Method, system and device for designing low-altitude public airway network of unmanned aerial vehicle

Abstract

The invention relates to an unmanned aerial vehicle low-altitude public route network design method, system and device, computer equipment, a storage medium and a computer program product. Relates to the technical field of route planning. The method comprises the following steps: acquiring map information of a destination of an unmanned aerial vehicle, and collecting an image of the destination; generating low-altitude route information of the unmanned aerial vehicle based on the map information and the image of the destination; and under the condition that the low-altitude air route information does not conflict with the route in the historically generated low-altitude air route network, updating the historically generated low-altitude air route network through the low-altitude air route information to obtain a new low-altitude air route network. By adopting the method, the conflict of the running route can be effectively avoided.

Description

Technical Field

[0001] The present application relates to the technical field of route planning, and in particular to a method, system, device, computer equipment, storage medium and computer program product for designing a low-altitude public route network for unmanned aerial vehicles. Background Art

[0002] In the development of drones, as the physical space for drone operations, the reasonable design of routes can optimize the flight efficiency and safety of drones. As the requirements for routes for low-altitude drone flights increase, the planning and design of low-altitude public routes for drones has become a problem to be solved.

[0003] However, most of the current drones are remotely controlled, and their routes are random. If the drones’ obstacle avoidance system is used alone, it is impossible to effectively avoid the crossing of routes when multiple drones are operating at the same time. Therefore, there is currently a problem of conflicting routes when drones are operating on public routes. Summary of the invention

[0004] Based on this, it is necessary to provide a method, device, computer equipment, computer-readable storage medium and computer program product for designing a low-altitude public route network for drones to address the technical problem that conflicts may occur when drones operate on public routes.

[0005] In a first aspect, the present application provides a method for designing a low-altitude public route network for unmanned aerial vehicles, comprising:

[0006] Obtaining map information of the destination of the drone, and collecting images of the destination;

[0007] generating low-altitude route information of the UAV based on the map information and the image of the destination;

[0008] In the case where the low-altitude route information does not conflict with the routes in the historically generated low-altitude route network, the historically generated low-altitude route network is updated by the low-altitude route information to obtain a new low-altitude route network. In one embodiment, the low-altitude route information of the UAV is generated based on the map information and the image of the destination, including: determining the position and size of obstacles within the range of the destination based on the map information and the image of the destination; and generating the low-altitude route information of the UAV based on the position and size of obstacles within the range of the destination, on the condition that there is no conflict with the obstacles.

[0009] In one of the embodiments, the method further includes: obtaining the historically generated low-altitude route network; the historically generated low-altitude route network includes low-altitude route information, no-fly zones and safety zones of other UAVs; and using a conflict detection algorithm to identify whether there is an intersection conflict between the low-altitude route information and the historically generated low-altitude route network.

[0010] In one of the embodiments, the use of a conflict detection algorithm to identify whether there is an intersection conflict between the low-altitude route information and the historically generated low-altitude route network includes: traversing each piece of historical route information in the historically generated low-altitude route information, and comparing it with the low-altitude route information; if the low-altitude route information spatially intersects with any piece of historical route information, it is determined that there is a conflict between the low-altitude route information and the historically generated low-altitude route network.

[0011] In one of the embodiments, the method further includes: when the low-altitude route information conflicts with a route in a historically generated low-altitude route network, replanning the low-altitude route information according to the route conflict situation; updating the historically generated low-altitude route network according to the re-planned low-altitude route information to obtain a new low-altitude route network.

[0012] In a second aspect, the present application also provides a UAV low-altitude public route network design system, the system comprising: a positioning system, a camera, a data processor, a communication module and a memory; the signal output end of the positioning system and the camera is connected to the first end of the data processor; the communication module is connected to the second end of the data processor; the memory is connected to the third end of the data processor;

[0013] The positioning system is used to obtain map information of the destination of the drone;

[0014] The camera is used to capture images of the destination;

[0015] The data processor is used to generate low-altitude route information of the UAV based on the map information and the image of the destination; if the low-altitude route information does not conflict with the routes in the historically generated low-altitude route network, update the historically generated low-altitude route network through the low-altitude route information to obtain a new low-altitude route network;

[0016] The memory is used to store the historically generated low-altitude route network.

[0017] In a third aspect, the present application also provides a device for designing a low-altitude public route network for a drone, comprising:

[0018] An information acquisition module, used to obtain map information of the destination of the drone and collect images of the destination;

[0019] An information generation module, configured to generate low-altitude route information of the UAV based on the map information and the image of the destination;

[0020] The low-altitude route network acquisition module is used to update the historically generated low-altitude route network through the low-altitude route information to obtain a new low-altitude route network when the low-altitude route information does not conflict with the routes in the historically generated low-altitude route network.

[0021] In a fourth aspect, the present application further provides a computer device, the computer device comprising a memory and a processor, the memory storing a computer program, and the processor implementing the following steps when executing the computer program:

[0022] Obtaining map information of the destination of the drone, and collecting images of the destination;

[0023] generating low-altitude route information of the UAV based on the map information and the image of the destination;

[0024] In the case where the low-altitude route information does not conflict with the routes in the historically generated low-altitude route network, the historically generated low-altitude route network is updated by the low-altitude route information to obtain a new low-altitude route network.

[0025] In a fifth aspect, the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0026] Obtaining map information of the destination of the drone, and collecting images of the destination;

[0027] generating low-altitude route information of the UAV based on the map information and the image of the destination;

[0028] In the case where the low-altitude route information does not conflict with the routes in the historically generated low-altitude route network, the historically generated low-altitude route network is updated by the low-altitude route information to obtain a new low-altitude route network.

[0029] In a sixth aspect, the present application further provides a computer program product, the computer program product comprising a computer program, which implements the following steps when executed by a processor:

[0030] Obtaining map information of the destination of the drone, and collecting images of the destination;

[0031] generating low-altitude route information of the UAV based on the map information and the image of the destination;

[0032] In the case where the low-altitude route information does not conflict with the routes in the historically generated low-altitude route network, the historically generated low-altitude route network is updated by the low-altitude route information to obtain a new low-altitude route network.

[0033] The above-mentioned method, system, device, computer equipment, storage medium and computer program product for designing a low-altitude public route network for unmanned aerial vehicles have the following beneficial effects in the process of designing a low-altitude public route network for unmanned aerial vehicles: first, map information of the destination of the unmanned aerial vehicle is obtained, and an image of the destination is collected; then, based on the map information and the image of the destination, the low-altitude route information of the unmanned aerial vehicle is generated; finally, when the low-altitude route information does not conflict with the routes in the historically generated low-altitude route network, the historically generated low-altitude route network is updated through the low-altitude route information to obtain a new low-altitude route network. In the above process, by obtaining the map information and image of the destination, the unmanned aerial vehicle can better understand the flight environment and help the unmanned aerial vehicle avoid obstacles; by analyzing the map information and the image of the destination, according to the analysis results, the route with the shortest flight time is determined to save flight time; determining that the low-altitude route information does not conflict with the routes in the historically generated low-altitude route network can reduce the probability of flight accidents and improve flight safety. At the same time, updating the low-altitude route network can improve the utilization rate of the route and effectively avoid conflicts in the operating routes. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 A schematic diagram of a process of designing a low-altitude public route network for unmanned aerial vehicles in one embodiment;

[0036] Figure 2 A schematic diagram of a flow chart of steps for generating low-altitude route information of a UAV in one embodiment;

[0037] Figure 3 A schematic diagram of a process for designing a low-altitude public route network for unmanned aerial vehicles in one embodiment;

[0038] Figure 4 A schematic diagram of a system for designing a low-altitude public route network for unmanned aerial vehicles in one embodiment;

[0039] Figure 5 It is a structural block diagram of a device for designing a low-altitude public route network for unmanned aerial vehicles in one embodiment;

[0040] Figure 6FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0042] In one embodiment, Figure 1 As shown, a method for designing a low-altitude public route network for unmanned aerial vehicles is provided. This embodiment uses the method applied to a data processor as an example. It can be understood that the data processor can be a terminal, a server, or a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. In this embodiment, the method includes the following steps S102 to S106. Among them:

[0043] Step S102, obtaining map information of the destination of the drone, and collecting images of the destination.

[0044] The map information is a local map file, which indicates the geographic data of the drone's destination; the image of the destination can be collected through a camera.

[0045] Optionally, the map information may include information such as terrain, buildings, roads, etc.; the acquired destination image may include not only static environmental information, but also construction conditions and traffic conditions of the surrounding environment.

[0046] Step S104, generating low-altitude route information of the UAV based on the map information and the image of the destination.

[0047] Among them, low-altitude route information is the route planning of the UAV during flight, including the flight starting point, flight end point, flight altitude and flight speed.

[0048] Specifically, based on map information and images of the destination, the low-altitude route information of the drone can be dynamically adjusted. In the process of generating low-altitude route information, the influence of weather conditions can also be considered, making the generated low-altitude route information of higher quality.

[0049] Step S106, when the low-altitude route information does not conflict with the routes in the historically generated low-altitude route network, the historically generated low-altitude route network is updated by the low-altitude route information to obtain a new low-altitude route network.

[0050] Among them, the historically generated low-altitude route network is a collection of previously generated UAV low-altitude route information, including flight paths and other related data; the route network update is to integrate the newly generated low-altitude route information into the historically generated low-altitude route network, thereby forming a more complete low-altitude route network.

[0051] Optionally, the specific updating method can be through path merging, that is, merging the newly generated low-altitude route information with similar or overlapping paths in the historically generated low-altitude route network to form a more optimized route; it can also be through path insertion, that is, when the newly generated low-altitude route information is safer and more efficient, the new low-altitude route information can be inserted into the historically generated low-altitude route network, thereby expanding the coverage of the historically generated low-altitude route network and forming a new low-altitude route network.

[0052] In the above-mentioned UAV low-altitude public route network design method, firstly, the map information of the destination of the UAV is obtained, and the image of the destination is collected; then, based on the map information and the image of the destination, the low-altitude route information of the UAV is generated; finally, when the low-altitude route information does not conflict with the routes in the historically generated low-altitude route network, the historically generated low-altitude route network is updated through the low-altitude route information to obtain a new low-altitude route network. In the above process, by obtaining the map information and images of the destination, the UAV can better understand the flight environment and help the UAV avoid obstacles; by analyzing the map information and the image of the destination, a more efficient route can be generated to save flight time; by determining that the low-altitude route information does not conflict with the routes in the historically generated low-altitude route network, the probability of flight accidents can be reduced and the safety of flight can be improved. At the same time, updating the low-altitude route network can improve the utilization rate of the route and improve the path search efficiency of the UAV when operating on public routes.

[0053] In an exemplary embodiment, Figure 2 As shown, step S104 generates low-altitude route information of the drone based on the map information and the image of the destination, including steps S202 to S204, wherein:

[0054] Step S202, based on the map information and the image of the destination, determine the position and size of obstacles within the range of the destination; Step S204, based on the position and size of obstacles within the range of the destination, generate low-altitude route information of the drone on the condition of not conflicting with the obstacles.

[0055] Among them, the range of the destination is a certain radius or area around the destination; obstacles are objects that may cause interference or collision during the flight of the drone, which can be buildings, trees, towers, etc.; no conflict with obstacles is to ensure that the flight path of the drone will not overlap or contact with obstacles.

[0056] Specifically, after the drone determines its destination, it sets a certain identification range and identifies obstacles within the range, including the location and size of the obstacles. For example, the drone needs to maintain a certain altitude during flight. When the height of the obstacle exceeds the flight altitude of the drone, it is marked. After all obstacles are marked, the marked points can be avoided to obtain low-altitude route information, and finally an optimal drone low-altitude route information can be generated.

[0057] In this embodiment, through the above process, the drone can effectively identify obstacles around the destination and generate drone low-altitude route information in advance based on the obstacle information, ensuring that the drone can avoid obstacles during flight, thereby consuming less time to reach the destination and improving the drone's navigation efficiency.

[0058] Furthermore, in one embodiment, the method for designing a low-altitude public route network for unmanned aerial vehicles also includes: obtaining a historically generated low-altitude route network; the historically generated low-altitude route network includes low-altitude route information, no-fly zones, and safety zones of other unmanned aerial vehicles; and using a conflict detection algorithm to identify whether there is an intersection conflict between the low-altitude route information and the historically generated low-altitude route network.

[0059] Among them, the low-altitude route information of other drones includes information such as the flight paths and flight altitudes of other drones in the same or similar areas; no-fly zones are usually areas where drones are prohibited from entering due to safety or privacy reasons; safe areas refer to areas where drones can fly safely after evaluation, usually areas that have been confirmed to be free of obstacles and safety hazards; conflict detection algorithms are methods used to identify and detect cross-conflicts or potential collision risks between different routes.

[0060] In this embodiment, by identifying the historically generated low-altitude route network and no-fly zones, it is ensured that the UAV avoids conflicts with other UAVs or dangerous areas during flight, thereby reducing the risk of accidents. By using the conflict detection algorithm, the route of the UAV can be adjusted and optimized in real time to ensure that it flies within a safe area, thereby improving the effectiveness and efficiency of the route.

[0061] In one embodiment, a conflict detection algorithm is used to identify whether there is an intersection conflict between the low-altitude route information and the historically generated low-altitude route network, including: traversing each historical route information in the historically generated low-altitude route information, and comparing it with the low-altitude route information; if the low-altitude route information intersects with any historical route information in space, it is determined that the low-altitude route information conflicts with the historically generated low-altitude route network.

[0062] Among them, spatial intersection means that two or more low-altitude route information have an intersection in space, that is, the paths overlap at points or in areas.

[0063] Specifically, to identify whether the low-altitude route information intersects with any piece of historical route information in space, the space can be divided into multiple grid units. If two pieces of low-altitude route information fall into the same grid unit, it can be determined that the low-altitude route information intersects with the historical route information in space.

[0064] In this embodiment, by traversing historically generated low-altitude route information and comparing it with current low-altitude route information, potential spatial conflicts can be effectively identified, and route overlap problems can be discovered and resolved in a timely manner, thereby optimizing route planning and reducing accident risks.

[0065] Furthermore, in one embodiment, the method for designing a low-altitude public route network for unmanned aerial vehicles also includes: in the event that the low-altitude route information conflicts with the routes in the historically generated low-altitude route network, replanning the low-altitude route information according to the route conflict situation; updating the historically generated low-altitude route network according to the re-planned low-altitude route information to obtain a new low-altitude route network.

[0066] Among them, route conflicts may include spatial overlap, altitude conflict and time conflict, that is, there are overlapping parts of the routes in three-dimensional space, and the routes fly at the same altitude and similar time; re-planning the low-altitude route information according to the route conflict situation can be achieved by adjusting the flight altitude and flight time of the UAV and changing the flight direction of the UAV.

[0067] In this embodiment, by identifying and adjusting conflicting routes, reducing the risk of collision between aircraft, and re-planning route information, high-risk areas can be effectively avoided and overall flight safety can be improved; and by optimizing route design, reducing unnecessary detours, and shortening flight time, the efficiency of the route can be improved; by updating the historically generated low-altitude route network, the accuracy and timeliness of the route information can also be ensured, thereby improving the management efficiency of low-altitude routes.

[0068] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0069] Furthermore, if Figure 3As shown, the present application provides a UAV low-altitude public route network design system 100, including: a positioning system 11, a camera 12, a data processor 13, a communication module 14 and a memory 15;

[0070] Among them, the signal output ends of the positioning system 11 and the camera 12 are connected to the first end 21 of the data processor 13; the communication module 14 is connected to the second end 22 of the data processor 13; the memory 15 is connected to the third end 23 of the data processor 13; the positioning system 11 is used to obtain the map information of the destination of the drone, and the camera 12 is used to collect the image of the destination; the data processor 13 is used to generate the low-altitude route information of the drone based on the map information and the image of the destination; when the low-altitude route information does not conflict with the route in the historically generated low-altitude route network, the historically generated low-altitude route network is updated through the low-altitude route information to obtain a new low-altitude route network; the memory 15 is used to store the historically generated low-altitude route network.

[0071] Specifically, the positioning system 11 can use GPS (Global Positioning System) or Beidou satellite navigation system; the camera 12 usually uses an image recognition camera, and a high-definition camera is selected as much as possible; in the data processing process, GPU (Graphics Processing Unit) accelerated computing is the main force of computing, which improves the computing performance of a single processor and a single machine; the communication module is used for data transmission between the drone and the ground at the destination; the memory is used to store data information.

[0072] In addition, image recognition refers to the technology of using computers to process, analyze and understand images in order to identify targets and objects of various different patterns. It is a practical application of deep learning algorithms and is generally divided into face recognition and product recognition. Face recognition is mainly used in security checks, identity verification and mobile payments; product recognition is mainly used in the circulation of goods, especially in unmanned retail fields such as unmanned shelves and smart retail cabinets. The traditional image recognition process is divided into four steps: image acquisition, image preprocessing, feature extraction and image recognition. In addition, in geography, it refers to the technology of classifying remote sensing images; the data processor adopts the currently commonly used AI data processor, and the data processor and memory have a built-in map system (the existing map system can be used), and the map system is stored in the memory. Based on the positioning system The location information is obtained. The location information collected by the positioning system is output to the data processor. The data processor sends a request to the memory to start the map system. The collected location information is input into the map system. The map system displays the map information of the location. The map information has marks of objects such as roads, rivers, green plants, and buildings. The camera shoots the terrain of the low-altitude ground as the drone flies. The camera is a camera with image recognition function. The camera shoots ground images and obtains information about low-altitude objects on the ground based on the captured images, such as the size of trees and buildings, the depth and height of ground bumps, and the specific location of the river. The acquisition of the above information can avoid conflicts between the route and objects such as trees, buildings, and rivers when formulating the route, avoid collisions with trees and buildings, and reduce overlapping positions between the route and the river.

[0073] In the above embodiment, based on the cooperation between the positioning system 11, the camera 12, the data processor 13, the communication module 14 and the memory 15, the location information can be obtained, and the terrain image of the destination can be obtained. The combination of the two can accurately obtain the terrain; each set low-altitude public route will be stored in the memory and integrated into the low-altitude route network, so that in the subsequent low-altitude route network formulation process, there will be no conflict between the low-altitude route information and other routes in the low-altitude route network; by pre-setting the low-altitude route network for the drone, when the destination and departure point of the drone are determined, it can be navigated based on the set low-altitude route network, which can avoid the risk of collisions between drones and the risk of drones colliding with trees, buildings, and towers, and can also avoid the risk of drones falling into water due to long-term parallel flight between rivers, while also freeing the operator's hands and relieving fatigue.

[0074] In order to better understand the process of the above-mentioned UAV low-altitude public route network design method, combined with Figure 4 As shown, the specific process of the method for designing a low-altitude public route network for unmanned aerial vehicles of the present application is described in detail below, including the following steps:

[0075] Step S402, locate the destination and obtain a map of the destination.

[0076] Specifically, due to the reasons that general buildings are not easy to change on a large scale, trees grow slowly, and river courses are not easy to change easily, small-scale low-altitude routes are usually not easily affected by the environment. The map system is a downloaded local map file, which obtains satellite positioning information based on the positioning system. The positioning information is output to the map system through a data processor, and the map information of the corresponding position of the map system is obtained to obtain the basic terrain conditions of the location.

[0077] Step S404: Analyze the destination terrain based on the collected images.

[0078] Among them, the destination is imaged through a camera, and the specific location and size of objects such as trees, buildings, and rivers are determined based on the collected images.

[0079] Step S406, forming low-altitude route information based on the analysis results.

[0080] The low-altitude route information is formulated based on the information obtained in step S402 and step S404. The low-altitude route information is set based on: shortening the distance as much as possible without conflicting with objects such as trees, buildings, and rivers.

[0081] Step S408, comparing the low-altitude route information with the stored low-altitude route network to obtain a new low-altitude route network.

[0082] The low-altitude route information is compared with the routes in the already formed low-altitude road network (historically generated low-altitude route network). The routes between the low-altitude route information and the already formed low-altitude road network cannot conflict, that is, more than two drones cannot be operated at the same time at the intersection of the low-altitude route information and the already formed low-altitude road network. The low-altitude route network is a combination of the uploaded low-altitude route information.

[0083] Based on the same inventive concept, the embodiment of the present application also provides a UAV low-altitude public route network design device for implementing the UAV low-altitude public route network design method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more UAV low-altitude public route network design device embodiments provided below can refer to the limitations of the UAV low-altitude public route network design method above, and will not be repeated here.

[0084] In an exemplary embodiment, Figure 5 As shown, a device for designing a low-altitude public route network for an unmanned aerial vehicle is provided, comprising: an information acquisition module 501, an information generation module 502, and a low-altitude route network acquisition module 503, wherein:

[0085] The information acquisition module 501 is used to obtain the map information of the destination of the drone and collect images of the destination;

[0086] An information generation module 502, for generating low-altitude route information of the UAV based on the map information and the image of the destination;

[0087] The low-altitude route network acquisition module 503 is used to update the historically generated low-altitude route network through the low-altitude route information to obtain a new low-altitude route network when the low-altitude route information does not conflict with the routes in the historically generated low-altitude route network.

[0088] Furthermore, in one embodiment, the information generation module 502 is also used to determine the position and size of obstacles within the range of the destination based on the map information and the image of the destination; and generate low-altitude route information of the drone based on the position and size of obstacles within the range of the destination, on the condition of not conflicting with the obstacles.

[0089] Furthermore, in one embodiment, the low-altitude route network acquisition module 503 is also used to obtain the historically generated low-altitude route network; the historically generated low-altitude route network includes the low-altitude route information, no-fly zones and safety zones of other UAVs; and a conflict detection algorithm is used to identify whether there is an intersection conflict between the low-altitude route information and the historically generated low-altitude route network.

[0090] Furthermore, in one embodiment, the low-altitude route network acquisition module 503 is also used to traverse each piece of historical route information in the historically generated low-altitude route information and compare it with the low-altitude route information; if the low-altitude route information intersects with any piece of historical route information in space, it is determined that there is a conflict between the low-altitude route information and the historically generated low-altitude route network.

[0091] Furthermore, in one embodiment, the low-altitude route network acquisition module 503 is also used to re-plan the low-altitude route information according to the route conflict situation when the low-altitude route information conflicts with the routes in the historically generated low-altitude route network; and update the historically generated low-altitude route network according to the re-planned low-altitude route information to obtain a new low-altitude route network.

[0092] Each module in the above-mentioned UAV low-altitude public route network design device can be implemented in whole or in part by software, hardware and their combination. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0093] In an exemplary embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as shown in FIG. Figure 6As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store the design data of the low-altitude public route network of unmanned aerial vehicles. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for designing a low-altitude public route network of unmanned aerial vehicles is implemented.

[0094] Those skilled in the art will understand that Figure 6 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0095] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0096] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0097] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0098] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0099] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0100] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0101] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for designing a low-altitude public route network for unmanned aerial vehicles, characterized in that: The method comprises: Obtaining map information of the destination of the drone, and collecting images of the destination; generating low-altitude route information of the UAV based on the map information and the image of the destination; In the case where the low-altitude route information does not conflict with the routes in the historically generated low-altitude route network, the historically generated low-altitude route network is updated by the low-altitude route information to obtain a new low-altitude route network.

2. The method according to claim 1, characterized in that The generating low-altitude route information of the UAV based on the map information and the image of the destination includes: Determining the location and size of obstacles within the range of the destination based on the map information and the image of the destination; The low-altitude route information of the UAV is generated based on the position and size of the obstacles within the range of the destination, on the condition that there is no conflict with the obstacles.

3. The method according to claim 1, characterized in that The method further comprises: Acquire the historically generated low-altitude route network; the historically generated low-altitude route network includes low-altitude route information, no-fly zones, and safe zones of other UAVs; A conflict detection algorithm is used to identify whether the low-altitude route information has a cross-conflict with the historically generated low-altitude route network.

4. The method according to claim 3, characterized in that The using a conflict detection algorithm to identify whether the low-altitude route information has a cross conflict with the historically generated low-altitude route network includes: Traversing each piece of historical route information in the historically generated low-altitude route information, and comparing it with the low-altitude route information; If the low-altitude route information intersects with any piece of historical route information in space, it is determined that there is a conflict between the low-altitude route information and the historically generated low-altitude route network.

5. The method according to claim 1, characterized in that The method further comprises: In the case where the low-altitude route information conflicts with a route in a historically generated low-altitude route network, replanning the low-altitude route information according to the conflicting route situation; The historically generated low-altitude route network is updated according to the re-planned low-altitude route information to obtain a new low-altitude route network.

6. A UAV low-altitude public route network design system, characterized in that: The system comprises: a positioning system, a camera, a data processor, a communication module and a memory; the signal output end of the positioning system and the camera is connected to the first end of the data processor; the communication module is connected to the second end of the data processor; the memory is connected to the third end of the data processor; The positioning system is used to obtain map information of the destination of the drone; The camera is used to capture images of the destination; The data processor is used to generate low-altitude route information of the UAV based on the map information and the image of the destination; if the low-altitude route information does not conflict with the routes in the historically generated low-altitude route network, update the historically generated low-altitude route network through the low-altitude route information to obtain a new low-altitude route network; The memory is used to store the historically generated low-altitude route network.

7. A device for designing a low-altitude public route network for unmanned aerial vehicles, characterized in that: The device comprises: An information acquisition module, used to obtain map information of the destination of the drone and collect images of the destination; An information generation module, configured to generate low-altitude route information of the UAV based on the map information and the image of the destination; The low-altitude route network acquisition module is used to update the historically generated low-altitude route network through the low-altitude route information to obtain a new low-altitude route network when the low-altitude route information does not conflict with the routes in the historically generated low-altitude route network.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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