Unmanned aerial vehicle route real-time planning method and system, storage medium and unmanned aerial vehicle

Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle route real-time planning method and system, a storage medium and an unmanned aerial vehicle. Determining a target distance between a target unmanned aerial vehicle and a target object in the target area; and according to the target distance, determining a current operation parameter of the target unmanned aerial vehicle, and according to the current operation parameter, adjusting a route of the target unmanned aerial vehicle. According to the invention, the terrain features of the regional three-dimensional point cloud data can be combined to realize real-time planning of the route of the unmanned aerial vehicle, and the flight safety and the flight efficiency are improved.

Description

Background Art

[0002] With the rapid development of drone technology, its application in agriculture, environmental monitoring, aerial photography and mapping, rescue and search and rescue and other fields is becoming more and more extensive. However, the autonomous flight capability of drones in complex environments is still one of the key technical bottlenecks that restricts their widespread application. Existing technologies are powerless in the face of real-time changing flight environments and cannot effectively respond to emergencies, resulting in a significant reduction in flight safety and efficiency. In addition, traditional route planning methods often ignore the real-time perception and decision-making capabilities of drones and lack a dynamic response mechanism to environmental changes.

[0003] Therefore, it is urgent to provide a technical solution to solve the above problems. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a method, system, storage medium and drone for real-time planning of drone routes.

[0005] In a first aspect, the present invention provides a method for real-time planning of a UAV route, and the technical solution of the method is as follows:

[0006] Determine a target distance between the target UAV and a target object in the target area based on current three-dimensional point cloud data of the target area measured by the target UAV;

[0007] According to the target distance, current operating parameters of the target UAV are determined, and according to the current operating parameters, the route of the target UAV is adjusted.

[0008] The beneficial effects of the real-time planning method for unmanned aerial vehicle routes of the present invention are as follows:

[0009] The method of the present invention can combine the terrain features of regional three-dimensional point cloud data to achieve real-time planning of UAV routes and improve flight safety and efficiency.

[0010] Based on the above scheme, the real-time planning method of a UAV route of the present invention can also be improved as follows.

[0011] In an optional manner, the real-time UAV route planning method also includes: using a laser radar on the target UAV to obtain terrain data of the target area, and using the terrain data to generate the current three-dimensional point cloud data.

[0012] In the above optional method, the terrain data is acquired in real time through the LiDAR, and the current three-dimensional point cloud data is generated, which provides an accurate environmental information basis for subsequent route planning. This helps the drone to more accurately identify obstacles, terrain changes, etc., thereby improving flight safety.

[0013] In an optional manner, the step of determining the target distance between the target drone and the target object in the target area based on the current three-dimensional point cloud data of the target area measured by the target drone includes: obtaining the first current coordinates of the target object from the current three-dimensional point cloud data, and determining the second current coordinates of the target drone based on the parameter information of the laser radar; and determining the target distance based on the coordinate difference between the second current coordinate and the first current coordinate.

[0014] In the above optional method, the target distance is determined by accurately calculating the three-dimensional coordinate difference between the target drone and the target object. This method is more accurate than traditional two-dimensional distance calculation, can better adapt to complex three-dimensional environments, and improve the accuracy and safety of route planning.

[0015] In an optional manner, the step of determining the current operating parameters of the target UAV according to the target distance includes: obtaining the original operating parameters of the target UAV, and determining the adjusted operating parameters of the target UAV according to the target distance; and determining the current operating parameters according to a parameter relationship between the original operating parameters and the adjusted operating parameters.

[0016] In the above optional method, after obtaining the target distance in real time, by adjusting the operating parameters of the UAV (such as speed, altitude, angular velocity, etc.), it is possible to flexibly respond to sudden obstacles, terrain changes or weather conditions, ensuring that the UAV optimizes the flight path and improves flight efficiency while maintaining safety.

[0017] In an optional manner, the current operating parameters include: current angular velocity, current flight speed and current altitude.

[0018] In the above optional methods, the specific content of the current operating parameters is clarified, including angular velocity, flight speed and altitude. The current operating parameters are the key to the dynamic adjustment of the UAV during flight. By adjusting the current operating parameters in real time, the UAV can be ensured to fly safely and efficiently in a complex environment.

[0019] In a second aspect, the present invention provides a real-time UAV route planning system, the technical solution of which is as follows:

[0020] The UAV route real-time planning system includes: an identification module and an operation module;

[0021] The recognition module is used to: determine the target distance between the target UAV and the target object in the target area based on the current three-dimensional point cloud data of the target area measured by the target UAV;

[0022] The operation module is used to determine the current operation parameters of the target UAV according to the target distance, and adjust the route of the target UAV according to the current operation parameters.

[0023] The beneficial effects of the real-time planning system for unmanned aerial vehicle routes of the present invention are as follows:

[0024] The system of the present invention can combine the terrain features of regional three-dimensional point cloud data to achieve real-time planning of UAV routes and improve flight safety and efficiency.

[0025] Based on the above scheme, the real-time planning system for unmanned aerial vehicle routes of the present invention can also be improved as follows.

[0026] In an optional manner, the real-time UAV route planning system also includes: an acquisition module; the acquisition module is used to: use the laser radar on the target UAV to obtain the terrain data of the target area, and use the terrain data to generate the current three-dimensional point cloud data.

[0027] In the above optional method, the terrain data is acquired in real time through the LiDAR, and the current three-dimensional point cloud data is generated, which provides an accurate environmental information basis for subsequent route planning. This helps the drone to more accurately identify obstacles, terrain changes, etc., thereby improving flight safety.

[0028] In an optional manner, the identification module is specifically used to: obtain the first current coordinates of the target object from the current three-dimensional point cloud data, and determine the second current coordinates of the target drone based on the parameter information of the lidar; determine the target distance based on the coordinate difference between the second current coordinates and the first current coordinates.

[0029] In the above optional method, the target distance is determined by accurately calculating the three-dimensional coordinate difference between the target drone and the target object. This method is more accurate than traditional two-dimensional distance calculation, can better adapt to complex three-dimensional environments, and improve the accuracy and safety of route planning.

[0030] In a third aspect, the present invention provides a computer-readable storage medium with the following technical solution:

[0031] Instructions are stored in the computer-readable storage medium. When the computer-readable storage medium reads the instructions, the computer-readable storage medium executes the steps of the real-time drone route planning method of the present invention.

[0032] In a fourth aspect, a technical solution of a drone of the present invention is as follows:

[0033] The drone includes a memory, a processor, and a program stored in the memory and running on the processor. When the processor executes the program, the steps of the real-time drone route planning method of the present invention are implemented.

[0034] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present invention. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0036] Figure 1 A schematic diagram of a flow chart of an embodiment of a method for real-time planning of a UAV route according to the present invention;

[0037] Figure 2 A schematic diagram of the structure of an embodiment of a real-time planning system for a UAV route according to the present invention;

[0038] Figure 3 The figure is a schematic structural diagram of an embodiment of a drone of the present invention. DETAILED DESCRIPTION

[0039] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0040] Figure 1 The flowchart of an embodiment of a method for real-time planning of a UAV route provided by the present invention is shown, and the method is executed by a controller. Figure 1 As shown, the following steps are included:

[0041] S1. Determine the target distance between the target UAV and the target object in the target area based on the current three-dimensional point cloud data of the target area measured by the target UAV. In S1:

[0042] ① The target area refers to the specific geographical area that the drone needs to explore, monitor or operate when performing a mission. This area can be any specific spatial range where the drone needs to perform a mission, such as mountains with complex terrain, urban construction areas, farmlands, oceans, etc.

[0043] ② The current three-dimensional point cloud data is a collection of three-dimensional coordinate information about the terrain, obstacles, targets and other objects in the target area. The current three-dimensional point cloud data is represented in the form of points, and each point contains its coordinate information in three-dimensional space, forming a three-dimensional point cloud map of the target area, reflecting the current state of the target area. The methods of obtaining the current three-dimensional point cloud data include but are not limited to: 1) Real-time acquisition through the laser radar (LiDAR) or sensor carried by the drone; 2) Shooting multiple overlapping images through the high-resolution camera carried by the drone, and processing the images, matching and reconstructing the feature points in the images, and generating a high-precision three-dimensional model. 3) The RGB-D camera combines the traditional RGB color camera and the depth sensor. The RGB-D camera can simultaneously obtain the color information and depth information of the image. By calculating the distance from each pixel to the camera, the three-dimensional point cloud data is generated. 4) The binocular camera uses two cameras to obtain two images of the object from different positions, and calculates the position deviation (i.e., parallax) of the corresponding points, and uses the triangulation principle to calculate the three-dimensional coordinates of the points. 5) Structure from Motion (SfM) is a 3D reconstruction algorithm that recovers the camera pose from two or more images and reconstructs 3D coordinate points. Given only multiple images and their corresponding sets of image feature points, the position of 3D points and the camera pose (motion) can be estimated.

[0044] ③ Target distance refers to the straight-line distance between the target drone and a specific target object in the target area. The target distance is calculated based on the current 3D point cloud data of the drone and the target object, and is used to evaluate the relative position relationship between the drone and the target object.

[0045] Specifically, the controller determines the target distance between the target UAV and the target object in the target area based on the current three-dimensional point cloud data of the target area measured by the target UAV.

[0046] S2. According to the target distance, determine the current operating parameters of the target UAV, and adjust the route of the target UAV according to the current operating parameters. In S2:

[0047] ① Current operating parameters refer to a series of parameters that are adjusted in real time by the drone during the execution of the mission according to the current environment and mission requirements, including but not limited to: the drone's current angular velocity (i.e., turning rate), current flight speed (i.e., horizontal or vertical movement speed) and current altitude (i.e., the vertical distance between the drone and the ground). The drone's operating parameters jointly determine the drone's flight status and behavior.

[0048] ② The target drone’s route refers to the flight path planned by the drone from the starting position to the end position. The route is planned and adjusted based on the mission requirements, the characteristics of the target area, the performance of the drone, and real-time environmental data (such as 3D point cloud data, target distance, etc.). Route planning aims to ensure that the drone can complete the mission safely and efficiently, while avoiding collisions with obstacles and optimizing flight efficiency.

[0049] Specifically, the controller determines the current operating parameters of the target UAV according to the target distance, and adjusts the route of the target UAV according to the current operating parameters.

[0050] The technical solution of this embodiment can combine the terrain features of the regional three-dimensional point cloud data to achieve real-time planning of the UAV route and improve flight safety and efficiency.

[0051] In an optional manner, the real-time UAV route planning method also includes: using a laser radar on the target UAV to obtain terrain data of the target area, and using the terrain data to generate current three-dimensional point cloud data.

[0052] In this embodiment, a multi-rotor drone is used as the target drone. The laser radar on the multi-rotor drone is used with a POS system to record the positioning and flight attitude information of the multi-rotor drone, thereby obtaining high-density terrain data of the target area. In the laser radar, the laser scanner converts the reflected echo signal of the ground point in the scanned target area into the position information from the ground point to the scanning center. Then, the attitude information of the flight platform is calculated from the POS system to obtain the coordinate system rotation matrix, and the coordinate system of the ground point coordinates is converted. Finally, the POS is used to obtain the positioning coordinates of the flight platform to transfer all laser scanned ground points to the three-dimensional point cloud data in the geocentric rectangular coordinate system.

[0053] Specifically, the controller uses the laser radar on the target UAV to obtain the terrain data of the target area, and uses the terrain data to generate the current three-dimensional point cloud data.

[0054] In an optional manner, the step of determining the target distance between the target drone and the target object in the target area based on the current three-dimensional point cloud data of the target area measured by the target drone includes: obtaining the first current coordinates of the target object from the current three-dimensional point cloud data, and determining the second current coordinates of the target drone based on the parameter information of the laser radar; and determining the target distance based on the coordinate difference between the second current coordinate and the first current coordinate.

[0055] In this embodiment, the ICP nearest iteration point method is used to jointly calibrate the laser radar and IMU inertial navigation. For the laser radar and IMU inertial navigation, a set of landmarks are measured in space respectively. They will have different three-dimensional coordinate representations in their respective coordinate systems. In order to enable the two sensors to uniformly represent the motion state, the coordinate transformation matrix between the two sensors can be calculated to perform sensor joint calibration.

[0056] The specific calibration process of LiDAR and IMU inertial navigation is as follows:

[0057] 1) According to the current 3D point cloud data, the strapdown inertial navigation algorithm is used to solve the attitude angle of the IMU inertial navigation, and then the transformation matrix between the attitude angle of the IMU inertial navigation and the navigation coordinate system is calculated to solve the coordinates of the marker in the IMU inertial navigation coordinate system.

[0058] 2) Preprocess the point cloud data to determine the coordinates of the landmark in the laser radar coordinate system (i.e., the second current coordinates).

[0059] 3) Associate the coordinates of the marker in the IMU inertial navigation coordinate system with the coordinates in the lidar coordinate system to obtain the coordinate system transformation matrix.

[0060] 4) Using the obtained coordinate system transformation matrix, transform the coordinates of the marker in the IMU inertial navigation coordinate system to obtain the first current coordinate, then compare the first current coordinate with the coordinate in the lidar coordinate system (i.e., the second current coordinate), perform error analysis, and determine the target distance based on the difference between the first current coordinate and the second current coordinate.

[0061] Specifically, the controller obtains the first current coordinates of the target object from the current three-dimensional point cloud data, and determines the second current coordinates of the target drone based on the parameter information of the laser radar; and determines the target distance according to the coordinate difference between the second current coordinate and the first current coordinate.

[0062] In an optional manner, the step of determining the current operating parameters of the target UAV according to the target distance includes: obtaining the original operating parameters of the target UAV, and determining the adjusted operating parameters of the target UAV according to the target distance; and determining the current operating parameters according to a parameter relationship between the original operating parameters and the adjusted operating parameters.

[0063] In this embodiment, the original operating parameters of the multi-rotor drone are obtained by using a variety of sensors (such as laser radar, camera, inertial measurement unit IMU, GNSS, etc.) carried on the multi-rotor drone. According to the target distance and the original operating parameters of the multi-rotor drone, the adjusted operating parameters of the multi-rotor drone are obtained, and then the coordinate difference is vector-added to determine the current operating parameters of the multi-rotor drone, and the route of the drone is adjusted in real time according to the current operating parameters to ensure that the drone can safely and efficiently cross the target area. The route includes a terrain-simulating flight route and a regional terrain-simulating flight route.

[0064] Specifically, the controller obtains original operating parameters of the target UAV, and determines the adjusted operating parameters of the target UAV according to the target distance; and determines the current operating parameters according to the parameter relationship between the original operating parameters and the adjusted operating parameters.

[0065] In an optional manner, the current operating parameters include: current angular velocity, current flight speed and current altitude.

[0066] It should be noted that the current angular velocity indicates the angular velocity of the target UAV rotating around one of its axes (such as pitch, roll or yaw axis) during flight. This value is calculated based on the instructions of the target UAV flight control system and the real-time feedback of sensors (such as IMU). The current flight speed refers to the instantaneous speed of the target UAV relative to the ground. The current flight speed is calculated based on the real-time solution of the target UAV's ground speed measurement equipment (such as GNSS combined with INS system) and the target UAV flight control system. The current flight speed takes into account the influence of environmental factors such as wind direction and wind speed. The current altitude indicates the current vertical distance of the target UAV from the ground, which is usually measured by a barometric altimeter, a radar altimeter or a GNSS / INS combined navigation system. This altitude value is crucial for the obstacle avoidance, terrain following and flight control of the UAV.

[0067] In this embodiment, the original operating parameters include: original angular velocity, original flight speed and original altitude.

[0068] Adjusting operating parameters includes: adjusting angular velocity, adjusting flight speed and adjusting altitude.

[0069] When determining the current operating parameters based on the parameter relationship between the original operating parameters and the adjusted operating parameters, for example:

[0070] When the original angular velocity of the multi-rotor drone is 5 rad / s, the original flight speed is 15 m / s, and the original altitude is 100 m, when the angular velocity of the operating parameters is adjusted to -2 rad / s, the flight speed is adjusted to 5 m / s, and the altitude is adjusted to -10 m, the current angular velocity of the multi-rotor drone is 3 rad / s, the current flight speed is 20 m / s, and the current altitude is 90 m.

[0071] Specifically, when the controller performs parameter adjustment, it comprehensively analyzes the original operating parameters and the adjusted operating parameters to accurately calculate the current operating parameters of the multi-rotor drone, ensure the stability and agility of the drone's attitude control, improve the drone's flight efficiency and maintain a safe and appropriate operating altitude. It achieves high-precision real-time adjustment in complex environments and ensures the stability of the drone in complex tasks.

[0072] Figure 2 FIG. 2 is a schematic diagram showing a structure of an embodiment of a real-time drone route planning system 200 provided by the present invention. Figure 2 As shown, the system 200 includes: an identification module 210 and an operation module 220 .

[0073] The identification module 210 is used to: determine the target distance between the target UAV and the target object in the target area based on the current three-dimensional point cloud data of the target area measured by the target UAV;

[0074] The operation module 220 is used to determine the current operation parameters of the target UAV according to the target distance, and adjust the route of the target UAV according to the current operation parameters.

[0075] In an optional manner, the real-time drone route planning system also includes: an acquisition module.

[0076] The acquisition module is used to: use the laser radar on the target UAV to obtain the terrain data of the target area, and use the terrain data to generate the current three-dimensional point cloud data.

[0077] In an optional manner, the identification module 210 is used to: obtain the first current coordinates of the target object from the current three-dimensional point cloud data, and determine the second current coordinates of the target drone based on the parameter information of the laser radar; determine the target distance based on the coordinate difference between the second current coordinate and the first current coordinate.

[0078] The technical solution of this embodiment can combine the terrain features of the regional three-dimensional point cloud data to achieve real-time planning of the UAV route and improve flight safety and efficiency.

[0079] The above-mentioned parameters and steps for each module to implement corresponding functions in the real-time drone route planning system 200 of this embodiment can refer to the parameters and steps in the embodiment of the real-time drone route planning method above, and will not be repeated here.

[0080] like Figure 3 As shown, a drone 300 according to an embodiment of the present invention includes a processor 320, the processor 320 is coupled to a memory 310, and the memory 310 stores at least one computer program 330, and the at least one computer program 330 is loaded and executed by the processor 320, so that the drone 300 implements any of the above-mentioned drone route real-time planning methods, specifically:

[0081] The drone 300 may have relatively large differences due to different configurations or performances, and may include one or more processors 320 (Central Processing Units, CPU) and one or more memories 310, wherein the one or more memories 310 store at least one computer program 330, and the at least one computer program 330 is loaded and executed by the one or more processors 320, so that the drone 300 implements any of the drone route real-time planning methods provided in the above embodiments. Of course, the drone 300 may also have components such as a wired or wireless network interface, a keyboard, and an input and output interface for input and output, and the drone 300 may also include other components for implementing device functions, which will not be described in detail here.

[0082] A computer-readable storage medium according to an embodiment of the present invention stores at least one computer program, and the at least one computer program is loaded and executed by a processor so that the computer implements any of the above-mentioned methods for real-time planning of drone routes.

[0083] Optionally, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0084] In an exemplary embodiment, a computer program product or a computer program is also provided, the computer program product or the computer program comprising computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a drone reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the drone executes any of the above-mentioned drone route real-time planning methods.

[0085] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects and represent the definition of a specific order or sequence. The order of use of similar objects can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than the order shown or described.

[0086] Those skilled in the art know that the present invention can be implemented as a system, method or computer program product. Therefore, the present disclosure can be specifically implemented in the following forms, namely: it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, which is generally referred to as "circuit", "module" or "system" herein. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code.

[0087] Any combination of one or more computer-readable media may be used. A computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, device, or device.

[0088] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A method for real-time planning of unmanned aerial vehicle routes, characterized in that: include: Determine a target distance between the target UAV and a target object in the target area based on current three-dimensional point cloud data of the target area measured by the target UAV; According to the target distance, current operating parameters of the target UAV are determined, and according to the current operating parameters, the route of the target UAV is adjusted.

2. A method for real-time planning of unmanned aerial vehicle routes according to claim 1, characterized in that: Also includes: The laser radar on the target UAV is used to obtain the terrain data of the target area, and the current three-dimensional point cloud data is generated using the terrain data.

3. A method for real-time planning of unmanned aerial vehicle routes according to claim 1, characterized in that: The step of determining a target distance between the target UAV and a target object in the target area based on current three-dimensional point cloud data of the target area measured by the target UAV comprises: Acquire a first current coordinate of the target object from the current three-dimensional point cloud data, and determine a second current coordinate of the target drone based on parameter information of the laser radar; The target distance is determined according to a coordinate difference between the second current coordinate and the first current coordinate.

4. A method for real-time planning of unmanned aerial vehicle routes according to claim 1, characterized in that: The step of determining the current operating parameters of the target UAV according to the target distance includes: Acquire original operating parameters of the target UAV, and determine adjusted operating parameters of the target UAV according to the target distance; The current operating parameter is determined according to a parameter relationship between the original operating parameter and the adjusted operating parameter.

5. The method for real-time planning of a UAV route according to claim 1, characterized in that: The current operating parameters include: current angular velocity, current flight speed and current altitude.

6. A real-time UAV route planning system, characterized in that: include: Identify modules and run modules; The recognition module is used to: determine the target distance between the target UAV and the target object in the target area based on the current three-dimensional point cloud data of the target area measured by the target UAV; The operation module is used to determine the current operation parameters of the target UAV according to the target distance, and adjust the route of the target UAV according to the current operation parameters.

7. The real-time UAV route planning system according to claim 6, characterized in that: Also includes: Get module; The acquisition module is used to: use the laser radar on the target UAV to obtain the terrain data of the target area, and use the terrain data to generate the current three-dimensional point cloud data.

8. The real-time UAV route planning system according to claim 6, characterized in that: The identification module is specifically used for: Acquire a first current coordinate of the target object from the current three-dimensional point cloud data, and determine a second current coordinate of the target drone based on parameter information of the laser radar; The target distance is determined according to a coordinate difference between the second current coordinate and the first current coordinate.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one computer program, and the at least one computer program is loaded and executed by the processor so that the computer-readable storage medium implements the real-time drone route planning method as described in any one of claims 1 to 5.

10. A drone, characterized in that: The drone includes a processor, the processor is coupled to a memory, at least one computer program is stored in the memory, and the at least one computer program is loaded and executed by the processor so that the drone implements the real-time drone route planning method as described in any one of claims 1 to 5.

Images