A method, system, device and storage medium for collecting terrain using unmanned aerial vehicle

Abstract

The present application provides a method, system, device and storage medium for collecting terrain using a drone, and relates to the field of drone technology. The method includes: determining the number of power supply nodes and the location of each power supply node required for the target area according to the terrain characteristics of the target area; dividing the target area into multiple sub-areas according to the location of each power supply node, and determining the number of drones required for each sub-area according to the area of ​​each sub-area, and allocating a corresponding number of drones to each sub-area; determining the initial flight plan of each drone in combination with the remaining power of each drone in each sub-area and the location of the power supply node in each sub-area; determining the electromagnetic interference intensity at different locations in each sub-area according to the regional characteristics of each sub-area, adjusting the initial flight plan according to the electromagnetic interference intensity at different locations in each sub-area, and determining the target flight plan of each drone. The technical effect of the present application is: ensuring that the terrain collection work can be completed reliably.

Description

Technical Field

[0001] The present application relates to the field of unmanned aerial vehicle technology, and in particular to a method, system, device and storage medium for collecting terrain using an unmanned aerial vehicle. Background Art

[0002] With the rapid development of UAV technology, its application in terrain mapping, land survey and other fields is becoming more and more extensive. In the task of terrain collection in a large area, how to ensure that the UAV can complete the collection task continuously and stably has become a technical problem that needs to be solved urgently.

[0003] In the prior art, terrain collection is usually performed by dividing the target area into several sub-areas and deploying multiple drones in each sub-area. Although this method can complete basic terrain collection tasks, in actual operations, the drone may not be able to reliably complete the terrain collection work due to insufficient power or electromagnetic interference. Summary of the invention

[0004] The present application provides a method, system, device and storage medium for unmanned aerial vehicle terrain acquisition, which are used to ensure that terrain acquisition work can be completed reliably.

[0005] In a first aspect, the present application provides a method for terrain acquisition by a drone, the method comprising: acquiring terrain features of a target area, and determining the number of power supply nodes required for the target area and the locations of the power supply nodes in the target area based on the terrain features; dividing the target area into multiple sub-areas based on the locations of the power supply nodes, and determining the number of drones required for each sub-area based on the area of ​​each sub-area, and allocating a corresponding number of drones to each sub-area; determining an initial flight plan for each drone based on the remaining power of each drone in each sub-area and the locations of the power supply nodes in each sub-area; determining the electromagnetic interference intensity at different locations in each sub-area based on the regional features of each sub-area, adjusting the initial flight plan based on the electromagnetic interference intensity at different locations in each sub-area, and determining a target flight plan for each drone; sending the target flight plan to each drone so that each drone performs terrain acquisition according to the target flight plan.

[0006] By adopting the above technical solution, the power supply nodes are reasonably arranged by acquiring the terrain characteristics of the target area, and the sub-areas are divided and drones are allocated based on the positions of the power supply nodes. At the same time, the initial flight plan is formulated based on the remaining power of the drones and the positions of the power supply nodes. The electromagnetic interference intensity is evaluated according to the regional characteristics and the flight plan is optimized accordingly, thereby achieving power supply guarantee and electromagnetic interference avoidance during the drone terrain acquisition process, ensuring that the terrain acquisition work can be completed reliably.

[0007] Optionally, the terrain features include regional area and regional terrain undulation, and determining the number of power supply nodes required for the target area and the positions of the power supply nodes in the target area based on the terrain features includes: determining the number of basic power supply nodes in the target area based on the regional area; based on the regional terrain undulation, taking the positions in the target area that meet preset terrain conditions as candidate positions of power supply nodes; comparing the number of basic power supply nodes and the number of candidate positions; if the number of candidate positions is greater than the number of basic power supply nodes, selecting candidate positions corresponding to the number of basic power supply nodes from multiple candidate positions as the positions of power supply nodes in the target area, wherein the spacing between the positions of the power supply nodes is greater than a preset distance threshold; if the number of candidate positions is less than the number of basic power supply nodes, all the candidate positions are determined as the positions of power supply nodes, and positions in the target area whose spacing from the determined power supply nodes is greater than the preset distance threshold are selected as supplementary power supply nodes, until the number of candidate positions is the same as the number of supplementary power supply nodes and the number of basic power supply nodes.

[0008] By adopting the above technical scheme, by refining the terrain characteristics into regional area and terrain undulation, and determining the number of basic power supply nodes based on the regional area, and considering the terrain undulation to screen candidate locations that meet the preset terrain conditions, and then flexibly adjusting the power supply node layout plan by comparing the number of candidate locations and the number of basic power supply nodes, it is ensured that a reasonable distance is maintained between power supply nodes, and necessary power supply nodes can be added according to actual conditions, thereby realizing the scientific layout of power supply nodes, effectively avoiding the problem of too dense or too sparse distribution of power supply nodes, and improving the utilization efficiency of power supply resources.

[0009] Optionally, the initial flight plan of each UAV is determined in combination with the remaining power of each UAV in each sub-area and the position of the power supply node in each sub-area, including: dividing each sub-area into multiple collection units according to the position of the power supply node in each sub-area; determining the maximum flight distance of each UAV according to the remaining power of each UAV; allocating a corresponding collection unit to each UAV according to the maximum flight distance of each UAV; planning the flight path of each UAV according to the position distribution of the collection units corresponding to each UAV, and obtaining the initial flight plan of each UAV, wherein the flight path includes the path of each UAV to and from the corresponding power supply node and the collection unit.

[0010] By adopting the above technical solution, by dividing the sub-area into multiple collection units and determining the maximum flight distance based on the remaining power of the UAV, the collection units are reasonably allocated to the UAV, and a flight path including a round-trip path to the power supply node is planned. This achieves reasonable utilization of the remaining power of the UAV, ensuring that the UAV can return to the power supply node in time for charging before the power is exhausted, avoiding interruption of the collection task due to insufficient power, and improving the continuity and integrity of terrain collection.

[0011] Optionally, the regional characteristics include topographic and geomorphic characteristics and artificial building distribution characteristics, and determining the electromagnetic interference intensity at different locations in each of the sub-regions based on the regional characteristics of each of the sub-regions includes: determining the attenuation degree of the terrain on the electromagnetic signal in each of the sub-regions based on the topographic and geomorphic characteristics; determining the influence degree of the artificial buildings on the electromagnetic signal in each of the sub-regions based on the artificial building distribution characteristics; and obtaining the electromagnetic interference intensity at different locations in each of the sub-regions by combining the attenuation degree and the influence degree.

[0012] By adopting the above technical scheme, by comprehensively considering the influence of terrain and geomorphic features and the distribution characteristics of artificial buildings on electromagnetic signals, the attenuation degree of terrain on electromagnetic signals and the influence of artificial buildings on electromagnetic signals are evaluated respectively, and the two are combined to obtain the electromagnetic interference intensity at different locations in each sub-area, thereby achieving a comprehensive assessment of the regional electromagnetic environment, providing an accurate reference basis for subsequent flight plan adjustments, and helping to improve the operational reliability of UAVs in complex electromagnetic environments.

[0013] Optionally, the electromagnetic interference intensity at different locations in each of the sub-areas is obtained by combining the attenuation degree and the influence degree, including: establishing a terrain attenuation electromagnetic intensity distribution map for each of the sub-areas according to the attenuation degree; establishing a building influence electromagnetic intensity distribution map for each of the sub-areas according to the influence degree; superimposing the terrain attenuation electromagnetic intensity distribution map with the building influence electromagnetic intensity distribution map to obtain an electromagnetic interference intensity distribution map for different locations in each of the sub-areas; and obtaining the electromagnetic interference intensity at different locations in each of the sub-areas according to the electromagnetic interference intensity distribution map.

[0014] By adopting the above technical scheme, by respectively establishing the terrain attenuation electromagnetic intensity distribution map and the building impact electromagnetic intensity distribution map, and superimposing the two distribution maps to obtain a comprehensive electromagnetic interference intensity distribution map, the visual expression and precise quantification of the electromagnetic interference intensity are realized, making the electromagnetic interference intensity at different locations in each sub-area more intuitive and accurate, and providing a clear spatial reference for UAVs to avoid electromagnetic interference areas, so as to more effectively optimize flight plans and improve the data quality of terrain collection.

[0015] Optionally, adjusting the initial flight plan and determining the target flight plan of each of the UAVs according to the electromagnetic interference intensity at different positions in each of the sub-areas includes: determining that an area in each of the sub-areas where the electromagnetic interference intensity is greater than a preset interference threshold is an interference area; judging whether the flight path in the initial flight plan of each of the UAVs passes through the interference area; if a flight path corresponding to the initial flight plan of a first UAV passes through the interference area, adjusting the initial flight plan of the first UAV and determining the target flight plan of the first UAV, wherein the distance between the flight path corresponding to the target flight plan of the first UAV and the interference area is greater than a preset safety distance; if a flight path corresponding to the initial flight plan of a second UAV does not pass through the interference area, taking the initial flight plan of the second UAV as the target flight plan of the second UAV.

[0016] By adopting the above technical solution, the interference area is identified by setting a preset interference threshold, and differentiated processing is performed according to whether the initial flight plan of the UAV passes through the interference area. For the flight path that needs to be adjusted, it is ensured to maintain a preset safety distance from the interference area, and the flight path that does not need to be adjusted is directly retained, thereby realizing intelligent adjustment of the flight plan, which not only ensures that the UAV stays away from high-intensity electromagnetic interference areas, ensures equipment safety and data collection quality, but also avoids unnecessary path adjustments, thereby improving the efficiency and rationality of flight plan adjustments.

[0017] Optionally, after sending the target flight plan to each of the UAVs, it also includes: real-time monitoring of the remaining power of each of the UAVs; when it is detected that the remaining power of the third UAV is less than a preset power threshold, planning a return path for the third UAV to return to the corresponding power supply node according to the current position of the third UAV and the position of the corresponding power supply node.

[0018] By adopting the above technical solution, the remaining power of the drone is monitored in real time, and the return route is planned in time when the power is lower than the preset power threshold, dynamic monitoring and intelligent response of the drone's power status are achieved, ensuring that the drone can return to the corresponding power supply node for charging in time when the power is low, effectively preventing the risk of drone crashes due to power exhaustion, and improving the safety and reliability of drone operations.

[0019] In a second aspect, the present application provides a drone terrain acquisition system, the system comprising: an acquisition module, a determination module, a combination module, an adjustment module and an output module; wherein:

[0020] The acquisition module is used to acquire the terrain characteristics of the target area, and determine the number of power supply nodes required for the target area and the positions of the power supply nodes in the target area according to the terrain characteristics; the determination module is used to divide the target area into multiple sub-areas according to the positions of the power supply nodes, and determine the number of drones required for each sub-area according to the area of ​​each sub-area, and allocate a corresponding number of drones to each sub-area; the combination module is used to determine the initial flight plan of each drone in combination with the remaining power of each drone in each sub-area and the position of the power supply node in each sub-area; the adjustment module is used to determine the electromagnetic interference intensity at different positions in each sub-area according to the regional characteristics of each sub-area, adjust the initial flight plan according to the electromagnetic interference intensity at different positions in each sub-area, and determine the target flight plan of each drone; the output module is used to send the target flight plan to each drone, so that each drone performs terrain acquisition according to the target flight plan.

[0021] In the third aspect, the present application provides an electronic device, adopting the following technical solution: including a processor, a memory, a user interface and a network interface, the memory is used to store instructions, the user interface and the network interface are used to communicate with other devices, and the processor is used to execute the instructions stored in the memory so that the electronic device executes a computer program such as any of the above-mentioned drone terrain collection methods.

[0022] In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solution: storing a computer program that can be loaded by a processor and execute any of the above-mentioned drone terrain acquisition methods.

[0023] In summary, the present application includes at least one of the following beneficial technical effects:

[0024] By acquiring the terrain characteristics of the target area, the power supply nodes are reasonably arranged, and the sub-areas are divided and drones are allocated based on the positions of the power supply nodes. At the same time, the initial flight plan is formulated based on the remaining power of the drones and the positions of the power supply nodes. The electromagnetic interference intensity is evaluated according to the regional characteristics and the flight plan is optimized accordingly. This ensures power supply and electromagnetic interference avoidance during the drone terrain acquisition process, ensuring that the terrain acquisition work can be completed reliably. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a flowchart of a method for collecting terrain using a drone provided in an embodiment of the present application;

[0026] Figure 2 It is a structural schematic diagram of a drone terrain acquisition system provided in an embodiment of the present application;

[0027] Figure 3 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application.

[0028] Description of the reference numerals: 1000, electronic device; 1001, processor; 1002, communication bus; 1003, user interface; 1004, network interface; 1005, memory. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments.

[0030] In the description of the embodiments of the present application, words such as "illustrative", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "illustrative", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "illustrative", "for example" or "for example" is intended to present related concepts in a concrete way.

[0031] Figure 1 Schematic diagram of a method for collecting terrain using a drone provided in an embodiment of the present application. Figure 1 As shown, the method includes S101-S105:

[0032] S101, obtaining terrain features of a target area, and determining the number of power supply nodes required in the target area and the locations of the power supply nodes in the target area according to the terrain features.

[0033] Before conducting terrain acquisition with drones, it is necessary to first determine the reasonable layout of power supply nodes. Since drones need continuous power supply to ensure the continuity and integrity of the mission when performing terrain acquisition tasks, and drones have limited endurance, it is necessary to set up multiple power supply nodes in the target area.

[0034] In this embodiment, the terrain characteristics of the target area are first obtained, wherein the terrain characteristics include the area of ​​the area and the degree of terrain relief of the area. The area of ​​the area can be obtained through a geographic information system, and the degree of terrain relief of the area can be calculated through existing terrain data, and can be specifically characterized based on the ratio of the height difference between any two points in the target area to the horizontal distance.

[0035] According to the acquired terrain features, the number of power supply nodes required for the target area and the location of each power supply node are determined in the following manner: First, the number of basic power supply nodes in the target area is calculated based on the area of ​​the area. Specifically, the area of ​​the target area can be divided by the coverage area of ​​a preset single power supply node to obtain the number of basic power supply nodes. Among them, the coverage area of ​​a preset single power supply node can be determined based on the maximum flight distance of the drone. For example, when the area of ​​the target area is 100 square kilometers and the coverage area of ​​a preset single power supply node is 20 square kilometers, the number of basic power supply nodes is calculated to be 5.

[0036] Next, based on the undulation of the regional terrain, the locations in the target area that meet the preset terrain conditions are used as candidate locations for power supply nodes. The preset terrain conditions here refer to terrain conditions suitable for placing power supply equipment, such as areas with a slope of less than 15 degrees and relatively flat terrain. At this point, multiple candidate locations will be obtained. Subsequently, it is necessary to compare the number of basic power supply nodes and the number of candidate locations. If the number of candidate locations is greater than the number of basic power supply nodes, the locations corresponding to the number of basic power supply nodes are selected from the candidate locations as the final locations of the power supply nodes. When selecting, it is necessary to ensure that the distance between each power supply node is greater than the preset distance threshold to achieve uniformity of power supply coverage. The preset distance threshold can be determined based on the effective flight radius of the drone.

[0037] If the number of candidate locations is less than the number of basic power supply nodes, all candidate locations are determined as power supply node locations, and additional locations are selected in the target area as supplementary power supply nodes until the total number of candidate locations and supplementary power supply nodes is equal to the number of basic power supply nodes. When selecting supplementary power supply nodes, it is necessary to ensure that the distance between them and the determined power supply nodes is greater than the preset distance threshold to avoid redundant layout of power supply resources.

[0038] Based on the above embodiment, as an optional implementation, in S101, the terrain characteristics include the area of ​​the region and the degree of terrain undulation of the region. According to the terrain characteristics, determining the number of power supply nodes required in the target region and the positions of the power supply nodes in the target region specifically includes S11-S14:

[0039] S11, determining the number of basic power supply nodes in the target area according to the area of ​​the area.

[0040] S12, according to the terrain undulation of the region, taking the locations in the target region that meet the preset terrain conditions as candidate locations of the power supply nodes.

[0041] Specifically, after determining the number of basic power supply nodes, it is necessary to select suitable candidate locations for power supply nodes based on the degree of terrain undulation. The preset terrain conditions usually include slope requirements and site flatness requirements. For example, power supply nodes are suitable for being set in areas with a slope of less than 15 degrees and relatively flat terrain, which is conducive to the installation and maintenance of power supply equipment. By analyzing the elevation data of the target area, locations that meet these conditions can be identified and marked as candidate locations for power supply nodes.

[0042] S13, comparing the number of basic power supply nodes and the number of candidate positions; if the number of candidate positions is greater than the number of basic power supply nodes, selecting candidate positions corresponding to the number of basic power supply nodes from multiple candidate positions as the positions of power supply nodes in the target area, wherein the distance between the positions of the power supply nodes is greater than a preset distance threshold.

[0043] Specifically, after the candidate locations are determined, the number of candidate locations needs to be compared with the number of basic power supply nodes. This step determines the subsequent layout strategy. If there are a large number of candidate locations, it means that there are sufficient suitable sites in the target area to choose from. At this time, it is necessary to select the optimal location combination from these candidate locations. When selecting, it is necessary to ensure that the distance between adjacent power supply nodes is greater than the preset distance threshold. Usually this threshold is set to 1.5 times the effective working radius of the drone. This can avoid the power supply nodes from being too concentrated and improve the coverage efficiency of the power supply network.

[0044] S14, if the number of candidate positions is less than the number of basic power supply nodes, all candidate positions are determined as positions of power supply nodes, and positions whose distance from the determined power supply nodes is greater than a preset distance threshold are selected in the target area as supplementary power supply nodes, until the number of candidate positions is equal to the sum of the number of supplementary power supply nodes and the number of basic power supply nodes.

[0045] Specifically, in some areas with complex terrain conditions, there may be an insufficient number of candidate locations. In this case, all identified candidate locations need to be used as determined power supply node locations, while looking for supplementary power supply node locations. The selection of supplementary power supply nodes also needs to meet the spacing requirements, but other conditions can be relaxed appropriately. For example, you can choose a location with a slightly larger slope but still within a safe range, or a location that can be used with simple site leveling. In this way, the power supply nodes are gradually increased until the required number of basic power supply nodes is reached.

[0046] S102, dividing the target area into multiple sub-areas according to the location of the power supply node, and determining the number of drones required for each sub-area according to the area of ​​each sub-area, and allocating a corresponding number of drones to each sub-area.

[0047] After determining the layout of the power supply nodes, it is necessary to reasonably divide the target area and allocate drone resources to achieve efficient terrain collection operations. In this embodiment, the target area is first divided into multiple sub-areas according to the location of each power supply node. The division method is centered on each power supply node, and sub-areas are divided so that the distance from any position in the area to the corresponding power supply node is less than the distance to other power supply nodes. This division method ensures that drones in each sub-area can use the nearest power supply node for charging, thereby reducing the time cost of the drone's round-trip charging.

[0048] The specific implementation process is: first connect all power supply nodes to form a triangle, and then make a perpendicular bisector of each connection line. These perpendicular bisectors intersect to form a polygon, and the distance from each point in the polygon to its corresponding power supply node is smaller than the distance to other power supply nodes. In this way, the target area is divided into several non-overlapping sub-areas, and each sub-area has one and only one power supply node.

[0049] After completing the sub-area division, it is necessary to determine the number of drones required based on the area of ​​each sub-area. The specific calculation method is: first determine the standard operating area of ​​a single drone within the preset time, which is related to factors such as the flight speed of the drone, the scanning width of the collection equipment, and the operation time. For example, if the standard operating area of ​​a single drone within 8 hours is 2 square kilometers, and the area of ​​a sub-area is 7 square kilometers, then 4 drones need to be allocated to the sub-area to complete the terrain collection task within the preset time.

[0050] The calculation formula can be expressed as: The number of drones required in the sub-area = the area of ​​the sub-area ÷ (the standard operating area of ​​a single drone × the operating efficiency coefficient), and the result is rounded up. The operating efficiency coefficient is used to consider various influencing factors in the actual operation process, such as terrain complexity, weather conditions, etc., and the value range is usually 0.6-0.9.

[0051] After determining the number of drones required for each sub-area, select the corresponding number of drones from the drone resource pool and allocate them to each sub-area. During the allocation process, drones with good battery status and stable equipment performance are given priority to ensure the reliability of the collection task. If the terrain of some sub-areas is more complex, drone models with strong environmental adaptability are given priority.

[0052] S103, determining an initial flight plan for each drone based on the remaining power of each drone in each sub-area and the location of the power supply node in each sub-area.

[0053] After completing the sub-area division and drone allocation, a reasonable initial flight plan needs to be developed for each drone to ensure the orderly progress of the terrain collection task. Since the drone's battery capacity is limited, the remaining power of the drone and the location of the power supply node need to be considered to plan the flight path to avoid mission interruption due to power exhaustion.

[0054] In this embodiment, each sub-area is first divided into multiple collection units according to the location of the power supply node in each sub-area. A collection unit refers to the smallest area unit that can complete collection after a single charge of the drone, and its size depends on the endurance of the drone and the working parameters of the collection equipment.

[0055] The collection unit is divided into grids, that is, the sub-area is divided into several rectangular grids of equal size. The size of the grid is determined according to the collection efficiency of the drone, which can be expressed as: grid side length = , where the safety factor is usually 0.8-0.9 to reserve sufficient power margin. For example, if the single flight time of the drone is 30 minutes, the flight speed is 10 meters / second, the acquisition bandwidth is 50 meters, and the safety factor is 0.85, the calculated grid side length is about 300 meters.

[0056] After completing the division of the collection units, it is necessary to determine the maximum flight distance of each drone based on the remaining power of each drone. The maximum flight distance can be calculated using the following formula: Maximum flight distance = remaining power × flight distance supported by unit power × power utilization rate. Among them, the flight distance supported by unit power is the basic performance parameter of the drone, and the power utilization rate is used to consider the impact of environmental factors on power consumption, and is generally taken as 0.7-0.8. By calculating the maximum flight distance, it can be ensured that the drone still has enough power to return to the power supply node after completing the collection task.

[0057] Based on the maximum flight distance of each drone, the corresponding collection unit is allocated to it. The allocation principle is: the collection unit closer to the power supply node is allocated to the drone with lower remaining power, and the collection unit farther away is allocated to the drone with higher remaining power. This allocation method can make full use of the remaining power of each drone and improve the overall operation efficiency. The most suitable collection unit is selected for each drone in turn until all collection units are allocated.

[0058] After the collection units are allocated, a specific flight path needs to be planned for each drone to form an initial flight plan. The flight path includes the complete route from the power supply node, completing the collection of collection units in a specific order, and returning to the power supply node for charging. The path planning adopts an improved S-shaped scanning strategy, that is, the drone scans in an S-shaped path within each collection unit and selects the shortest path between collection units for transfer. This path planning method can ensure the integrity of the collection while minimizing the energy consumption of the drone.

[0059] Based on the above embodiment, as an optional implementation, in S103, combining the remaining power of each drone in each sub-area and the location of the power supply node in each sub-area, determining the initial flight plan of each drone specifically includes S31-S34:

[0060] S31, dividing each sub-area into a plurality of collection units according to the position of the power supply node in each sub-area.

[0061] First, the sub-areas need to be divided into multiple collection units according to the location of the power supply nodes in each sub-area. A collection unit refers to the area unit where the drone can complete collection after one charge. Its size needs to take into account the flight speed, collection efficiency and battery life of the drone. For example, assuming that the single flight time of the drone is 30 minutes and the average flight speed is 10 meters per second, the actual working time can be set to 20 minutes considering the time consumption of going back and forth to the power supply node. Based on these parameters, the reasonable area of ​​a single collection unit can be calculated to ensure that the drone can complete the collection task of the unit and return to the power supply node safely after one charge.

[0062] S32: Determine the maximum flight distance of each drone according to the remaining power of each drone.

[0063] After determining the acquisition unit, it is necessary to determine the maximum flight distance of each drone based on the remaining power of each drone. The maximum flight distance refers to the farthest distance that the drone can safely fly under the current power conditions. For example, if the remaining power of a drone is 80%, and its maximum flight distance when fully charged is 5 kilometers, then the maximum flight distance in the current state is 4 kilometers. To ensure flight safety, a 20% power margin is usually reserved, so the actual maximum available flight distance should be 3.2 kilometers. This calculation method can prevent the drone from being unable to complete the mission or return to the power supply node due to insufficient power.

[0064] S33, allocating a corresponding collection unit to each drone according to the maximum flight distance of each drone.

[0065] Based on the maximum flight distance of each drone, it is necessary to allocate appropriate collection units to it. The allocation principle is to allocate collection units closer to the power supply node to drones with lower remaining power, and to allocate collection units farther away to drones with higher remaining power. This allocation method can make full use of the remaining power of each drone and improve the overall operation efficiency. For example, for a drone with 40% remaining power, it should be allocated collection units within 1 km of the power supply node; for a drone with 90% remaining power, it can be allocated collection units within 2 km of the power supply node.

[0066] S34, planning the flight path of each drone according to the location distribution of the collection unit corresponding to each drone, and obtaining the initial flight plan of each drone, wherein the flight path includes the path of each drone traveling between the corresponding power supply node and the collection unit.

[0067] After the collection units are allocated, a specific flight path needs to be planned for each drone. The flight path includes the complete route from the power supply node, the collection of the collection unit, and the return to the power supply node for charging. When planning the path, two factors need to be considered: collection efficiency and energy consumption. Usually, an S-shaped scanning method is used for collection, that is, the drone flies in a round-trip path within the collection unit. This method can ensure the integrity and continuity of the collection. At the same time, during the transfer between collection units, the shortest path is selected for flight to reduce energy consumption.

[0068] S104, determining the electromagnetic interference intensity at different positions in each sub-region according to the regional characteristics of each sub-region, adjusting the initial flight plan according to the electromagnetic interference intensity at different positions in each sub-region, and determining the target flight plan of each UAV.

[0069] After determining the initial flight plan, it is also necessary to consider the impact of electromagnetic interference on the flight safety of the drone. Since electromagnetic interference may cause the drone control signal to be interrupted or the positioning system to fail, the initial flight plan needs to be optimized and adjusted.

[0070] In this embodiment, it is first necessary to analyze the regional characteristics of each sub-region, including the topographical characteristics and the distribution characteristics of artificial buildings, so as to determine the electromagnetic interference intensity at different locations.

[0071] The topographic features mainly consider the impact of natural terrain on electromagnetic signals. For example, when the drone is located in a valley, the surrounding mountains will block the signal transmission, resulting in a significant decrease in signal strength; while in open plains, signal transmission is relatively stable. By analyzing the terrain undulations in the target area, the degree of attenuation of electromagnetic signals by the terrain can be obtained. The attenuation degree can be divided into three levels: low, medium, and high. Mountainous and hilly areas are usually highly attenuated, gentle slope areas are moderately attenuated, and plain areas are low attenuated.

[0072] The distribution characteristics of artificial buildings mainly consider the impact of buildings on electromagnetic signals. High-rise buildings, large metal facilities, etc. will strongly interfere with electromagnetic signals. For example, in industrial parks or urban built-up areas, due to the dense buildings and mostly reinforced concrete structures, they will have strong interference with the signal; while in rural or suburban areas, the buildings are more scattered and the interference is relatively low. By analyzing the distribution density and type of buildings, the degree of their impact on electromagnetic signals can be determined, which can also be divided into three levels of impact: low, medium, and high.

[0073] By combining the two factors of terrain attenuation and building influence, we can get the electromagnetic interference intensity distribution map of different locations in each sub-area. For example, if a location is affected by both terrain height attenuation and building height, the electromagnetic interference intensity at this location is the highest; if a location is in an open area and is not affected by buildings, the electromagnetic interference intensity at this location is the lowest. In this way, the electromagnetic interference situation in each area can be intuitively displayed.

[0074] According to the electromagnetic interference intensity distribution map, areas with strong electromagnetic interference can be identified and marked as interference areas. For drones that need to pass through interference areas in the initial flight plan, their flight paths need to be adjusted to ensure that the flight paths maintain a safe distance from the interference areas. For example, if a drone's original plan to fly from point A to point B passes through an interference area, it can avoid the area by detouring. Although the flight distance may increase, the flight safety is greatly improved.

[0075] For drones that do not need to pass through interference areas, their initial flight plans can remain unchanged. This differentiated adjustment method not only ensures flight safety, but also avoids unnecessary path changes, improving overall operational efficiency.

[0076] Based on the above embodiment, as an optional implementation, in S104, the regional characteristics include topographical features and artificial building distribution features, and according to the regional characteristics of each sub-region, determining the electromagnetic interference intensity at different locations in each sub-region specifically includes S41-S43:

[0077] S41, determining the attenuation degree of the electromagnetic signal caused by the terrain in each sub-area according to the terrain and geomorphic characteristics.

[0078] When determining the degree of attenuation of electromagnetic signals by terrain in each sub-area, the assessment is mainly carried out by analyzing three aspects: slope characteristics of the terrain, surface cover type and special geomorphic units.

[0079] First, the terrain is classified according to its slope. For gentle terrain with a slope of less than 15 degrees, the electromagnetic signal propagation is less hindered, so it is classified as a low attenuation area; for gentle terrain with a slope between 15 and 30 degrees, the electromagnetic signal propagation will be affected to a certain extent, and it is classified as a moderate attenuation area; for steep terrain with a slope greater than 30 degrees, the electromagnetic signal propagation is significantly hindered, and it is classified as a high attenuation area.

[0080] Then, the preliminary classification results are adjusted considering the surface cover type. For densely vegetated areas, the attenuation level needs to be increased by one level due to the scattering and absorption of vegetation; for exposed rock areas, the original attenuation level remains unchanged. For example, a flat terrain area originally belongs to low attenuation, but if the area is densely vegetated, it will be adjusted to a medium attenuation area.

[0081] Finally, further corrections are made based on the distribution of special geomorphic units. For valley areas, even if the slope is small, it is classified as a high attenuation area due to the blocking effect of the mountains on both sides; for open mountain tops or terraces, although the altitude is high, it is classified as a low attenuation area due to the wide field of view.

[0082] Assuming that a sub-region contains three types of terrain: mountains, hills, and plains, the specific analysis is as follows:

[0083] In the plain area (such as an open area with an altitude of 50 meters and a slope of 5 degrees), since the terrain is flat and open, the propagation of electromagnetic signals is almost unhindered by the terrain, so it is divided into a low attenuation area, and the attenuation coefficient is set to 0.2. Even if there are sparse shrubs in some parts of the area, due to the low height and density of the vegetation, the impact on the electromagnetic signal is limited, and the low attenuation level is still maintained.

[0084] In hilly areas (such as undulating areas with an altitude of 200 meters and a slope of 25 degrees), the undulating terrain will hinder the electromagnetic signal to a certain extent. If the area is a bare rock surface, it will be classified as a moderate attenuation area with an attenuation coefficient set to 0.5; but if the area is covered with dense pine forests (trees about 15 meters high), considering the additional impact of vegetation, it needs to be adjusted to a high attenuation area with an attenuation coefficient increased to 0.8.

[0085] In mountainous areas (such as steep mountainous areas with an altitude of 500 meters and a slope of 35 degrees), there is a narrow valley with a width of 100 meters and a length of 1 kilometer. Although the slope at the bottom of the valley is small, due to the strong blocking effect of the mountains on both sides on the electromagnetic signal, the entire valley area is divided into a high attenuation area with an attenuation coefficient of 0.9. At the same altitude, the mountaintop platform area (with a slope of only 10 degrees) is divided into a low attenuation area with an attenuation coefficient of 0.3 due to the open terrain, although the altitude is high.

[0086] S42, determining the influence degree of the artificial buildings on the electromagnetic signal in each sub-area according to the distribution characteristics of the artificial buildings.

[0087] The impact of artificial buildings mainly depends on the building's height, density, material and purpose. By analyzing these characteristics, the impact of buildings on electromagnetic signals can be divided into different levels. For example, for low-rise buildings below 10 meters in height, if the building density is low (the distance between buildings is greater than 50 meters), the impact can be determined as a slight impact, and the impact coefficient is set to 0.3; for medium-rise buildings between 10-30 meters in height and medium building density (building distance 20-50 meters), it is determined to be a moderate impact, and the impact coefficient is set to 0.6; for high-rise buildings over 30 meters in height, or areas with high building density (building distance less than 20 meters), it is determined to be a severe impact, and the impact coefficient is set to 0.9.

[0088] Take a certain sub-area as an example: In the residential area of ​​this area, there are mainly 6-story residential buildings (about 18 meters in height) with a distance of about 30 meters between buildings, which is a moderately affected area. In the commercial area, there are many office buildings over 25 floors (over 75 meters in height) and densely built buildings, so the area needs to be divided into a severely affected area. In the industrial park, although the height of the factory buildings generally does not exceed 15 meters, it is also divided into a severely affected area due to the presence of a large number of metal structures and power facilities. In contrast, in the rural areas on the outskirts of the city, low-rise houses are the main type and the buildings are scattered, which can be divided into a slightly affected area.

[0089] For special buildings, such as transmission towers and radio and television transmission towers, their impact range needs to be assessed separately. For example, a transmission tower with a height of 100 meters may have an impact range of 200 meters around it, and the area within this range should be classified as a severely affected area. Similarly, the impact range of a radio and television transmission tower may be larger, and the specific impact range needs to be determined based on its transmission power.

[0090] S43, combining the attenuation degree and the influence degree, obtaining the electromagnetic interference intensity at different positions in each sub-area.

[0091] Based on the above embodiment, as an optional implementation, in S43, combining the attenuation degree and the influence degree to obtain the electromagnetic interference intensity at different positions in each sub-area specifically includes S431-S434:

[0092] S431, establishing a terrain attenuation electromagnetic intensity distribution map of each sub-area according to the attenuation degree.

[0093] First, based on the terrain attenuation degree determined above, a terrain attenuation electromagnetic intensity distribution map is established. For example, in a certain sub-area, the areas corresponding to different attenuation coefficients are marked with different colors: low attenuation areas (attenuation coefficient 0.2-0.4) are represented by green, medium attenuation areas (attenuation coefficient 0.4-0.7) are represented by yellow, and high attenuation areas (attenuation coefficient 0.7-0.9) are represented by red. In this way, the attenuation distribution of the terrain on the electromagnetic signal can be intuitively displayed.

[0094] S432: Establish a distribution map of electromagnetic intensity of buildings in each sub-area according to the degree of impact.

[0095] At the same time, according to the degree of influence of the building, the distribution map of electromagnetic intensity of the building is established. For example, the slightly affected area (influence coefficient 0.3) is represented by light blue, the moderately affected area (influence coefficient 0.6) is represented by dark blue, and the heavily affected area (influence coefficient 0.9) is represented by purple. This can clearly show the distribution of the influence of the building on the electromagnetic signal.

[0096] S433, superimposing the terrain attenuation electromagnetic intensity distribution map and the building impact electromagnetic intensity distribution map to obtain electromagnetic interference intensity distribution maps at different locations in each sub-area.

[0097] S434, obtaining the electromagnetic interference intensity at different positions in each sub-area according to the electromagnetic interference intensity distribution map.

[0098] When superimposing these two distribution maps, the weighted superposition method is adopted, that is, at each location, the terrain attenuation coefficient and the building influence coefficient are weighted and calculated. The specific calculation formula is: electromagnetic interference intensity = 0.6 × terrain attenuation coefficient + 0.4 × building influence coefficient. The weight coefficients (0.6 and 0.4) here are determined according to the importance of the terrain factor and the building factor on the electromagnetic signal.

[0099] When determining the weights of the terrain attenuation coefficient and the building influence coefficient, it is necessary to combine experimental data analysis with expert experience. The specific weight setting process is as follows:

[0100] First, data is collected by conducting field tests in different environments. For example, 100 test points are selected in a test area, and the following data are recorded at each test point: terrain attenuation coefficient (At), building influence coefficient (Ab), and measured electromagnetic signal strength attenuation value (A). The test environment includes areas with pure terrain factors (no buildings), areas with pure buildings (flat terrain), and areas with combined influence of terrain and buildings.

[0101] Take a set of test data as an example: in a mountainous area (At=0.8) and at a test point with a high-rise building (Ab=0.7), the measured electromagnetic signal strength attenuation value is 0.76. Through a large number of similar test data, the least squares method is used for fitting analysis to establish the equation: A=Wt×At+Wb×Ab (Wt is the terrain attenuation weight and Wb is the building impact weight).

[0102] When Wt=0.6 and Wb=0.4, the average error between the calculated value and the measured value is the smallest. This shows that in a comprehensive environment, the influence of terrain factors on electromagnetic signals accounts for about 60%, and the influence of building factors accounts for about 40%. This weight ratio is consistent with actual observations, because the blocking effect of terrain is usually more significant than that of buildings and has a larger impact range.

[0103] Take a specific location as an example: the location is located in a mountainous and hilly area, the terrain attenuation coefficient is 0.6 (moderate attenuation), and there are multi-story buildings at the location, and the building impact coefficient is 0.6 (moderate impact), then the electromagnetic interference intensity of the location is: 0.6×0.6+0.4×0.6=0.6. Through this calculation method, the electromagnetic interference intensity distribution map of the entire sub-area can be obtained.

[0104] In the final electromagnetic interference intensity distribution map, the interference intensity is graded according to the range of 0-1: 0-0.3 is a weak interference area (green), 0.3-0.7 is a medium interference area (yellow), and 0.7-1 is a strong interference area (red). For example, the valley area in a sub-area is affected by both terrain height attenuation (0.9) and dense buildings (0.8), and its calculated electromagnetic interference intensity is 0.86, which belongs to the strong interference area.

[0105] Based on the above embodiment, as an optional implementation, in S104, adjusting the initial flight plan according to the electromagnetic interference intensity at different positions in each sub-area, and determining the target flight plan of each UAV specifically includes S51-S54:

[0106] S51: Determine in each sub-region that the area with an electromagnetic interference intensity greater than a preset interference threshold is an interference area.

[0107] Based on actual engineering experience and communication equipment performance indicators, the preset interference threshold is set to 0.7. When the electromagnetic interference intensity in a certain area exceeds this threshold, it is marked as an interference area. For example, in a certain sub-area, there is a valley area with an electromagnetic interference intensity of 0.86, which is significantly higher than the preset interference threshold, so it is determined as an interference area. At the same time, in order to ensure flight safety, the preset safety distance is set to 200 meters. This distance is determined based on the effective working range and signal attenuation characteristics of the communication equipment.

[0108] S52, determining whether the flight path in the initial flight plan of each UAV passes through the interference area.

[0109] S53, if the flight path corresponding to the initial flight plan of the first UAV passes through the interference area, the initial flight plan of the first UAV is adjusted to determine the target flight plan of the first UAV, wherein the distance between the flight path corresponding to the target flight plan of the first UAV and the interference area is greater than a preset safety distance.

[0110] For the first drone, the following strategy is used to adjust its flight path: First, the shortest path to bypass the interference area is calculated to ensure that the minimum distance between the adjusted path and the boundary of the interference area is not less than 200 meters. For example, the route originally planned to cross the valley can be adjusted to fly along the ridge. Although the flight distance increases by about 500 meters, the risk of communication interruption is significantly reduced. If a simple detour cannot meet the mission requirements, the impact of electromagnetic interference can also be reduced by increasing the flight altitude, such as increasing the flight altitude from the originally planned 150 meters to 300 meters.

[0111] S54: If there is a flight path corresponding to the initial flight plan of the second UAV that does not pass through the interference area, the initial flight plan of the second UAV is used as the target flight plan of the second UAV.

[0112] S105, sending the target flight plan to each UAV, so that each UAV performs terrain collection according to the target flight plan.

[0113] In one example, after the target flight plan is formulated, it is necessary to accurately transmit these plans to each drone and ensure their correct execution, which is a key step in the implementation of the entire terrain acquisition task. In this embodiment, it is first necessary to establish a communication link between the ground control station and each drone. The communication link adopts a two-way data transmission method to ensure the reliable transmission of the flight plan and real-time feedback of the execution status.

[0114] The transmission of the target flight plan is carried out in stages. The first stage is the pre-transmission stage, in which the ground control station sends a pre-flight inspection command to each drone. After receiving the command, the drone will perform a self-inspection procedure and feedback the inspection results, including key parameters such as battery status, navigation system status, and mission equipment status. Only when all status parameters meet the preset requirements will the next stage of transmission be entered.

[0115] The second stage is the plan transmission stage. The ground control station decomposes the target flight plan into multiple key waypoint information. Each key waypoint contains basic parameters such as location coordinates, flight altitude, and flight speed. These waypoint information is transmitted to each drone in the order of execution. After receiving the waypoint information, the drone will perform data verification and return confirmation information. For example, the target flight plan of a drone contains multiple key waypoints such as the take-off point, mission area entry point, collection waypoint sequence, and charging point. These waypoints will be transmitted in a predetermined format and stored in the drone's mission system.

[0116] The third stage is the execution confirmation stage. When all waypoint information is transmitted, the ground control station sends an execution confirmation command to the drone. After receiving the command, the drone will verify the integrity of the entire flight plan to confirm whether the connection between all waypoints is reasonable and whether the flight path meets safety requirements. After the verification is passed, the drone returns a ready signal to the ground control station, indicating that it can start the terrain collection mission.

[0117] During the mission execution, the drone will provide real-time feedback of its location information, flight status, and mission progress to the ground control station. If the waypoint cannot be reached or the flight status is abnormal during the execution, the drone will immediately send abnormal alarm information to the ground control station. After receiving the abnormal information, the ground control station can send emergency disposal instructions to the drone according to the specific situation, such as adjusting the flight altitude, returning home, etc., to ensure the flight safety of the drone.

[0118] After sending the target flight plan to each drone, it also includes:

[0119] Monitor the remaining power of each UAV in real time; when it is detected that the remaining power of the third UAV is less than a preset power threshold, plan a return path for the third UAV to return to the corresponding power supply node according to the current position of the third UAV and the position of the corresponding power supply node.

[0120] In one example, when a drone performs a terrain collection mission, power management is a key step to ensure the safe completion of the mission. Since the drone is powered by lithium batteries, its usable time is limited, and a complete power monitoring and return mechanism needs to be established to prevent mission failure or equipment damage due to power exhaustion.

[0121] In terms of power monitoring, the system collects battery status information in real time through the drone's onboard BMS (battery management system), including remaining power percentage, voltage, current and other parameters, with a sampling frequency of 2Hz. These data are transmitted to the ground control station in real time through the drone's data link. Based on a large amount of practical data analysis, the system sets the preset power threshold to 25%. The determination of this threshold value takes into account the following factors: the maximum flight radius of the drone (3 kilometers), the average flight speed (15 meters / second), the climbing power consumption (1.5 times the rated power) and a 20% safety margin.

[0122] When the system detects that the remaining power of the third drone drops to 23% (lower than the preset power threshold of 25%), the return planning procedure will be triggered immediately. The planning process of the return route is as follows: First, the system obtains the real-time location information (latitude, longitude and altitude) of the drone and the location coordinates of the corresponding power supply node; then, based on the electromagnetic interference intensity distribution map established above and combined with terrain data, the optimal return route is calculated.

[0123] For example, in a certain mission, the third drone was located at a collection point in the mountainous area (1,200 meters above sea level), and its corresponding power supply node was located at the foot of the mountain (800 meters above sea level), with a straight-line distance of 2.5 kilometers. Considering the complex terrain and strong electromagnetic interference in the mountainous area, the system did not choose a straight return path, but planned a path along the valley: first descend to an altitude of 1,000 meters to avoid the strong electromagnetic interference area on the top of the mountain, then fly along the valley direction, and finally gradually descend to the landing height near the power supply node. Although this path increases the straight-line distance by 600 meters, it significantly improves the safety of the return process.

[0124] During the return process, the system will continuously evaluate the flight status of the drone. If it finds that the battery is consumed too quickly (such as in headwind conditions), the flight parameters will be adjusted in real time: reduce the flight speed (from 15 m / s to 10 m / s), adjust the flight altitude to avoid strong headwind layers, and switch to energy-saving flight mode if necessary. At the same time, the system will calculate in real time whether the remaining power is sufficient to support the current return path. If there is a risk of insufficient power, a shorter emergency return path will be automatically planned.

[0125] Based on the above method, the present application also discloses a drone terrain acquisition system, such as Figure 2 As shown, Figure 2 : is a structural diagram of a drone terrain acquisition system provided in an embodiment of the present application, the system includes: an acquisition module, a determination module, a combination module, an adjustment module and an output module; wherein,

[0126] The acquisition module is used to acquire the terrain characteristics of the target area, and determine the number of power supply nodes required for the target area and the positions of the power supply nodes in the target area according to the terrain characteristics; the determination module is used to divide the target area into multiple sub-areas according to the positions of the power supply nodes, and determine the number of drones required for each sub-area according to the area of ​​each sub-area, and allocate a corresponding number of drones to each sub-area; the combination module is used to determine the initial flight plan of each drone in combination with the remaining power of each drone in each sub-area and the position of the power supply nodes in each sub-area; the adjustment module is used to determine the electromagnetic interference intensity at different positions in each sub-area according to the regional characteristics of each sub-area, adjust the initial flight plan according to the electromagnetic interference intensity at different positions in each sub-area, and determine the target flight plan of each drone; the output module is used to send the target flight plan to each drone, so that each drone performs terrain acquisition according to the target flight plan.

[0127] It should be noted that: when the system provided in the above embodiment realizes its functions, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the system and method embodiments provided in the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0128] See also Figure 3 , is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 3 As shown, the electronic device 1000 may include: at least one processor 1001 , at least one network interface 1004 , a user interface 1003 , a memory 1005 , and at least one communication bus 1002 .

[0129] The communication bus 1002 is used to realize the connection and communication between these components.

[0130] The user interface 1003 may include a display screen (Display) and a camera (Camera). Optionally, the user interface 1003 may also include a standard wired interface and a wireless interface.

[0131] The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a WI-FI interface).

[0132] Among them, the processor 1001 may include one or more processing cores. The processor 1001 uses various interfaces and lines to connect various parts in the entire server, and executes various functions of the server and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 1005, and calling data stored in the memory 1005. Optionally, the processor 1001 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The processor 1001 can integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU) and a modem. Among them, the CPU mainly processes the operating system, user interface and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 1001, and it can be implemented separately through a chip.

[0133] Among them, the memory 1005 may include a random access memory (Random Access Memory, RAM) and may also include a read-only memory (Read-Only Memory). Optionally, the memory 1005 includes a non-transitory computer-readable storage medium. The memory 1005 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 1005 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 1005 may optionally also be at least one storage device located away from the aforementioned processor 1001. As Figure 3 As shown, the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and an application program for a method for collecting terrain using a drone.

[0134] exist Figure 3In the electronic device 1000 shown, the user interface 1003 is mainly used to provide an input interface for the user and obtain data input by the user; and the processor 1001 can be used to call an application program storing a method for collecting terrain from a drone in the memory 1005. When executed by one or more processors, the electronic device executes one or more of the methods described in the above embodiments.

[0135] An electronic device readable storage medium stores instructions, which, when executed by one or more processors, enable the electronic device to execute one or more of the methods described in the above embodiments.

[0136] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the order of the actions described, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required for the present application.

[0137] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0138] In the several embodiments provided in the present application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0139] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0140] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0141] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a memory and includes several instructions for a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned memory includes: various media that can store program codes, such as USB flash drives, mobile hard drives, magnetic disks or optical disks.

[0142] The above is only an exemplary embodiment of the present disclosure, and the scope of the present disclosure cannot be limited thereto. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the specification and practicing the disclosure here, those skilled in the art will easily think of other embodiments of the present disclosure. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the technical field not recorded in the present disclosure. The description and examples are only regarded as exemplary, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. A method for collecting terrain using an unmanned aerial vehicle, characterized in that: The method comprises: Acquire terrain features of a target area, and determine the number of power supply nodes required for the target area and the locations of the power supply nodes in the target area according to the terrain features; According to the location of the power supply node, the target area is divided into a plurality of sub-areas, and according to the area of ​​each sub-area, the number of drones required for each sub-area is determined, and a corresponding number of drones are allocated to each sub-area; Determine an initial flight plan for each of the drones based on the remaining power of each of the drones in each of the sub-areas and the location of the power supply node in each of the sub-areas; Determine the electromagnetic interference intensity at different positions in each of the sub-regions according to the regional characteristics of each of the sub-regions, adjust the initial flight plan according to the electromagnetic interference intensity at different positions in each of the sub-regions, and determine the target flight plan of each of the UAVs; The target flight plan is sent to each of the UAVs, so that each of the UAVs collects terrain according to the target flight plan.

2. The method for collecting terrain using an unmanned aerial vehicle according to claim 1, characterized in that: The terrain features include the area of ​​the region and the degree of terrain undulation of the region. The determining, based on the terrain features, the number of power supply nodes required for the target region and the locations of the power supply nodes in the target region includes: Determine the number of basic power supply nodes in the target area according to the area of ​​the area; According to the terrain undulation of the area, a location in the target area that meets a preset terrain condition is used as a candidate location of a power supply node; Comparing the number of basic power supply nodes and the number of candidate positions; if the number of candidate positions is greater than the number of basic power supply nodes, selecting candidate positions corresponding to the number of basic power supply nodes from a plurality of candidate positions as positions of power supply nodes in the target area, wherein the distance between the positions of the power supply nodes is greater than a preset distance threshold; If the number of candidate positions is less than the number of basic power supply nodes, all the candidate positions are determined as positions of power supply nodes, and positions whose distance from the determined power supply nodes is greater than the preset distance threshold are selected in the target area as supplementary power supply nodes until the number of candidate positions is the same as the number of supplementary power supply nodes and the number of basic power supply nodes.

3. The method for collecting terrain using an unmanned aerial vehicle according to claim 1, characterized in that: The determining of the initial flight plan of each drone in combination with the remaining power of each drone in each sub-area and the location of the power supply node in each sub-area includes: Dividing each of the sub-areas into a plurality of collection units according to the position of the power supply node in each of the sub-areas; Determining the maximum flight distance of each of the drones according to the remaining power of each of the drones; Allocate a corresponding collection unit to each of the drones according to the maximum flight distance of each of the drones; According to the position distribution of the collection units corresponding to each of the UAVs, the flight path of each of the UAVs is planned to obtain an initial flight plan of each of the UAVs, wherein the flight path includes the path of each of the UAVs traveling between the corresponding power supply node and the collection unit.

4. The method for collecting terrain using an unmanned aerial vehicle according to claim 1, characterized in that: The regional characteristics include topographical features and artificial building distribution features, and determining the electromagnetic interference intensity at different locations in each of the sub-regions according to the regional characteristics of each of the sub-regions includes: Determining the attenuation degree of the electromagnetic signal by the terrain in each of the sub-areas according to the terrain and geomorphic features; Determining the influence of the artificial buildings on the electromagnetic signal in each of the sub-areas according to the distribution characteristics of the artificial buildings; The electromagnetic interference intensity at different positions in each of the sub-areas is obtained by combining the attenuation degree and the influence degree.

5. The method for collecting terrain using an unmanned aerial vehicle according to claim 4, characterized in that: The combining the attenuation degree and the influence degree to obtain the electromagnetic interference intensity at different positions in each of the sub-areas includes: According to the attenuation degree, establishing a terrain attenuation electromagnetic intensity distribution map of each of the sub-areas; According to the impact degree, establishing a distribution map of electromagnetic intensity of buildings in each of the sub-areas; Superimposing the terrain attenuation electromagnetic intensity distribution map and the building impact electromagnetic intensity distribution map to obtain electromagnetic interference intensity distribution maps at different locations in each of the sub-areas; The electromagnetic interference intensity at different positions in each of the sub-areas is obtained according to the electromagnetic interference intensity distribution diagram.

6. The method for collecting terrain using an unmanned aerial vehicle according to claim 1, characterized in that: The adjusting the initial flight plan according to the electromagnetic interference intensity at different positions in each of the sub-areas to determine the target flight plan of each of the UAVs includes: Determine in each of the sub-areas that the area with an electromagnetic interference intensity greater than a preset interference threshold is an interference area; Determining whether the flight path in the initial flight plan of each of the UAVs passes through the interference area; If there is a flight path corresponding to the initial flight plan of the first UAV passing through the interference area, adjusting the initial flight plan of the first UAV and determining a target flight plan of the first UAV, wherein the distance between the flight path corresponding to the target flight plan of the first UAV and the interference area is greater than a preset safety distance; If there is a flight path corresponding to the initial flight plan of the second UAV that does not pass through the interference area, the initial flight plan of the second UAV is used as the target flight plan of the second UAV.

7. The method for collecting terrain using an unmanned aerial vehicle according to claim 1, characterized in that: After sending the target flight plan to each of the drones, the method further includes: Real-time monitoring of the remaining power of each of the drones; When it is detected that the remaining power of the third drone is less than a preset power threshold, a return path for the third drone to return to the corresponding power supply node is planned according to the current position of the third drone and the position of the corresponding power supply node.

8. A UAV terrain acquisition system, characterized in that: The system includes: an acquisition module, a determination module, a combination module, an adjustment module and an output module; wherein, The acquisition module is used to acquire the terrain characteristics of the target area, and determine the number of power supply nodes required for the target area and the locations of the power supply nodes in the target area according to the terrain characteristics; The determination module is used to divide the target area into multiple sub-areas according to the location of the power supply node, and determine the number of drones required for each sub-area according to the area of ​​each sub-area, and allocate a corresponding number of drones to each sub-area; The combining module is used to combine the remaining power of each UAV in each sub-area and the position of the power supply node in each sub-area to determine the initial flight plan of each UAV; The adjustment module is used to determine the electromagnetic interference intensity at different positions in each of the sub-regions according to the regional characteristics of each of the sub-regions, adjust the initial flight plan according to the electromagnetic interference intensity at different positions in each of the sub-regions, and determine the target flight plan of each of the UAVs; The output module is used to send the target flight plan to each of the UAVs, so that each of the UAVs can collect terrain according to the target flight plan.

9. An electronic device, characterized in that: It includes a processor, a memory, a user interface and a network interface, the memory is used to store instructions, the user interface and the network interface are used to communicate with other devices, and the processor is used to execute the instructions stored in the memory so that the electronic device executes the method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: A computer program is stored which can be loaded by a processor and execute the method according to any one of claims 1 to 7.

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