Unmanned aerial vehicle-based flight path planning method and device, and storage medium

Abstract

The embodiment of the invention provides a flight path planning method and device based on an unmanned aerial vehicle, and a storage medium, and belongs to the technical field of communication. The method comprises the following steps: acquiring point location information of a key feature point corresponding to a to-be-detected target, and acquiring shooting parameter information of a shooting device on an unmanned aerial vehicle; performing aerial photography height layering on the to-be-measured target according to the point location information; determining a multi-layer flight height of the unmanned aerial vehicle for aerial photography of the to-be-measured target in each height layer; determining a plurality of track points corresponding to the flight height of each layer according to the shooting parameter information; and according to the plurality of flight path points, generating a flight path for aerial photography of the to-be-measured target by the unmanned aerial vehicle. According to the technical scheme of the embodiment of the invention, the flight path planning efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a trajectory planning method, device and storage medium based on an unmanned aerial vehicle. Background Art

[0002] The three-dimensional real-life modeling of communication base stations requires the use of drones to take aerial photos of the base stations and collect photos of the base stations that meet the modeling requirements. Since each base station and its surrounding environment are different, each base station requires customized track planning. The current track planning method is generally that the pilot brings the drone to the base station site, and the drone is manually controlled to take photos of the base stations in the area to be modeled around the base station, and the photos are used to establish a rough model of the base station. According to the characteristics of the rough model, the drone is put on the station again to fly close to the base station, and the track planning generates a track task file. The track task file is imported into the drone, and then the drone performs the track task to take aerial photos, complete the photo collection required for base station modeling, and then perform three-dimensional real-life modeling of the base station. In other words, to complete the track planning of a base station, the pilot needs to go on the station twice and the drone needs to fly twice, which is time-consuming and labor-intensive, and inefficient.

[0003] Therefore, how to improve the efficiency of trajectory planning has become an urgent problem to be solved. Summary of the invention

[0004] The main purpose of the embodiments of the present application is to provide a trajectory planning method, device and storage medium based on a drone, aiming to improve the efficiency of trajectory planning.

[0005] In a first aspect, an embodiment of the present application provides a trajectory planning method based on a drone, the method comprising:

[0006] Obtaining the position information of the key feature points corresponding to the target to be measured, and obtaining the shooting parameter information of the shooting device on the drone;

[0007] According to the point information, the target to be measured is subjected to aerial photography height stratification;

[0008] Determining multiple flight altitudes at which the UAV performs aerial photography of the target to be measured in each altitude layer;

[0009] Determine a plurality of track points corresponding to each flight altitude according to the shooting parameter information;

[0010] A track route for the drone to take aerial photos of the target to be measured is generated based on the multiple track points.

[0011] In a second aspect, an embodiment of the present application provides a trajectory planning device, the trajectory planning device comprising:

[0012] A processor, a memory, a computer program stored in the memory and executable by the processor, and a data bus for realizing connection and communication between the processor and the memory, wherein when the computer program is executed by the processor, the steps of the above-mentioned UAV-based trajectory planning method are realized.

[0013] In a third aspect, an embodiment of the present application provides a storage medium for computer-readable storage, wherein the storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the above-mentioned drone-based trajectory planning method.

[0014] The embodiments of the present application provide a trajectory planning method, device and storage medium based on a drone, which obtains the point information of the key feature points corresponding to the target to be measured and the shooting parameter information of the shooting device on the drone, and then layers the aerial photography height of the target to be measured according to the point information, and determines the multiple flight altitudes of the drone for aerial photography of the target to be measured in each altitude layer, and then determines the multiple track points corresponding to each layer of flight altitude according to the shooting parameter information, and generates a trajectory route for the drone to perform aerial photography of the target to be measured based on the multiple track points. There is no need to control the drone to fly twice to complete the trajectory planning, thereby improving the efficiency of the trajectory planning. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 A schematic diagram of a flow chart of a trajectory planning method based on a drone provided in an embodiment of the present invention;

[0017] Figure 2 An interactive schematic diagram of a UAV communication system provided by an embodiment of the present invention;

[0018] Figure 3 A schematic diagram of key feature points of a base station provided by an embodiment of the present invention;

[0019] Figure 4 A schematic diagram of a process for performing aerial photography height stratification of the target to be measured according to the point information provided in an embodiment of the present invention;

[0020] Figure 5 A schematic diagram of a target aerial photography height h1 provided by an embodiment of the present invention;

[0021] Figure 6 A schematic diagram of a process for determining the multi-layer flight altitudes of the drone for aerial photography of the target to be measured in each altitude layer provided by an embodiment of the present invention;

[0022] Figure 7 A schematic diagram of a process for determining multiple track points corresponding to each flight altitude provided by an embodiment of the present invention;

[0023] Figure 8 A schematic diagram of the azimuth and yaw angle of a departure point provided by an embodiment of the present invention;

[0024] Fig. 9 A flowchart of a UAV performing a tracking task on a base station provided by an embodiment of the present invention;

[0025] Fig.10 A schematic block diagram of the structure of a trajectory planning device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0027] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0028] It should be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0029] The three-dimensional real-life modeling of communication base stations requires the use of drones to take aerial photos of the base stations and collect photos of the base stations that meet the modeling requirements. Since each base station and its surrounding environment are different, each base station requires customized track planning. The current track planning method is generally that the pilot brings the drone to the base station site, and the drone is manually controlled to take photos of the base stations in the area to be modeled around the base station, and the photos are used to establish a rough model of the base station. According to the characteristics of the rough model, the drone is put on the station again to fly close to the base station, and the track planning generates a track task file. The track task file is imported into the drone, and then the drone performs the track task to take aerial photos, complete the photo collection required for base station modeling, and then perform three-dimensional real-life modeling of the base station. In other words, to complete the track planning of a base station, the pilot needs to go on the station twice and the drone needs to fly twice, which is time-consuming and labor-intensive, and inefficient.

[0030] In order to solve the above problems, the embodiments of the present invention provide a trajectory planning method, device and storage medium based on a drone, aiming to improve the efficiency of trajectory planning.

[0031] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0032] Please refer to Figure 1 , Figure 1 A flow chart of a method for trajectory planning based on a drone provided in an embodiment of the present invention. The method for trajectory planning based on a drone can be applied to a control device of a drone, or to other devices such as a drone and a smart phone, to improve the efficiency of trajectory planning.

[0033] like Figure 1 As shown, the UAV-based trajectory planning method includes steps S101 to S105.

[0034] S101, obtaining the position information of the key feature points corresponding to the target to be measured, and obtaining the shooting parameter information of the shooting device on the drone.

[0035] The target to be measured includes but is not limited to base stations and other equipment. The following takes the target to be measured as a base station and performs three-dimensional real scene modeling of the base station as an example to introduce the track planning of the base station based on a drone.

[0036] In order to generate the track route of the drone for aerial photography of the base station, it is necessary to obtain the shooting parameter information of the shooting device on the drone. The shooting device includes but is not limited to a camera, a lens, etc. For example, a camera is installed on the drone gimbal to obtain the camera's shooting parameter information.

[0037] Exemplarily, the shooting parameter information of the shooting device includes, but is not limited to, information such as the focal length of the shooting device, the sensor length of the shooting device, the sensor width of the shooting device, and the pixel size.

[0038] For example, Figure 2 As shown, in the UAV communication system, the UAV includes a detection module, a control module, a drive module, and an SDK (Software Development Kit) functional interface, and the UAV control device is loaded with a track planning APP (Application). Among them, the detection module includes an inertial measurement unit, a barometer, an electronic compass, a load status monitoring unit, a UAV status monitoring unit, etc., the control module includes a flight controller, a communication unit, etc., and the drive module includes multiple motors such as motor 1, motor 2, motor 3, and motor 4. The track planning APP includes a track planning module, a task execution module, etc.

[0039] Exemplarily, the trajectory planning module obtains the focal length Focal, pixel size Pixel, sensor width Sensor_Width, sensor length Sensor_Long and other shooting parameter information of the drone shooting device from the detection module through the SDK function interface of the drone.

[0040] In addition, the route planning APP interface displays multiple preset parameters related to route planning, including but not limited to preset overlap parameters corresponding to each altitude layer of drone aerial photography, the angle of the drone gimbal, the flight speed of the drone, the maximum radius of the equipment layer, etc. Among them, the preset overlap parameter affects the number of photos collected by the drone at the corresponding altitude layer. The larger the preset overlap parameter, the more corresponding photos will be collected.

[0041] It is understandable that the default values ​​of various preset parameters can be set according to typical base station image acquisition experience, and the user can also modify the default values ​​according to the actual scene of the base station.

[0042] The base station is generally provided with relevant working equipment for performing base station work, including but not limited to antennas, RRU (Remote Radio Unit), AAU (Active Antenna Unit), etc. Usually, these working equipment are installed in the middle and upper part of the base station. In view of the structure of the base station and the surrounding environment of the base station, when the drone takes aerial photos of the base station, the base station corresponds to multiple key feature points. Exemplarily, the key feature points of the base station include at least the center point of the base station, the highest point of the base station, the lowest point of the equipment corresponding to the working equipment in the base station, and the lowest point of the drone's flight around the base station.

[0043] For example, Figure 3As shown, working equipment is installed above the base station, and obstacles such as trees are located around the base station. The key feature points of the base station include the center point A of the base station, the highest point B, the lowest point C of the equipment, and the lowest point D for the drone to fly safely around the base station without hitting obstacles.

[0044] In order to generate a flight path for the drone to take aerial photos of the base station, the location information of the key feature points of the base station is obtained. Exemplarily, the location information of the key feature points includes at least one of latitude, longitude, and altitude.

[0045] In some embodiments, the step of obtaining the position information of key feature points corresponding to the target to be measured includes:

[0046] Instruct the user to control the drone to fly directly above the base station and record the longitude and latitude of the center point;

[0047] Instructing the user to control the drone to fly to the highest point of the base station and record the height of the highest point;

[0048] Instruct the user to control the drone to fly to the lowest point of the device in the base station, and record the height of the lowest point of the device;

[0049] Instruct the user to control the drone to fly around based on a safe distance from the base station, determine the lowest point of the drone's safe flight, and record the latitude, longitude and altitude of the lowest point.

[0050] Still Figure 3 Taking the example shown as an example, a drone pilot or other user controls the drone to take off through a remote control and adjusts the drone gimbal lens to be perpendicular to the horizontal plane, that is, adjusts the angle of the gimbal lens to -90 degrees. Based on the center point A among the key feature points of the base station, the user controls the drone to fly to the position corresponding to the center point A directly above the base station, and records the longitude and latitude (Lon_a, Lat_a) of the center point A.

[0051] The drone observes the position of the highest obstacle in the safe flight area at the edge of the base station antenna below (for example, about 20 meters horizontally from the center point A) from the perspective above the base station, controls the drone to fly to the side of the obstacle close to the base station, adjusts the drone gimbal to face the base station, adjusts the angle of the gimbal lens to 0 degrees, and controls the drone to slowly descend to the highest point B of the base station, located in the center of the drone remote control screen, and records the height Max_Height of the highest point B relative to the ground.

[0052] Continue to control the drone to slowly descend through the remote control, keep the drone gimbal facing the base station, and control the distance between the drone and the base station to a safe distance. For example, the safe distance range is 7 to 10 meters. The drone flies to the lowest point C of the base station, which is located in the center of the drone remote control screen, and records the height Mid_Height of the lowest point C relative to the ground.

[0053] Continue to control the drone to slowly descend, and control the distance between the drone and the base station to a safe distance (for example, 7 to 10 meters), and descend the drone to the top of the obstacle as much as possible. For example, the descent principle is that there is no forward and backward safety distance alarm of the drone, and the drone safely flies to the lowest point D of the flight, and records the latitude and longitude (Lon_d, Lat_d) of the lowest point D and the height Min_Height relative to the ground.

[0054] In some embodiments, in order to ensure the safety of the drone's return, it is also necessary to determine the drone's safe return altitude. After the drone completes the aerial photography mission for the base station, it flies to the safe return altitude and then returns to the return point. Exemplarily, the safe return altitude is a height at a preset distance above the highest point B. For example, the safe return altitude is the height of the highest point B Max_Height plus 10 meters.

[0055] It should be noted that the preset distance between the safe return altitude and the highest point B can be flexibly set according to actual conditions and is not specifically limited here.

[0056] S102: Perform aerial photography height stratification on the target to be measured according to the point information.

[0057] The working equipment is a key part of the base station and has a more complex physical structure, which places higher requirements on the accuracy of the model, while the rest of the base station is the tower or pole part, and the physical structure is relatively simple. Therefore, the base station is layered for aerial photography, and the working equipment and the tower / pole part are distinguished to correspond to different height layers. A large preset overlap parameter is preset for the height layer corresponding to the working equipment to collect more photos; and a small preset overlap parameter is preset for the height layer corresponding to the tower / pole part to appropriately reduce the number of collected photos.

[0058] Exemplarily, aerial photography is performed in layers, and the determined layers include a lower layer corresponding to a tower / pole portion and an upper layer corresponding to a high position of working equipment.

[0059] In this way, by performing aerial photography height stratification, when planning the trajectory of the drone for base station image collection, we can not only ensure the accuracy of the base station working equipment modeling, but also effectively reduce the number of photos of the tower / pole part, save the time of the entire base station image collection, and improve the efficiency of aerial photography.

[0060] In some embodiments, Figure 4 As shown, step S102 may include sub-steps S1021 to S1024.

[0061] S1021. Determine the flight radius of the UAV according to the position information of the center point and the lowest flight point;

[0062] S1022, determining a gimbal angle of the UAV according to the flight radius and the position information of the lowest flight point;

[0063] S1023, determining the target aerial photography height of the UAV according to the gimbal angle, and the position information of the lowest point of the flight and the lowest point of the device;

[0064] S1024, determining the position below the target aerial photography altitude as the lower layer of the low position, and determining the position above the target aerial photography altitude as the upper layer of the high position;

[0065] Among them, the number of track points corresponding to the high-position upper layer is greater than the number of track points corresponding to the low-position lower layer, so as to achieve both the accuracy of base station modeling based on the photos collected by the drone at the track points and the efficiency of collecting photos.

[0066] For example, still Figure 3 Taking the example shown as an example, according to the longitude and latitude (Lon_a, Lat_a) of the center point A and the longitude and latitude (Lon_d, Lat_d) of the lowest flight point D, the distance between the longitude and latitude (Lon_a, Lat_a) and the longitude and latitude (Lon_d, Lat_d) is calculated as the flight radius d of the drone's circling aerial photography. For example, the Haversine formula is used to calculate the distance between the two longitudes and latitudes to determine the flight radius d of the drone's circling aerial photography.

[0067] For example, the GSD (Ground Sampling Distance) resolution of the drone camera can be determined based on the flight radius d and the maximum radius of the device layer. For example, the GSD resolution is calculated according to the following formula (1):

[0068]

[0069] Among them, Equip_radius is the preset maximum radius of the equipment layer, pixel is the pixel size, and Focal is the focal length of the drone shooting device.

[0070] In order for the UAV to capture images of the bottom of the base station when taking aerial photos at the lowest point D of flight, the angle β of the UAV gimbal needs to be determined.

[0071] For example, according to the height Min_Height of the lowest flight point D relative to the ground, the determined flight radius d, the focal length Focal and the sensor length Sensor_Long, the gimbal angle β of the drone is calculated according to the following formula (2):

[0072]

[0073] Since the gimbal angle β is set, the UAV will not be able to collect images of the device when it flies to the lowest point C of the device. Therefore, it is necessary to determine the target aerial photography height of the low-position lower-level UAV aerial photography based on the gimbal angle β.

[0074] For example, Figure 5 As shown, the gimbal angle β of the drone is obtained, and based on the height Min_Height of the lowest point D relative to the ground, the height Mid_Height of the lowest point C of the device relative to the ground, the focal length Focal and the sensor length Sensor_Long, the target aerial photography height h1 of the drone is calculated according to the following formula (3):

[0075]

[0076] The target aerial photography height h1 of the UAV is determined, and the aerial photography height is layered based on the target aerial photography height h1. The position below the target aerial photography height h1 is determined as the low position lower layer, and the position above the target aerial photography height h1 is determined as the high position upper layer.

[0077] The target aerial photography height h1 is used to determine the low-position lower layer and the high-position upper layer. The number of track points in the high-position upper layer is greater than that in the low-position lower layer. That is, the drone in the high-position upper layer will collect more photos based on the track points, thereby ensuring the accuracy of base station modeling based on the collected photos; while the number of photos collected by the drone in the low-position lower layer based on the track points is reduced, saving the time for the drone to collect photos and improving the efficiency of collecting photos. In addition, by determining the drone gimbal angle β, it is ensured that the drone can collect all parts of the base station when collecting photos of the base station, thereby ensuring the integrity of the base station model.

[0078] S103, determining multiple layers of flight altitudes at which the UAV performs aerial photography of the target to be measured in each altitude layer.

[0079] For each altitude layer, the drone will take aerial photos of the base station based on multiple different flight altitudes. Therefore, according to the preset overlap parameters corresponding to each altitude layer, the multiple flight altitudes at which the drone takes aerial photos of the base station in each altitude layer are determined.

[0080] In some embodiments, Figure 6As shown, step S103 may include sub-step S1031 and sub-step S1032.

[0081] S1031, determining the flight altitude layer spacing corresponding to each altitude layer according to the shooting parameter information and the preset overlap parameter corresponding to each altitude layer;

[0082] S1032. Determine the multiple flight altitudes corresponding to each altitude layer according to the flight altitude layer spacing corresponding to each altitude layer.

[0083] Exemplarily, for the low-position lower layer, the flight height layer spacing Vertical_interval in the vertical direction of each layer corresponding to the aerial photography of the drone at the low-position lower layer is determined according to the preset overlap parameter Overlap, the preset equipment layer maximum radius Equip_radius, and the focal length Focal, sensor length Sensor_Long and other shooting parameter information corresponding to the low-position lower layer.

[0084] In some embodiments, determining the flight altitude layer spacing corresponding to each altitude layer according to the shooting parameter information and the preset overlap parameter corresponding to each altitude layer includes:

[0085] Determine the flight radius of the UAV according to the point information;

[0086] Calculate the difference between the flight radius and the preset maximum radius of the equipment layer;

[0087] The flight altitude layer spacing corresponding to each altitude layer is determined according to the difference between the flight radius and the maximum radius of the equipment layer, the focal length and the sensor length, and the preset overlap parameter corresponding to each altitude layer.

[0088] For the low-position lower layer, based on the obtained longitude and latitude (Lon_a, Lat_a) of the center point A and the longitude and latitude (Lon_d, Lat_d) of the lowest flight point D, the distance between the longitude and latitude (Lon_a, Lat_a) and the longitude and latitude (Lon_d, Lat_d) is calculated as the flight radius d of the drone's aerial photography.

[0089] According to the preset maximum radius Equip_radius of the equipment layer and the determined flight radius d, the difference d-Equip_radius between the flight radius d and the maximum radius Equip_radius of the equipment layer is calculated, and the focal length Focal, sensor length Sensor_Long, and the preset overlap parameter Overlap corresponding to the low-position lower layer are combined to determine the flight height layer spacing Vertical_interval of each layer corresponding to the aerial photography of the UAV at the low-position lower layer in the vertical direction.

[0090] For example, the flight height layer spacing Vertical_interval of each layer of flight height in the vertical direction of the drone aerial photography is calculated according to the following formula (4):

[0091]

[0092] According to the target aerial photography height h1 and the flight height layer interval Vertical_interval, the number of layers j that the UAV needs to fly to complete the low-position lower layer aerial photography can be calculated according to the following formula (5);

[0093]

[0094] According to the following formula (6), the flight height Height_n of each layer can be calculated:

[0095] Height_n=Min_Height+n*Vertical_interval n∈[0,j] (6)

[0096] For the upper layer at a high position, the same method is used to calculate the number of layers required for aerial photography of the upper layer, and determine the corresponding flight height of each layer. The specific process refers to the operation in the above-mentioned lower layer at a low position, which will not be repeated here.

[0097] S104: Determine a plurality of track points corresponding to each flight altitude according to the shooting parameter information.

[0098] By obtaining the track point information of each track point corresponding to each flight height Height_n, multiple track points corresponding to each flight height Height_n can be determined. The track point information includes but is not limited to the latitude and longitude, altitude, and yaw angle of the track point. The track point information of the track point is obtained based on the previously obtained shooting parameter information such as focal length Focal and sensor width Sensor_Width.

[0099] In some embodiments, Figure 7 As shown, step S104 may include sub-steps S1041 to S1044.

[0100] S1041, determining the horizontal spacing between track points corresponding to each flight altitude according to the shooting parameter information;

[0101] S1042, determining the azimuth and yaw angle of each track point corresponding to each flight altitude according to the horizontal spacing;

[0102] S1043, determining the longitude and latitude of each track point according to the azimuth, and generating track point information for each track point, wherein the track point information includes the longitude and latitude, altitude, and yaw angle;

[0103] S1044. Determine the multiple track points corresponding to each flight altitude according to the track point information.

[0104] Exemplarily, for the low-position lower layer, the horizontal spacing Horizontal_interval between the track points corresponding to each layer of flight altitude of the drone in the low-position lower layer is determined according to the preset overlap parameter Overlap, the preset equipment layer maximum radius Equip_radius, and the focal length Focal, sensor width Sensor_Width and other shooting parameter information corresponding to the low-position lower layer.

[0105] In some embodiments, determining the horizontal spacing between track points corresponding to each flight altitude according to the shooting parameter information includes:

[0106] Determine the flight radius of the UAV according to the point information;

[0107] Calculate the difference between the flight radius and the preset maximum radius of the equipment layer;

[0108] The horizontal spacing between the track points corresponding to each flight altitude is determined based on the difference between the flight radius and the maximum radius of the equipment layer, the focal length and the sensor width, and the preset overlap parameter corresponding to each altitude layer.

[0109] For the low-position lower layer, based on the obtained longitude and latitude (Lon_a, Lat_a) of the center point A and the longitude and latitude (Lon_d, Lat_d) of the lowest flight point D, the distance between the longitude and latitude (Lon_a, Lat_a) and the longitude and latitude (Lon_d, Lat_d) is calculated as the flight radius d of the drone's aerial photography.

[0110] According to the preset maximum radius Equip_radius of the equipment layer and the determined flight radius d, the difference d-Equip_radius between the flight radius d and the maximum radius Equip_radius of the equipment layer is calculated, and the focal length Focal, sensor width Sensor_Width, and the preset overlap parameter Overlap corresponding to the low-position lower layer are combined to determine the horizontal spacing Horizontal_interval between the track points corresponding to each layer of flight altitude of the drone in the low-position lower layer aerial photography.

[0111] For example, the flight height layer spacing Vertical_interval of each layer of flight height in the vertical direction of the drone aerial photography is calculated according to the following formula (7):

[0112]

[0113] Based on the flight radius d and the horizontal interval Horizontal_interval between track points, the track point i corresponding to each flight altitude can be calculated according to the following formula (8), that is, the number of points i that need to be photographed on the horizontal plane corresponding to each flight altitude:

[0114]

[0115] Then, the azimuth interval Azimuth_Interval corresponding to each track point can be calculated according to the following formula (9):

[0116]

[0117] For example, the lowest point D is taken as the starting point, that is, the track point corresponding to the point where the first photo is taken. When taking photos, the gimbal of the drone needs to be aimed at the base station. The direction of the drone camera is determined by the yaw angle of the drone. The yaw angle corresponding to the first track point is determined by the azimuth of the line segment A'D formed by the lowest point D and the center point A on the plane corresponding to the lowest point D, as shown in Figure 8 As shown, Azimuth can be calculated from the longitude and latitude of points A and D.

[0118] By defining the lowest flight point D as the departure point, there is no need for the drone to fly to the north direction for aerial photography, which avoids the safety hazard of the drone flying directly to the north direction and optimizes the base station photo collection process.

[0119] After determining the azimuth and yaw of the first track point, and obtaining the azimuth interval Azimuth_Interval corresponding to each track point, the azimuth_n corresponding to each track point can be calculated according to the following formula (10):

[0120] Azimuth_n=Azimuth-n*Azimuth_Interval n∈[0,i] (10)

[0121] Among them, the value range of the azimuth angle Azimuth_n is Azimuth_n∈[-180,1 80). The range of the calculated Azimuth_n value is judged. If Azimuth_n is less than 0, add 360.

[0122] According to the following formula (11), the yaw angle yaw_n corresponding to each track point can be calculated:

[0123] yaw_n=Azimuth_n-180 (11)

[0124] Among them, the value range of the yaw angle yaw_n is yaw∈[-1800,1 8 0).

[0125] According to the longitude and latitude (Lon_a, Lat_a) of the center point A, the flight radius d and the corresponding azimuth Azimuth_n of each track point, the longitude and latitude (Lon_n, Lat_n) of each track point can be calculated.

[0126] Through the above operation, the track point information of each track point is obtained, wherein the track point information includes latitude and longitude, altitude, yaw angle, etc. Exemplarily, the track point information of each track point is (Lon_n, Lat_n, Height_n, yaw_n). After the track point information of the track point is obtained, the track point of the drone aerial photography is also determined.

[0127] For the high-position upper layer, the same method is used to determine the various track points corresponding to the flight altitude of each layer of the upper aerial photography. The specific process refers to the operation in the above-mentioned low-position lower layer, which will not be repeated here.

[0128] S105: generating a track route for the drone to take aerial photos of the target to be measured based on the plurality of track points.

[0129] Exemplarily, each track point corresponding to each flight altitude of each layer of the low position and each track point corresponding to each flight altitude of each layer of the high position are merged to generate a track route for the drone to take aerial photos of the base station. For example, each track point is merged in the order of first the low position and then the high position to generate a track route.

[0130] The flight path of the UAV is planned, and a flight path task for the UAV to take aerial photos of the base station is generated, and the flight path task includes the generated flight path information. For example, a flight path task that matches the model of the UAV is generated according to the model of the UAV.

[0131] Afterwards, the UAV can execute the flight mission according to the planned flight route to complete the photo collection of the base station, so as to realize three-dimensional real-scene modeling of the base station based on the collected photos.

[0132] By using the key feature points of the base station to plan the track online in real time, the drone does not need to fly twice for aerial photography. The track planning and base station photo collection can be completed in one flight, saving the time of base station photo collection. In addition, the drone directly performs the track task, and there is no need to export or import the track file, saving operation time; and online real-time planning can avoid the hidden dangers of changes in the base station environment that may affect the safety of drone flight in offline planning, further improving the safety of drone flight.

[0133] like Fig. 9 As shown in the figure, the whole process of the drone performing the tracking mission to the base station is as follows:

[0134] a. Turn on the drone;

[0135] b. Get the shooting parameters of the drone camera, including but not limited to focal length Focal, pixel size Pixel, sensor width Sensor_Width, sensor length Sensor_Long, etc.;

[0136] c. Adjustment of preset parameters, including but not limited to preset overlap parameters, drone gimbal angle, drone flight speed, maximum radius of device layer, etc.;

[0137] d. Collect the location information of key feature points of the base station, including but not limited to the center point A of the base station, the highest point B, the lowest point C of the equipment, and the lowest point D for the drone to safely fly around the base station without hitting obstacles;

[0138] e. Determine the altitude of the return point;

[0139] f. Calculate the flight radius / GSD;

[0140] g1. For the lower layer at a low position, obtain the height of the lowest point C of the equipment and the lowest point D of the flight relative to the ground;

[0141] g2. Determine the gimbal angle;

[0142] g3. Determine the aerial photography height of the lower layer at low position;

[0143] g4. Determine the vertical flight layer number of the lower layer at low position;

[0144] g5. Obtain the track point information of each track point in each layer of the lower layer at the low position;

[0145] g6. Determine the track point of the lower layer at low position;

[0146] h1. For the upper layer at a high position, obtain the height of the highest point B and the lowest point D relative to the ground;

[0147] h2. Determine the gimbal angle;

[0148] h3. Determine the vertical flight layer number of the upper layer at high position;

[0149] h4. Obtain the track point information of each track point in each layer of the high position upper layer;

[0150] h5. Determine the track points at the upper layer of the high position;

[0151] i. Merge track points to generate a track route;

[0152] j. Generate track tasks;

[0153] k. Perform track missions.

[0154] In this way, by planning the trajectory of communication base station image acquisition through a layered strategy, we can not only ensure the accuracy of base station modeling, but also effectively reduce the data of the lower-level images, save the entire base station image acquisition time, and improve the efficiency of aerial photography.

[0155] Next, taking the example of using drone 1 to take aerial photos of base station 1, the specific operation process is as follows:

[0156] Step 1: Use the flight planning app to read the camera parameters of drone 1, including the camera focal length Focal: 8.8mm, pixel size Pixel: 2.41228um, camera sensor width Sensor_Width: 13.2mm, and camera sensor length Sensor_Long: 8.8mm.

[0157] Step 2: Get the preset parameters related to track planning in the track planning APP, including the overlap of the lower layer aerial photography Down_Overlap: 0.75, the overlap of the upper layer aerial photography Up_Overlap: 0.8, the angle of the upper layer aerial photography gimbal Up_gimbalpitch: -5, the flight speed of the drone Speed: 5 meters / second, and the maximum radius of the equipment layer Equip_radius: 2 meters.

[0158] Step 3: Get the four key feature point information of base station 1:

[0159] Fly to the top of base station 1 and collect the latitude and longitude of point A, the center point of base station 1. Lon_a: 117.13480125, Lat_a: 39.433735;

[0160] Control UAV 1 to collect the height of vertex B of base station 1 Max_Height: 50 meters;

[0161] Control UAV 1 to collect the lowest equipment layer point C height Mid_Height: 32 meters;

[0162] Control drone 1 to fly to the lowest safe point D to collect the height Min_Height: 10 meters, as well as the longitude and latitude Lon_d: 117.1349396, Lat_d: 39.4337812.

[0163] Step 4: Calculate the altitude of the return point:

[0164] The return point altitude = Max_Height + 10 = 60 meters.

[0165] Step 5: Calculate the flight radius / GSD

[0166] The flight radius of UAV 1 around the center point can be obtained from the longitude and latitude coordinates of points A and D, and the flight radius d = 12.95 meters;

[0167] From the GSD formula: Calculation shows that GSD=3.

[0168] Step 6: Plan the lower track:

[0169] 6.1: The height of point D is 10 meters, and the height of point C is 32 meters;

[0170] 6.2: From this, we can calculate the value of the gimbal angle β for the lower-level aerial photography: -12 degrees;

[0171] 6.3: The required flight height for the lower-level aerial photography is calculated to be 24.75 meters;

[0172] 6.4: The interval between each flight of the lower layer is calculated to be 2.74 meters, from which it can be calculated that a total of 11 flights are required for the lower layer;

[0173] 6.5: The azimuth of the starting point D is calculated to be 66.62 degrees. The interval between each horizontal waypoint is 4.1 meters. There are 19 waypoints in each layer of the lower layer, and the angle interval between each waypoint is 18.95 degrees.

[0174] 6.6: The generated lower layer track points are shown in Table 1 below:

[0175] Table 1

[0176]

[0177]

[0178] Step 7: Plan the upper track:

[0179] 7.1: The height of point C is 32 meters, and the height of point B is 50 meters;

[0180] 7.2: Calculate the value of the gimbal angle β during upper-level aerial photography: -5 degrees;

[0181] 7.3: The required flight height for upper-level aerial photography is calculated to be 19.13 meters;

[0182] 7.4: The interval between each flight of the upper layer is calculated to be 2.19 meters, from which it can be calculated that a total of 10 flights are required for the upper layer;

[0183] 7.5: Calculate the azimuth of the starting point D: 66.62 degrees, the interval between each horizontal waypoint is 3.28 meters, the number of waypoints on each upper layer is 24, and the angle interval between each waypoint is 15 degrees;

[0184] 7.6: The generated upper track points are shown in Table 2 below:

[0185] Table 2

[0186]

[0187]

[0188]

[0189] Step 8: Merge the track points of the upper and lower layers.

[0190] Step 9: Generate a track mission for UAV 1 to execute.

[0191] Next, taking the example of using drone 2 to take aerial photos of base station 2, the specific operation process is as follows:

[0192] Step 1: Use the flight planning app to read the camera parameters of drone 2, including the camera focal length Focal: 12.2mm, pixel size Pixel: 3.3um, camera sensor width Sensor_Width: 17.4mm, and camera sensor length Sensor_Long: 13.1mm.

[0193] Step 2: Get the preset parameters related to track planning in the track planning APP, including the overlap of the lower layer aerial photography Down_Overlap: 0.75, the overlap of the upper layer aerial photography Up_Overlap: 0.8, the angle of the upper layer aerial photography gimbal Up_gimbalpitch: -5, the flight speed of the drone Speed: 5 meters / second, and the maximum radius of the equipment layer Equip_radius: 1.5 meters.

[0194] Step 3: Get the four key feature point information of base station 2:

[0195] Fly to the top of base station 2 and collect the latitude and longitude of point A, the center point of the base station. Lon_a: 121.5798008, Lat_a: 31.1968307;

[0196] Control UAV 2 to collect the height of vertex B of base station 2 Max_Height: 23 meters;

[0197] Control UAV 2 to collect the lowest equipment layer point C height Mid_Height: 12 meters;

[0198] Control drone 2 to fly to the lowest safe point D to collect height and longitude and latitude information. Min_Height: 9 meters Lon_d: 121.5796793, Lat_d: 31.1968409.

[0199] Step 4: Calculate the altitude of the return point:

[0200] The return point altitude = Max_Height + 10 = 33 meters.

[0201] Step 5: Calculate the flight radius / GSD

[0202] The flight radius of drone 2 around the center point can be obtained from the longitude and latitude coordinates of points A and D. The flight radius d = 11.61 meters;

[0203] From the GSD formula: The calculated GSD is 2.74.

[0204] Step 6: Plan the lower track:

[0205] 6.1: The height of point D is 9 meters, and the height of point C is 12 meters;

[0206] 6.2: From this, we can calculate the value of the gimbal angle β for the lower-level aerial photography: -10 degrees;

[0207] 6.3: The required flight height for the lower-level aerial photography is calculated to be 5.05 meters;

[0208] 6.4: The interval between each flight of the lower layer is calculated to be 2.72 meters, from which it can be calculated that a total of 3 flights are required for the lower layer;

[0209] 6.5: Calculate the azimuth of the starting point D: 275.62 degrees, the interval between each horizontal waypoint is 3.61 meters, the number of waypoints in each layer of the lower layer is 20, and the angle interval between each waypoint is 18.0 degrees;

[0210] 6.6: The generated lower layer track points are shown in Table 3 below:

[0211] Table 3

[0212]

[0213]

[0214]

[0215] Step 7: Plan the upper track:

[0216] 7.1: The height of point C is 12 meters, and the height of point B is 23 meters;

[0217] 7.2: Calculate the value of the gimbal angle β during upper-level aerial photography: -5 degrees;

[0218] 7.3: The required flight height for upper-level aerial photography is calculated to be 12.02 meters;

[0219] 7.4: The interval between each flight of the upper layer is calculated to be 2.17 meters, from which it can be calculated that a total of 7 flights are required on the upper layer;

[0220] 7.5: Calculate the azimuth of the starting point D: 275.62 degrees, the interval between each horizontal waypoint is 2.89 meters, the number of waypoints on each upper layer is 25, and the angle interval between each waypoint is 14.4 degrees;

[0221] 7.6: The generated upper track points are shown in Table 4 below:

[0222] Table 4

[0223]

[0224]

[0225] Step 8: Merge the track points of the upper and lower layers.

[0226] Step 9: Generate a track mission for UAV 2 to execute.

[0227] In the above embodiment, by obtaining the point information of the key feature points corresponding to the target to be measured and the shooting parameter information of the shooting device on the drone, the target to be measured is layered according to the point information, and the multiple flight altitudes of the drone for aerial photography of the target to be measured in each altitude layer are determined, and then the multiple track points corresponding to each layer of flight altitude are determined according to the shooting parameter information, and the track route of the drone for aerial photography of the target to be measured is generated according to the multiple track points. There is no need to control the drone to fly twice to complete the track planning, thereby improving the efficiency of track planning.

[0228] The present invention also provides a track planning device, see Fig.10 , Fig.10 It is a schematic block diagram of a trajectory planning device provided in one embodiment of the present application.

[0229] like Fig.10As shown, the trajectory planning device 200 may include a processor 210 and a memory 220, wherein the processor 210 and the memory 220 are connected via a bus, such as an I2C (Inter-integrated Circuit) bus.

[0230] Specifically, the processor 210 may be a micro-controller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP).

[0231] Specifically, the memory 220 may be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB disk, or a mobile hard disk, etc. The memory 220 stores various computer programs for the processor 210 to execute.

[0232] The processor 210 is used to run a computer program stored in the memory, and implements the following steps when executing the computer program:

[0233] Obtaining the position information of the key feature points corresponding to the target to be measured, and obtaining the shooting parameter information of the shooting device on the drone;

[0234] According to the point information, the target to be measured is subjected to aerial photography height stratification;

[0235] Determining multiple flight altitudes at which the UAV performs aerial photography of the target to be measured in each altitude layer;

[0236] Determine a plurality of track points corresponding to each flight altitude according to the shooting parameter information;

[0237] A track route for the drone to take aerial photos of the target to be measured is generated based on the multiple track points.

[0238] In some embodiments, the target to be measured includes a base station, and the key feature points include at least the center point of the base station, the highest point of the base station, the lowest point of the equipment corresponding to the working equipment in the base station, and the lowest point of the drone flying around the base station.

[0239] In some embodiments, the point information includes at least one of longitude, latitude and altitude. When the processor 210 implements the acquisition of the point information of the key feature point corresponding to the target to be measured, it is used to implement:

[0240] Instruct the user to control the drone to fly directly above the base station and record the longitude and latitude of the center point;

[0241] Instructing the user to control the drone to fly to the highest point of the base station and record the height of the highest point;

[0242] Instruct the user to control the drone to fly to the lowest point of the device in the base station, and record the height of the lowest point of the device;

[0243] Instruct the user to control the drone to fly around based on a safe distance from the base station, determine the lowest point of the drone's safe flight, and record the latitude, longitude and altitude of the lowest point.

[0244] In some embodiments, the altitude layer includes at least a low position lower layer and a high position upper layer. When the processor 210 implements the aerial photography altitude stratification of the target to be measured according to the point information, it is used to implement:

[0245] Determine the flight radius of the UAV according to the position information of the center point and the lowest flight point;

[0246] Determining the gimbal angle of the UAV according to the flight radius and the position information of the lowest point of the flight;

[0247] Determine the target aerial photography height of the UAV according to the gimbal angle, and the position information of the lowest point of the flight and the lowest point of the device;

[0248] Determine the position below the target aerial photography altitude as the lower layer of the low position, and determine the position above the target aerial photography altitude as the upper layer of the high position;

[0249] Among them, the number of track points corresponding to the high-position upper layer is greater than the number of track points corresponding to the low-position lower layer, so as to achieve both the accuracy of base station modeling based on the photos collected by the drone at the track points and the efficiency of collecting photos.

[0250] In some embodiments, when determining the multiple flight altitudes at which the drone performs aerial photography of the target to be measured in each altitude layer, the processor 210 is used to implement:

[0251] Determine the flight altitude layer spacing corresponding to each altitude layer according to the shooting parameter information and the preset overlap parameter corresponding to each altitude layer;

[0252] The multiple flight altitudes corresponding to each altitude layer are determined according to the flight altitude layer spacing corresponding to each altitude layer.

[0253] In some embodiments, the shooting parameter information includes the focal length of the shooting device and the sensor length of the shooting device. When the processor 210 determines the flight altitude layer spacing corresponding to each altitude layer according to the shooting parameter information and the preset overlap parameter corresponding to each altitude layer, it is used to implement:

[0254] Determine the flight radius of the UAV according to the point information;

[0255] Calculate the difference between the flight radius and the preset maximum radius of the equipment layer;

[0256] The flight altitude layer spacing corresponding to each altitude layer is determined according to the difference between the flight radius and the maximum radius of the equipment layer, the focal length and the sensor length, and the preset overlap parameter corresponding to each altitude layer.

[0257] In some embodiments, when the processor 210 determines the plurality of track points corresponding to each flight altitude according to the shooting parameter information, it is configured to implement:

[0258] Determine the horizontal spacing between track points corresponding to each flight altitude according to the shooting parameter information;

[0259] Determine the azimuth and yaw angle of each track point corresponding to each flight altitude according to the horizontal spacing;

[0260] Determine the longitude and latitude of each track point according to the azimuth, and generate track point information for each track point, wherein the track point information includes longitude and latitude, altitude, and yaw angle;

[0261] The plurality of track points corresponding to each flight altitude are determined according to the track point information.

[0262] In some embodiments, the shooting parameter information includes the focal length of the shooting device and the sensor width of the shooting device. When the processor 210 determines the horizontal spacing between the track points corresponding to each layer of flight altitude according to the shooting parameter information, it is used to implement:

[0263] Determine the flight radius of the UAV according to the point information;

[0264] Calculate the difference between the flight radius and the preset maximum radius of the equipment layer;

[0265] The horizontal spacing between the track points corresponding to each flight altitude is determined based on the difference between the flight radius and the maximum radius of the equipment layer, the focal length and the sensor width, and the preset overlap parameter corresponding to each altitude layer.

[0266] An embodiment of the present application also provides a storage medium for computer-readable storage, wherein the storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement any step of the drone-based trajectory planning method provided in the description of the embodiment of the present application.

[0267] The storage medium may be an internal storage unit of the track planning device described in the foregoing embodiment, such as a hard disk or memory of the track planning device. The storage medium may also be an external storage device of the track planning device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc., provided on the track planning device.

[0268] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In a hardware embodiment, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or temporary medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those of ordinary skill in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0269] It should be understood that the term "and / or" used in the present specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, including these combinations. It should be noted that, in this article, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "including a..." does not exclude the presence of other identical elements in the process, method, article or system including the element.

[0270] The serial numbers of the embodiments of the present application are only for description and do not represent the advantages and disadvantages of the embodiments. The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A trajectory planning method based on an unmanned aerial vehicle, the method comprising: Obtaining the position information of the key feature points corresponding to the target to be measured, and obtaining the shooting parameter information of the shooting device on the drone; According to the point information, the target to be measured is subjected to aerial photography height stratification; Determining multiple flight altitudes at which the UAV performs aerial photography of the target to be measured in each altitude layer; Determine a plurality of track points corresponding to each flight altitude according to the shooting parameter information; A track route for the drone to take aerial photos of the target to be measured is generated based on the multiple track points.

2. The method according to claim 1, characterized in that: The target to be measured includes a base station, and the key feature points include at least the center point of the base station, the highest point of the base station, the lowest point of the equipment corresponding to the working equipment in the base station, and the lowest point of the UAV flying around the base station.

3. The method according to claim 2, characterized in that The point information includes at least one of longitude, latitude and altitude, and the step of obtaining the point information of the key feature points corresponding to the target to be measured includes: Instruct the user to control the drone to fly directly above the base station and record the longitude and latitude of the center point; Instructing the user to control the drone to fly to the highest point of the base station and record the height of the highest point; Instruct the user to control the drone to fly to the lowest point of the device in the base station, and record the height of the lowest point of the device; Instruct the user to control the drone to fly around based on a safe distance from the base station, determine the lowest point of the drone's safe flight, and record the latitude, longitude and altitude of the lowest point.

4. The method according to claim 2, characterized in that: The altitude layers at least include a low-position lower layer and a high-position upper layer. The aerial photography altitude stratification of the target to be measured according to the point information includes: Determine the flight radius of the UAV according to the position information of the center point and the lowest flight point; Determining the gimbal angle of the UAV according to the flight radius and the position information of the lowest point of the flight; Determine the target aerial photography height of the UAV according to the gimbal angle, and the position information of the lowest point of the flight and the lowest point of the device; Determine the position below the target aerial photography altitude as the lower layer of the low position, and determine the position above the target aerial photography altitude as the upper layer of the high position; Among them, the number of track points corresponding to the high-position upper layer is greater than the number of track points corresponding to the low-position lower layer, so as to achieve both the accuracy of base station modeling based on the photos collected by the drone at the track points and the efficiency of collecting photos.

5. The method according to claim 1, characterized in that: The step of determining the multiple flight altitudes at which the drone performs aerial photography of the target to be measured in each altitude layer comprises: Determine the flight altitude layer spacing corresponding to each altitude layer according to the shooting parameter information and the preset overlap parameter corresponding to each altitude layer; The multiple flight altitudes corresponding to each altitude layer are determined according to the flight altitude layer spacing corresponding to each altitude layer.

6. The method according to claim 5, characterized in that The shooting parameter information includes the focal length of the shooting device and the sensor length of the shooting device. The determining the flight altitude layer spacing corresponding to each altitude layer according to the shooting parameter information and the preset overlap parameter corresponding to each altitude layer includes: Determine the flight radius of the UAV according to the point information; Calculate the difference between the flight radius and the preset maximum radius of the equipment layer; The flight altitude layer spacing corresponding to each altitude layer is determined according to the difference between the flight radius and the maximum radius of the equipment layer, the focal length and the sensor length, and the preset overlap parameter corresponding to each altitude layer.

7. The method according to claim 1, characterized in that Determining a plurality of track points corresponding to each flight altitude according to the shooting parameter information includes: Determine the horizontal spacing between track points corresponding to each flight altitude according to the shooting parameter information; Determine the azimuth and yaw angle of each track point corresponding to each flight altitude according to the horizontal spacing; Determine the longitude and latitude of each track point according to the azimuth, and generate track point information for each track point, wherein the track point information includes longitude and latitude, altitude, and yaw angle; The plurality of track points corresponding to each flight altitude are determined according to the track point information.

8. The method according to claim 7, characterized in that The shooting parameter information includes the focal length of the shooting device and the sensor width of the shooting device. The determining the horizontal spacing between the track points corresponding to each layer of flight altitude according to the shooting parameter information includes: Determine the flight radius of the UAV according to the point information; Calculate the difference between the flight radius and the preset maximum radius of the equipment layer; The horizontal spacing between the track points corresponding to each flight altitude is determined based on the difference between the flight radius and the maximum radius of the equipment layer, the focal length and the sensor width, and the preset overlap parameter corresponding to each altitude layer.

9. A trajectory planning device, characterized in that: The track planning device comprises: A processor, a memory, a computer program stored in the memory and executable by the processor, and a data bus for realizing connection and communication between the processor and the memory, wherein when the computer program is executed by the processor, the steps of the trajectory planning method based on a drone as described in any one of claims 1 to 8 are realized.

10. A storage medium for computer-readable storage, characterized in that: The storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the drone-based trajectory planning method as described in any one of claims 1 to 8.

Images