method, determining the current height of the sampling point according to the number of the sampling point includes:

[0023] Selecting N sampling points with the largest height values ​​from the sampling points of the added initial height value, wherein N is an integer greater than or equal to 1, and the current height of the N sampling points is the height after the initial height value is added;

[0024] For the unselected sampling points, their current heights are determined according to the distances between their numbers and the numbers of the N sampling points.

[0025] Based on the further improvement of the above adjustment method, determining the current height according to the distance between its serial number and the serial numbers of the N sampling points includes:

[0026] Selecting a sampling point with the closest number distance from the N sampling points as a replacement sampling point for the unselected sampling point;

[0027] The current height of the unselected sampling point is determined according to the current height of the replacement sampling point.

[0028] Based on a further improvement of the above adjustment method, determining the current height of the unselected sampling point according to the current height of the replacement sampling point includes:

[0029] If the number of the replacement sampling point is one, setting the current height of the unselected sampling point to be the same as the current height of the replacement sampling point;

[0030] If there are multiple replacement sampling points, the current height of the unselected sampling point is set to the smallest current height of the multiple replacement sampling points.

[0031] A further improvement based on the above adjustment method further includes the following steps:

[0032] In response to the current altitudes of the two endpoints or the sampling points of any segment in the drone route being greater than the maximum flight altitude value allowed by the drone, modifying the current altitudes of the endpoints or the sampling points to be the same as the maximum flight altitude value allowed by the drone;

[0033] Determine whether the modified current altitude of the endpoint or the sampling point is less than the minimum flight altitude value allowed by the drone, and if so, generate altitude alarm information; otherwise, do not generate altitude alarm information.

[0034] In a second aspect, an embodiment of the present invention provides a device for adjusting the altitude of a drone route, comprising:

[0035] A sampling module is configured to determine whether to perform sampling on any segment in the route of the drone and the location of the sampling point on the segment according to the latitude and longitude values ​​of the two end points of the segment;

[0036] An acquisition module is configured to acquire the elevation values ​​of the two endpoints and the sampling point according to the latitude and longitude values ​​of the two endpoints and the position of the sampling point;

[0037] A first height adjustment module is configured to, in response to the difference between the elevation value of the endpoint or the sampling point and its initial height value not satisfying the safety threshold range, increase the initial height value of the endpoint or the sampling point so that the difference between the elevation value of the endpoint or the sampling point and its initial height value satisfies the safety threshold range; and

[0038] The second height adjustment module is configured to, in response to the number of the sampling points for adding the initial height value being greater than or equal to a preset threshold, number the sampling points for adding the initial height value according to the flight direction of the drone, and determine the current height of the sampling points according to the numbers of the sampling points.

[0039] In a third aspect, an embodiment of the present invention provides an electronic device, including:

[0040] at least one processor; and

[0041] 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 adjusting the altitude of the UAV route as described in any one of the first aspects of the present invention.

[0042] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0043] 1. The solution of the present invention can quickly detect unreasonable flight altitude values ​​in the planned route of the UAV and automatically generate a new smooth route.

[0044] 2. After the route height is smoothed by the solution of the present invention, the sudden altitude change of the UAV route is avoided, the energy consumption and potential structural stress of the UAV during climbing or diving are reduced, and the safety flight requirements of the UAV are guaranteed.

[0045] 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

[0046] 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;

[0047] Figure 1 A schematic flow chart of a method for adjusting the altitude of a UAV route according to an embodiment of the present invention is shown.

[0048] Figure 2 A conceptual schematic diagram of a drone route in an embodiment of the present invention is shown.

[0049] Figure 3 An example of determining sampling points according to the latitude and longitude values ​​of two end points of a flight segment according to an embodiment of the present invention is shown.

[0050] Figure 4 An example of determining the current height of an unselected sampling point according to the current height of a replacement sampling point according to an embodiment of the present invention is shown.

[0051] Figure 5 Another example of determining the current height of an unselected sampling point according to the current height of a replacement sampling point according to an embodiment of the present invention is shown.

[0052] Figure 6 An exemplary block diagram of a device for adjusting the altitude of a drone route according to an embodiment of the present invention is shown.

[0053] Figure 7 A schematic block diagram of an example electronic device 700 that may be used to implement embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0054] 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.

[0055] Figure 1 FIG. 1 is a flow chart showing a method for adjusting the altitude of a drone flight path according to an embodiment of the present invention. Figure 1 As shown, the method for adjusting the altitude of the UAV route includes the following steps:

[0056] Step S100: Determine whether to perform sampling on any segment in the UAV route and the position of each sampling point on the segment according to the latitude and longitude values ​​of the two end points of the segment.

[0057] 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 A, B, C, and D 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 A and waypoint B. It should be noted that, unless otherwise specified, in this article, the terms "waypoint" and "endpoint of a segment" have the same meaning.

[0058] In this embodiment, whether to perform sampling on the flight segment can be determined based on the distance between the two endpoints of the flight segment. In some embodiments, it can be determined whether the distance between the two endpoints of the flight segment is less than a distance threshold (e.g., 1 kilometer). If it is less than the distance threshold, sampling is not performed; otherwise, sampling is performed.

[0059] In some embodiments, the absolute values ​​of the longitude difference and the latitude difference of the two endpoints of the flight segment may be calculated first; then, it is determined whether the absolute values ​​of the longitude difference and the latitude difference are both less than a distance threshold (e.g., 1 km). If the absolute values ​​of the longitude difference and the latitude difference are both less than the distance threshold, no sampling is performed; otherwise, sampling is performed. Exemplarily, the absolute values ​​of the longitude difference and the latitude difference of the two endpoints of the flight segment may be calculated first; then, it is determined which one of the absolute values ​​of the longitude difference and the latitude difference is greater; then, it is determined whether the greater one of the absolute values ​​of the longitude difference and the latitude difference is less than the distance threshold. If the greater one of the absolute values ​​of the longitude difference and the latitude difference is less than the distance threshold, no sampling is performed; otherwise, sampling is performed.

[0060] In this embodiment, after determining to sample the flight segment, the location of the sampling point on the flight segment can be determined according to the latitude and longitude values ​​of the two endpoints of the flight segment. Specifically, the location of the sampling point on the flight segment can be determined according to the distance between the two endpoints of the flight segment. For example, if the distance between the two endpoints of the flight segment is 6d, then starting from the starting point of the flight segment, a point can be sampled every distance d, and a total of 5 sampling points can be obtained.

[0061] In some embodiments, determining the position of the sampling point on the flight segment according to the latitude and longitude values ​​of the two end points of the flight segment includes:

[0062] First, the absolute value of the longitude difference and the absolute value of the latitude difference of the two end points of the segment can be calculated; then, the larger of the absolute value of the longitude difference and the absolute value of the latitude difference is selected; finally, along the selected longitude or latitude direction, from the starting point to the end point of the segment, sampling is performed on the segment at every preset distance. Figure 3 FIG. 2 shows an example of determining sampling points according to the latitude and longitude values ​​of the two end points of a flight segment according to an embodiment of the present invention. Figure 3 As shown in the figure, for the segment consisting of waypoints A and B, the absolute value of the longitude difference between waypoints A and B (i.e., horizontal span) is greater than the absolute value of the latitude difference (i.e., vertical span), so we can sample every 1 km along the longitude direction on segment AB. Since waypoint A is the starting point and waypoint B is the end point in segment AB, we can start from waypoint A and make the first sampling point at a distance of 1 km from waypoint A in the longitude direction. Figure 3 Marked as waypoint 1. Afterwards, a second sampling point can be made at a distance of 1 km from waypoint 1 in the longitude direction. Figure 3 is marked as waypoint 2, and so on.

[0063] Step S200: acquiring the elevation values ​​of the two endpoints and each of the sampling points according to the latitude and longitude values ​​of the two endpoints and the positions of each of the sampling points.

[0064] In this embodiment, the elevation value of the area through which the drone route passes can be obtained through the imported digital elevation model (Digital Elevation Model, abbreviated as DEM). A digital elevation model is a data model used to represent the elevation of the terrain on the earth's surface. It is stored in digital form. The data of DEM is usually stored in the form of a raster or grid. Each cell contains an elevation value, which represents the elevation of the position on the ground. The position on the ground can be represented by longitude and latitude values. In this embodiment, according to the longitude and latitude values ​​of the waypoints on the route and the longitude and latitude values ​​of the sampling points, the elevation values ​​of the waypoints and the sampling points can be obtained by indexing in the imported DEM.

[0065] Step S300: In response to the difference between the elevation value of any of the endpoints or any of the sampling points and its initial height value not satisfying the safety threshold range, increasing the initial height value of the corresponding endpoint or the corresponding sampling point so that the difference between the elevation value of the endpoint or the sampling point and its initial height value satisfies the safety threshold range.

[0066] The initial altitude value of the drone route refers to the altitude generated by the system by default, which is usually a fixed value (for example, 3000 meters). The initial altitude values ​​of each waypoint on the drone route are fixed values. In this embodiment, it can be determined whether the difference between the elevation value of the endpoint or sampling point of the flight segment and its initial altitude value meets the safety threshold range. For example, in this example, it can be determined whether the difference between the initial altitude value of the endpoint or sampling point of the flight segment and its elevation value (3000-DEM) is greater than the safety threshold (for example, 500 meters). If so, the initial altitude value of the endpoint or sampling point meets the safety threshold range, otherwise it does not meet the safety threshold range.

[0067] In this embodiment, if the difference between the calculated elevation value of the endpoint or sampling point and its initial elevation value satisfies the safety threshold range, the initial elevation of the endpoint or sampling point is maintained unchanged. If the difference between the calculated elevation value of the endpoint or sampling point and its initial elevation value does not meet the safety threshold range, the elevation value of the endpoint or sampling point is modified to the elevation value plus the safety threshold so that the elevation value of the endpoint or sampling point meets the safety threshold range. For example, if the difference between the initial elevation value of the endpoint or sampling point of the flight segment and its elevation value is less than the safety threshold (3000-DEM<500), the current elevation value of the endpoint or sampling point can be set to its elevation value plus the safety threshold (DEM+500), and this sampling point is inserted into the waypoint, and the latitude, longitude and altitude values ​​of this sampling point are recorded.

[0068] Step S400: In response to the number of the sampling points for increasing the initial height value being greater than or equal to a preset threshold, the sampling points for increasing the initial height value are numbered according to the flight direction of the drone, and the current height of the sampling points is determined according to the numbers of the sampling points.

[0069] In this embodiment, it can be determined whether the number of sampling points that increase the initial altitude value is greater than or equal to a preset threshold value (for example, 3). If so, the sampling points that increase the initial altitude value are numbered, otherwise they are not numbered and the current altitudes of the sampling points are maintained unchanged. For example, if there are five sampling points in segment AB, the current altitudes of 3 sampling points are the initial altitude values, and the current altitudes of 2 sampling points are greater than the initial altitude values, since the number of sampling points whose current altitudes are greater than the initial altitude values ​​is less than 3 (the preset threshold value), these 2 sampling points are not numbered, and the current altitudes of the 2 sampling points are maintained unchanged.

[0070] In this embodiment, if the number of sampling points for adding the initial height value is greater than or equal to a preset threshold, the sampling points for adding the initial height value may be numbered according to the flight direction of the drone. Figure 3 An example of numbering the sampling points according to an embodiment of the present invention is also shown. Figure 3As shown in , if there are 5 sampling points between segment AB, and the heights of all sampling points are greater than the initial height value, then starting from starting point A, along the direction A→B, the 5 sampling points can be numbered 1, 2, 3, 4, and 5 in sequence. Figure 3 In the figure, the sampling point numbered 1 is closest to the starting point, and the sampling point numbered 5 is closest to the end point. The direction A→B is the flight direction of the drone in segment AB.

[0071] In this embodiment, the current height of the sampling point can be determined according to the number of the sampling point. Exemplarily, the sampling points whose absolute values ​​of the number distances are within a threshold range (e.g., less than or equal to 2) can be selected as a group of sampling points to be optimized, and then the current height of the sampling point with the smallest height in the group of sampling points to be optimized is modified to the summed average of the current heights of multiple sampling points with the highest heights in the group of sampling points to be optimized.

[0072] In some embodiments, determining the current height of the sampling point according to the number of the sampling point comprises the following steps:

[0073] Step S10: Select N sampling points with the largest height values ​​from the sampling points with increased initial height values, where N is an integer greater than or equal to 1.

[0074] In this embodiment, the current heights of the N sampling points may be maintained unchanged, that is, the heights after the initial height value is increased.

[0075] Step S20: for the unselected sampling points, determine their current heights according to the distances between their numbers and the numbers of the N sampling points.

[0076] In this embodiment, the distance between the numbers of the sampling points refers to the absolute value of the difference between the numbers of the sampling points. For example, the number distance between the sampling point numbered 1 and the sampling point numbered 2 is 1. In step S20, for the unselected sampling points, a sampling point whose number distance is within a threshold range (for example, less than or equal to 2) can be selected from the N sampling points as the target sampling point, and then the current height of the unselected sampling point is modified to the summed average of the current heights of the target sampling points.

[0077] In some embodiments, step S20 includes:

[0078] Step S202: selecting a sampling point with the closest number distance from the N sampling points as a replacement sampling point for the unselected sampling point.

[0079] In this embodiment, for an unselected sampling point, a sampling point with the closest serial number to the unselected sampling point may be selected from the N sampling points as a replacement sampling point for the sampling point.

[0080] Step S204: determining the current height of the unselected sampling point according to the current height of the replacement sampling point.

[0081] In this embodiment, for unselected sampling points, their current heights may be modified to be the same as the current heights of the sampling points they replace.

[0082] Figure 4 An example of determining the current height of an unselected sampling point according to the current height of a replacement sampling point according to an embodiment of the present invention is shown. Figure 4 Step S204 is described.

[0083] exist Figure 4 In the left figure, there are 5 sampling points between the flight segments AB, and the height of each sampling point is greater than the initial height value. After numbering the 5 sampling points, we get sampling point 1, sampling point 2, sampling point 3, sampling point 4 and sampling point 5 respectively. The height values ​​of sampling point 1, sampling point 2, sampling point 3, sampling point 4 and sampling point 5 are as follows: Figure 4 As shown in the right figure, the height value of sampling point 3 is less than the height value of sampling point 2, less than the height value of sampling point 1, less than the height value of sampling point 4, less than the height value of sampling point 5. First, three sampling points with the largest height values ​​(N=3) can be selected from the five sampling points, namely sampling point 1, sampling point 4 and sampling point 5, and the height values ​​of these three sampling points remain unchanged. Afterwards, for sampling point 3, the sampling point with the closest number distance can be selected from sampling point 1, sampling point 4 and sampling point 5, namely sampling point 4. Subsequently, the height value of sampling point 3 is modified to be the same as the height value of sampling point 4, and a new sampling point 3' is obtained to replace sampling point 3. For sampling point 2, the sampling point with the closest number distance can be selected from sampling point 1, sampling point 4 and sampling point 5, namely sampling point 1. Subsequently, the height value of sampling point 2 is modified to be the same as the height value of sampling point 1, and a new sampling point 2' is obtained to replace sampling point 2. Finally, sampling point 1, sampling point 2', sampling point 3', sampling point 4 and sampling point 5 are connected in sequence to form a highly smooth new route in the present invention.

[0084] Figure 5 Another example of determining the current height of an unselected sampling point according to the current height of a replacement sampling point according to an embodiment of the present invention is shown.

[0085] exist Figure 4 In the left figure, there are 5 sampling points between the flight segments AB, and the height of each sampling point is greater than the initial height value. After numbering the 5 sampling points, we get sampling point 1, sampling point 2, sampling point 3, sampling point 4 and sampling point 5 respectively. The height values ​​of sampling point 1, sampling point 2, sampling point 3, sampling point 4 and sampling point 5 are as follows: Figure 4As shown in the right figure in , that is, the height value of sampling point 2 is less than the height value of sampling point 4, less than the height value of sampling point 1, less than the height value of sampling point 3, less than the height value of sampling point 5. First, the three sampling points with the largest height values ​​(N=3) can be selected from the five sampling points, namely sampling point 1, sampling point 3 and sampling point 5, and the height values ​​of these three sampling points remain unchanged. Afterwards, for sampling point 2, the sampling points with the closest number distance can be selected from sampling point 1, sampling point 3 and sampling point 5, namely sampling point 1 and sampling point 2. Subsequently, the height value of sampling point 2 is modified to be the same as the smaller of the height values ​​of sampling point 1 and sampling point 2, and a new sampling point 2' is obtained to replace sampling point 2. For sampling point 4, the sampling points with the closest number distance can be selected from sampling point 1, sampling point 3 and sampling point 5, namely sampling point 3 and sampling point 5. Subsequently, the height value of sampling point 4 is modified to be the same as the smaller of the height values ​​of sampling point 3 and sampling point 5, and a new sampling point 4' is obtained to replace sampling point 4. Finally, sampling point 1, sampling point 2', sampling point 3, sampling point 4', and sampling point 5 are sequentially connected together to form a highly smooth new route in the present invention.

[0086] In some embodiments, Figure 1 The method further comprises the following steps:

[0087] Step S500: In response to the current altitudes of the two endpoints or the sampling points of any segment in the drone route being greater than the maximum flight altitude value allowed by the drone, the current altitudes of the endpoints or the sampling points are modified to be the same as the maximum flight altitude value allowed by the drone.

[0088] The maximum flight altitude value here refers to the maximum flight altitude value of the drone, for example, 10,000 meters. In this embodiment, it is possible to detect whether the current altitude of all waypoints and sampling points is greater than the maximum flight altitude value. If so, the current altitude is modified to the maximum flight altitude value; otherwise, the current altitude remains unchanged.

[0089] Step S600: Determine whether the modified current altitude of the endpoint or the sampling point is less than the minimum flight altitude value allowed by the drone. If so, generate altitude alarm information; otherwise, do not generate altitude alarm information.

[0090] The minimum flight altitude value here refers to the minimum safe altitude value for the drone to fly, for example, 100 meters. In this embodiment, it can be determined whether the maximum flight altitude value is greater than the sum of the elevation value of the waypoint modified to the maximum flight altitude value and the minimum flight altitude value. If so, no alarm information is generated; otherwise, an alarm information is generated.

[0091] Figure 6 FIG. 2 shows an exemplary block diagram of a device for adjusting the altitude of a drone flight path according to an embodiment of the present invention. Figure 6As shown, the device 600 for adjusting the altitude of the route of the unmanned aerial vehicle comprises: a sampling module 601, configured to determine whether to perform sampling on the route and the position of each sampling point on the route according to the latitude and longitude values ​​of the two endpoints of any route segment in the route of the unmanned aerial vehicle; an acquisition module 602, configured to acquire the elevation values ​​of the two endpoints and each sampling point according to the latitude and longitude values ​​of the two endpoints and the position of each sampling point; a first altitude adjustment module 603, configured to increase the initial altitude value of the corresponding endpoint or the corresponding sampling point in response to the difference between the elevation value of any endpoint or any sampling point and its initial altitude value not meeting the safety threshold range so that the difference between the elevation value of the endpoint or the sampling point and its initial altitude value meets the safety threshold range; and a second altitude adjustment module 604, configured to number the sampling points with the increased initial altitude value according to the flight direction of the unmanned aerial vehicle in response to the number of the sampling points with the increased initial altitude value being greater than or equal to the preset threshold, and determine the current altitude of the sampling point according to the number of the sampling point.

[0092] It should be understood that Figure 6 The modules of the apparatus 600 shown in FIG. 6 can be used in conjunction with the reference 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 600 and the modules included therein. For the sake of brevity, some operations, features and advantages are not repeated here.

[0093] Figure 7 Schematic block diagram of an example electronic device 700 that can be used to implement embodiments of the present disclosure is shown. Figure 7 , a structural block diagram of an electronic device 700 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 can 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 7As shown, the electronic device 700 includes a computing unit 701, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 702 or a computer program loaded from a storage unit 708 into a random access memory (RAM) 703. In RAM 703, various programs and data required for the operation of the device 700 can also be stored. The computing unit 701, ROM 702, and RAM 703 are connected to each other through a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704. Multiple components in the device 700 are connected to the I / O interface 705, including: an input unit 706, such as a keyboard, a mouse, etc.; an output unit 707, such as various types of displays, speakers, etc.; a storage unit 708, such as a disk, an optical disk, etc.; and a communication unit 709, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 709 allows the device 700 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0094] The computing unit 701 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 701 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 701 performs the various methods and processes described above, such as a method for adjusting the altitude of a drone route. For example, in some embodiments, the method for adjusting the altitude 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 708. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 700 via the ROM 702 and / or the communication unit 709. When the computer program is loaded into the RAM 703 and executed by the computing unit 701, one or more steps of the gift package recommendation method described above may be performed. Alternatively, in other embodiments, the computing unit 701 may be configured to perform a method for adjusting the altitude of a drone route by any other appropriate means (e.g., by means of firmware).

[0095] 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 methods for adjusting the altitude of a drone route described above. 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.

[0096] 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 adjusting the altitude of a drone route described above.

[0097] Compared with the prior art, the embodiments of the present invention can achieve at least one of the following beneficial effects:

[0098] 1. The solution of the present invention can quickly detect unreasonable flight altitude values ​​in the planned route of the UAV and automatically generate a new smooth route.

[0099] 2. After the route height is smoothed by the solution of the present invention, the sudden altitude change of the UAV route is avoided, the energy consumption and potential structural stress of the UAV during climbing or diving are reduced, and the safety flight requirements of the UAV are guaranteed.

[0100] 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 adjusting the altitude of a drone route, characterized in that: The following steps are involved: According to the latitude and longitude values ​​of the two end points of any segment in the UAV route, determine whether to perform sampling on the segment and the position of each sampling point on the segment; According to the latitude and longitude values ​​of the two endpoints and the positions of the sampling points, obtaining the elevation values ​​of the two endpoints and the sampling points; In response to the difference between the elevation value of any of the endpoints or any of the sampling points and its initial elevation value not satisfying a safety threshold range, increasing the initial elevation value of the corresponding endpoint or the corresponding sampling point so that the difference between the elevation value of the endpoint or the sampling point and its initial elevation value satisfies a safety threshold range; as well as In response to the number of the sampling points for increasing the initial height value being greater than or equal to a preset threshold, the sampling points for increasing the initial height value are numbered according to the flight direction of the drone, and the current height of the sampling points is determined according to the numbers of the sampling points.

2. The adjustment method according to claim 1, characterized in that: According to the latitude and longitude values ​​of the two end points of any segment in the route of the UAV, determining whether to perform sampling on the segment includes: Calculate the absolute value of the longitude difference and the absolute value of the latitude difference between the two endpoints; It is determined whether the absolute value of the longitude difference and the absolute value of the latitude difference are both less than a distance threshold. If so, sampling is not performed; otherwise, sampling is performed on the flight segment.

3. The adjustment method according to claim 1 or 2, characterized in that: According to the latitude and longitude values ​​of the two end points of any segment in the UAV route, the location of each sampling point on the segment is determined as follows: Selecting the larger of the absolute value of the difference in longitude and the absolute value of the difference in latitude between the two endpoints; Sampling is performed on the flight segment at every preset distance from the endpoint as the starting point to the endpoint as the end point along the selected longitude or latitude direction.

4. The adjustment method according to claim 1, characterized in that: The following steps are also included: In response to the difference between the elevation value of the endpoint or the sampling point and its initial elevation value satisfying a safety threshold range, the initial elevation value of the endpoint or the sampling point is maintained.

5. The adjustment method according to claim 1, characterized in that: Determining the current height of the sampling point according to the number of the sampling point includes: Select N sampling points with the largest height values ​​from the sampling points whose initial height values ​​are increased, and the current heights of the N sampling points are the heights after the initial height values ​​are increased; wherein N is an integer greater than or equal to 1, For the unselected sampling points, their current heights are determined according to the distances between their numbers and the numbers of the N sampling points.

6. The adjustment method according to claim 5, characterized in that: Determining the current height of the point according to the distance between its number and the numbers of the N sampling points includes: Selecting a sampling point with the closest number distance from the N sampling points as a replacement sampling point for the unselected sampling point; The current height of the unselected sampling point is determined according to the current height of the replacement sampling point.

7. The adjustment method according to claim 6, characterized in that: Determining the current height of the unselected sampling point according to the current height of the replacement sampling point comprises: If the number of the replacement sampling point is one, setting the current height of the unselected sampling point to be the same as the current height of the replacement sampling point; If there are multiple replacement sampling points, the current height of the unselected sampling point is set to the smallest current height of the multiple replacement sampling points.

8. The adjustment method according to claim 1, characterized in that: The following steps are also included: In response to the current altitudes of the two endpoints or the sampling points of any segment in the drone route being greater than the maximum flight altitude value allowed by the drone, modifying the current altitudes of the endpoints or the sampling points to be the same as the maximum flight altitude value allowed by the drone; Determine whether the modified current altitude of the endpoint or the sampling point is less than the minimum flight altitude value allowed by the drone, and if so, generate altitude alarm information; otherwise, do not generate altitude alarm information.

9. A device for adjusting the altitude of a drone route, characterized in that: include: A sampling module is configured to determine whether to perform sampling on any segment in the route of the drone and the position of each sampling point on the segment according to the latitude and longitude values ​​of the two end points of the segment; An acquisition module is configured to acquire the elevation values ​​of the two endpoints and each of the sampling points according to the latitude and longitude values ​​of the two endpoints and the positions of each of the sampling points; A first height adjustment module is configured to, in response to the difference between the elevation value of any of the endpoints or any of the sampling points and its initial height value not satisfying the safety threshold range, increase the initial height value of the corresponding endpoint or the corresponding sampling point so that the difference between the elevation value of the endpoint or the sampling point and its initial height value satisfies the safety threshold range; as well as The second height adjustment module is configured to, in response to the number of the sampling points for adding the initial height value being greater than or equal to a preset threshold, number the sampling points for adding the initial height value according to the flight direction of the drone, and determine the current height of the sampling points according to the numbers of the sampling points.

10. 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, and the instructions are executed by the at least one processor so that the at least one processor can execute the method for adjusting the altitude of the drone route according to any one of claims 1-8.

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