Dynamic low-altitude air route planning method and system based on low-altitude meteorological data analysis

Abstract

The invention discloses a dynamic low-altitude route planning method and system based on low-altitude meteorological data analysis, and relates to the technical field of route planning, and the method comprises the steps: carrying out the route pre-planning according to the information of a to-be-mapped region; in the flight process, the route is adjusted in real time according to the real-time weather information and the known obstacle area; and after surveying and mapping, re-planning a route to re-shoot the geographic area corresponding to the shooting data which does not meet the standard so as to obtain standard data. When the unmanned aerial vehicle flies according to the preset route, the real-time wind speed and wind direction information are considered to determine the safety boundary of the obstacle area, the route of the unmanned aerial vehicle is adjusted to bypass the obstacle area, and the safety risk of the unmanned aerial vehicle during surveying and mapping is reduced; after surveying and mapping are finished, secondary surveying and mapping are carried out on areas with unqualified data, factors such as real-time meteorological factors, distances of all the areas and the number of times of re-shooting of all the areas are considered during secondary surveying and mapping, and the operation cost and time are reduced while an air route meeting the surveying and mapping requirement is planned.

Description

Technical Field

[0001] The present invention relates to the technical field of route planning, and in particular to a dynamic low-altitude route planning method based on low-altitude meteorological data analysis. Background Art

[0002] In the field of modern surveying and mapping, aerial surveying and mapping has been widely used due to its advantages of high efficiency and large area coverage. Aerial surveying and mapping operations usually rely on low-altitude aircraft, such as drones, to obtain high-resolution geographic information data for many important aspects such as map drawing, topographic measurement, resource exploration, etc.

[0003] Traditional surveying and mapping low-altitude route planning methods mostly adopt fixed planning models, which are mainly based on static geographic information and limited historical meteorological data, and lack the ability to dynamically analyze and integrate real-time low-altitude meteorological data. This leads to the following problems: First, the traditional fixed planning model requires the aircraft to fly stably and accurately according to the predetermined route to ensure the accuracy and completeness of the collected data, but the low-altitude flight environment is complex and changeable. Changes in low-altitude meteorological factors such as wind speed and wind direction may cause drones to face higher safety risks during flight, and safety accidents such as collisions between drones and obstacles may occur; second, once sudden changes in meteorological conditions occur during the surveying and mapping flight, the established route cannot be optimized and adjusted in time, which may cause the surveying and mapping mission to be interrupted, data to be missing or repeatedly collected, and increase the cost and time of subsequent operations. Summary of the invention

[0004] In order to solve the above technical problems, a dynamic low-altitude route planning method and system based on low-altitude meteorological data analysis are provided. This technical solution solves the problems raised in the above background technology, such as the lack of dynamic analysis and integration of real-time low-altitude meteorological data, changes in low-altitude meteorological factors such as wind speed and wind direction may cause drones to face higher safety risks when flying according to fixed planned routes, and the inability to adjust the established route according to real-time meteorological information during the surveying and mapping flight, which may lead to interruption of surveying and mapping tasks, data loss or repeated collection, etc.

[0005] In order to achieve the above purpose, the technical solution adopted by the present invention is: A dynamic low-altitude route planning method based on low-altitude meteorological data analysis specifically includes: Acquire information about the area to be surveyed and mapped, wherein the information about the area to be surveyed and mapped includes shape information of the area to be surveyed and mapping and information about obstacle areas within the area to be surveyed and mapped; According to the shape information of the area to be surveyed, the circumscribed rectangle of the area to be surveyed is determined as the flight area of ​​the UAV; The direction of the longer side of the circumscribed rectangle of the area to be surveyed is used as the flight direction of the drone; Obtaining specification information of the camera device carried by the drone, and determining the size information of the area captured in a single shot when the drone flies along the heading according to the specification information of the camera device; The size of the side perpendicular to the heading in the single-shot area of ​​the drone is used as the width of the flight strip, and the size of the longer side of the circumscribed rectangle of the area to be measured is used as the length of the flight strip; Obtaining the overlap requirement of this surveying and mapping task, wherein the overlap requirement includes the heading overlap requirement and the lateral overlap requirement; Considering the lateral overlap requirement, the flight strips are spread over the entire flight area, and the center line of each flight strip is the route of the drone within the flight area; Wherein, the shape of the flight strip is a rectangle; The intersection point of the route and the shorter side of the circumscribed rectangle of the surveying area is taken as the turning point of the drone corresponding to the route; According to the determined routes in the area and the UAV turning points corresponding to each route, the pre-planned route of the UAV is determined based on the S-shaped route planning method; During the flight of the drone, real-time weather information is obtained and the route is adjusted in real time based on the real-time weather information and known obstacle areas; After the surveying and mapping is completed, the photographic data obtained from the surveying and mapping is obtained, and based on the data standards, the photographic data that does not meet the standards is determined; Determine the geographical area corresponding to each non-standard shooting data in the flight area; Based on the planned route, the geographical areas corresponding to the substandard shooting data are re-photographed to obtain data that meets the standards.

[0006] Preferably, the method of determining the pre-planned route of the drone based on the determined routes in the area and the drone turning points corresponding to each route, based on the S-shaped route planning method, specifically includes: Get the photo-taking interval of the camera device on the drone; Calculate the shooting flight speed of the drone based on the size of the area covered by the drone in a single shot, the heading overlap requirement, and the shooting interval of the camera equipment carried by the drone; According to the UAV turning points corresponding to each route and the shooting flight speed of the UAV, the turning routes between the turning points of each UAV are determined; Connect the UAV's route within the surveying area and the turning route outside the surveying area to obtain the UAV's pre-planned route; The calculation formula of the shooting flight speed of the drone is: In the formula, The flight speed of the drone. The size of the heading direction of the area covered by a single shot of the drone. The heading overlap required for this survey is: This is the interval between photos taken by the drone's camera.

[0007] Preferably, determining the turning routes between the turning points of each drone according to the turning points of the drone corresponding to each route and the shooting flight speed of the drone specifically includes: According to the heading of the UAV on the route, determine the starting point of the turning route corresponding to the route, and take the nearest UAV turning point as the end point of the turning route; Based on the shooting flight speed of the UAV, determine the minimum turning radius of the UAV when it flies at the shooting flight speed; Determine the center of the turning route based on the minimum turning radius of the drone and the starting and ending points of the turning route; According to the determined center and radius, determine the arc passing through the starting point and end point of the turning route. This arc route is the turning route of the UAV.

[0008] Preferably, the real-time adjustment of the route according to the real-time weather information and the known obstacle areas specifically includes: Determine the real-time wind speed and direction information of the current area based on real-time meteorological information; According to the real-time wind direction information, determine the angle between the wind direction and the flight direction of the drone; According to the wind speed information and the angle between the wind direction and the flight direction of the drone, the speed of the drone when the shooting flight speed is reached under the current wind speed and wind direction is calculated, and the speed of the drone is set to this speed; Determine whether the next area belongs to the obstacle area based on the known obstacle area; If it is an obstacle area, the safety boundary of the known obstacle area is determined based on the flight speed of the drone; Select the turning point in the safety boundary of the obstacle area as the intermediate waypoint to determine the obstacle avoidance route of the drone to bypass the obstacle area; Adjust the flight route of the drone to bypass the obstacle area according to the determined obstacle avoidance route; The formula for calculating the speed of the drone is: In the formula, To capture the flight speed, is the speed of the drone, is the wind speed, It is the angle between wind direction and the flight direction of the UAV.

[0009] Preferably, determining the safety boundary of the known obstacle area according to the flight speed of the drone specifically includes: Obtain the shape of the known obstacle area, and determine the turning point of the route when the UAV bypasses the area according to the shape of the obstacle area; According to the specification information of the UAV, determine the maximum tilt angle of the UAV; According to the flight speed of the UAV when turning and the maximum tilt angle of the UAV, the minimum turning radius of the UAV when turning is determined; Determine the turning point of the drone at the turning point of the route based on the minimum turning radius; Connect the turning points corresponding to each route turning point, and the polygon formed is used as the safety boundary of the obstacle area; The calculation formula of the minimum turning radius of the UAV is: In the formula, is the minimum turning radius of the drone, Filming the flight speed of a drone, is the acceleration due to gravity, is the maximum tilt angle of the drone.

[0010] Preferably, the planning of the route re-surveys the geographical area corresponding to each non-standard shooting data, specifically including: Determine the number of times the drone re-photographs the geographical area corresponding to the substandard photographic data; Determine the real-time wind direction information of the geographical area corresponding to each non-standard shooting data according to the real-time meteorological information; Determine the shooting flight height of each area according to the difference between the shooting data of each area and the standard data, wherein the shooting flight height is the height of the drone from the ground; According to the shooting flight altitude of each area, determine the flight altitude that needs to be adjusted when the drone flies to each area for shooting; Determine whether the drone is flying with the wind when flying to each area based on wind direction information; The areas with downwind flights are classified as high priority areas, and other areas are normal areas; Get the distance between each non-standard area and the drone; Determine the reshooting priority of each area based on the distance of each area from the drone, the number of reshoots required for each area, and the flight altitude that needs to be adjusted for shooting in each area; The drone takes the area with the highest re-shooting priority as the next shooting area, and recalculates the re-shooting priority of the un-shot area when it arrives at the next shooting area for shooting, and selects the subsequent shooting areas according to the priority until all the substandard areas are re-shot; Among them, the drone preferentially selects the high-priority area as the next shooting area; The calculation formula for the resampling priority of each area is: In the formula, is the reshoot priority of the region, is the number of retakes of the region, is the weight of the number of retakes, is the distance from the area to the drone, is the minimum distance to the drone in the non-standard area, is the maximum distance to the drone in the non-standard area, is the distance weight, To adjust the flight altitude, To adjust the flight altitude to the minimum, To adjust the flight altitude to the maximum, To adjust the flight altitude weight.

[0011] Preferably, determining the number of times the drone re-shoots the geographical area corresponding to the substandard shooting data specifically includes: Obtaining adjacent areas in all directions of the geographical area corresponding to the non-standard shooting data, and taking a new area composed of each adjacent area and the geographical area as the geographical area to which the shooting data belongs; Acquire the number of substandard shooting data in the geographical area to which the shooting data belongs, and calculate the number of reshooting times of the area according to the number of shooting data; The formula for calculating the number of retakes is: In the formula, is the number of retakes, is the amount of substandard data, is the minimum number of substandard data in a geographic area, is the maximum number of substandard data in a geographic area. The preset maximum number of retakes.

[0012] Furthermore, a dynamic low-altitude route planning system based on low-altitude meteorological data analysis is proposed, which is used to implement the dynamic low-altitude route planning method based on low-altitude meteorological data analysis as described above, and the system includes: An information acquisition module, the information acquisition module is used to obtain the specification information of the drone, the specification information of the camera equipment carried by the drone, the surveying and mapping area information, the surveying and mapping task information and the real-time weather information; A shooting area calculation module, which is used to determine the area data of a single shooting of the drone according to the specification information of the camera equipment carried by the drone and the relevant information of the surveying and mapping task; A route pre-planning module, which is used to pre-plan the surveying and mapping flight route of the UAV based on known information; The obstacle avoidance route planning module is used to plan the route of the UAV to avoid the obstacle area in real time according to the real-time weather information and the shooting flight speed of the UAV; The re-planning module is used to re-plan the surveying route for the geographical area corresponding to the substandard shooting data.

[0013] Optionally, the route pre-planning module includes: A flight area determination unit, the flight area determination unit is used to determine the flight area of ​​the UAV according to the shape of the land to be surveyed; A flight strip width determination unit, the flight strip width determination unit is used to determine the width of the drone flight strip according to the area information of a single shot of the drone and the lateral overlap requirement information of the surveying and mapping; An intra-regional route determination unit, the intra-regional route determination unit is used to determine the flight direction of the drone according to the direction of the longer side of the drone flight area, and determine the route of the drone in the flight area according to the heading of the drone and the width of the drone flight strip; A turning route determination unit, the turning route determination unit is used to determine the turning routes between the turning points of each drone according to the turning points of the drones corresponding to each route in the area and the shooting flight speed of the drone; The route determination unit is used to obtain the pre-planned route according to the results determined by the intra-regional route determination unit and the turning route determination unit.

[0014] Optionally, the obstacle avoidance route planning module includes: A flight speed determination unit, the flight speed determination unit is used to determine the flight speed of the unmanned aircraft when the unmanned aircraft bypasses the turning point of the route of the obstacle area according to the shooting flight speed of the unmanned aircraft, the real-time wind speed and the angle between the wind direction and the flight direction of the unmanned aircraft; A turning radius determination unit, the turning radius determination unit is used to determine the minimum turning radius of the UAV when bypassing the turning point of the route of the obstacle area according to the maximum tilt angle of the UAV; A safety boundary determination unit, the safety boundary determination unit is used to determine the turning point of the UAV when bypassing the turning point of the route of the obstacle area according to the minimum turning radius, and determine the safety boundary of the obstacle area according to each turning point; A route planning unit is used to determine in real time a route for the drone to bypass an obstacle area based on the safety boundary of the obstacle area.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a dynamic low-altitude route planning method based on low-altitude meteorological data analysis. When a UAV flies according to a predetermined route, it is determined whether the next area is an obstacle area. If it is an obstacle area, the safety boundary of the obstacle area is determined by considering real-time wind speed and wind direction information, and the route of the UAV is adjusted to bypass the obstacle area to prevent the UAV from being affected by wind speed and wind direction and colliding with obstacles when flying according to the predetermined route, thereby reducing the safety risk of the UAV during surveying and mapping. After the surveying and mapping is completed, a secondary surveying and mapping is performed on the area with unqualified data, and real-time meteorological factors, distances between areas, and the number of reshoots of each area are considered during the secondary surveying and mapping, so as to plan a route that meets the surveying and mapping requirements while reducing operation costs and time. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A flow chart of a dynamic low-altitude route planning method based on low-altitude meteorological data analysis according to an embodiment of the present invention; Figure 2 A flow chart of a method for determining a pre-planned route for a UAV in a dynamic low-altitude route planning method based on low-altitude meteorological data analysis according to an embodiment of the present invention; Figure 3 A flow chart of a method for determining an obstacle avoidance route in a dynamic low-altitude route planning method based on low-altitude meteorological data analysis according to an embodiment of the present invention; Figure 4 A flow chart of a method for determining a safety boundary of a known obstacle area in a dynamic low-altitude route planning method based on low-altitude meteorological data analysis according to an embodiment of the present invention; Figure 5 The present invention is a system block diagram of a dynamic low-altitude route planning system based on low-altitude meteorological data analysis according to an embodiment of the present invention. DETAILED DESCRIPTION

[0017] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art may think of other obvious variations.

[0018] Reference Figure 1-4 As shown, one embodiment of the present invention provides a dynamic low-altitude route planning method based on low-altitude meteorological data analysis, and the method specifically includes the following steps: Acquire information about the area to be surveyed and mapped, wherein the information about the area to be surveyed and mapped includes shape information of the area to be surveyed and mapping and information about obstacle areas within the area to be surveyed and mapped; According to the shape information of the area to be surveyed, the circumscribed rectangle of the area to be surveyed is determined as the flight area of ​​the UAV; The direction of the longer side of the circumscribed rectangle of the area to be surveyed is used as the flight direction of the drone; Obtaining specification information of the camera device carried by the drone, and determining the size information of the area captured in a single shot when the drone flies along the heading according to the specification information of the camera device; In this embodiment, the specific method for determining the area size information of a single shot when the drone flies along the heading according to the specification information of the camera device is: According to the specification information of the camera device carried by the UAV, the pixel and focal length information of the camera device are determined; Get the minimum ground sampling distance expected for this surveying and mapping task; Calculate the height of the drone relative to the ground when flying based on the pixel, focal length and expected minimum ground sampling distance information of the camera device; Determine the size of the surface area covered by a single shot of the drone based on the altitude of the drone relative to the ground and the focal length of the camera device during flight; The calculation formula of the height of the drone relative to the ground is: In the formula, is the height of the drone relative to the ground, is the effective focal length of the camera device, is the desired minimum ground sampling distance, The actual size of a single pixel on the camera sensor.

[0019] The size of the side perpendicular to the heading in the single-shot area of ​​the drone is used as the width of the flight strip, and the size of the longer side of the circumscribed rectangle of the area to be measured is used as the length of the flight strip; Obtaining the overlap requirement of this surveying and mapping task, wherein the overlap requirement includes the heading overlap requirement and the lateral overlap requirement; Considering the lateral overlap requirement, the flight strips are spread over the entire flight area, and the center line of each flight strip is the route of the drone within the flight area; It should be noted that the shape of the flight strip is a rectangle, the long side of the flight strip is parallel to the long side of the rectangle circumscribing the area to be measured, and the short side of the flight strip is parallel to the short side of the rectangle circumscribing the area to be measured.

[0020] It is understandable that when the flight strips are spread over the entire flight area, the range of the last flight strip may exceed the flight area. At this time, the lateral overlap can be adjusted to ensure that all flight strips fall within the flight area. This operation can not only prevent the collection of redundant data, but also increase the overlap of the data, which is beneficial to subsequent data processing.

[0021] For example, the specific method of adjusting the lateral overlap according to the situation of the last flight strip is: Get the information of the last flight strip, including whether the coverage of the last flight strip exceeds the flight area; If it exceeds the flight area, the width of the last flight strip that exceeds the range is calculated; Calculating an adjusted lateral overlap according to the width of the out-of-range; The formula for calculating the lateral overlap is: In the formula, is the number of flight strips, is the width of the flight strip, In order to meet the lateral overlap requirements of surveying and mapping, is the width of the last flight strip that exceeds the range, is the adjusted lateral overlap.

[0022] The intersection point of the route and the shorter side of the circumscribed rectangle of the surveying area is taken as the turning point of the drone corresponding to the route; According to the determined routes in the area and the UAV turning points corresponding to each route, the pre-planned route of the UAV is determined based on the S-shaped route planning method; Exemplarily, the specific method for determining the pre-planned route of the drone is: Get the photo-taking interval of the camera device on the drone; Calculate the shooting flight speed of the drone based on the size of the area covered by the drone in a single shot, the heading overlap requirement, and the shooting interval of the camera equipment carried by the drone; According to the UAV turning points corresponding to each route and the shooting flight speed of the UAV, the turning routes between the turning points of each UAV are determined; Connect the UAV's route within the surveying area and the turning route outside the surveying area to obtain the UAV's pre-planned route; The calculation formula of the shooting flight speed of the drone is: In the formula, The flight speed of the drone. The size of the heading direction of the area covered by a single shot of the drone. The heading overlap required for this survey is: This is the interval between photos taken by the drone's camera.

[0023] For example, according to the turning points of the drones corresponding to the routes and the shooting flight speed of the drones, the specific method for determining the turning routes between the turning points of the drones is as follows: According to the heading of the UAV on the route, determine the starting point of the turning route corresponding to the route, and take the nearest UAV turning point as the end point of the turning route; Based on the shooting flight speed of the UAV, determine the minimum turning radius of the UAV when it flies at the shooting flight speed; Determine the center of the turning route based on the minimum turning radius of the drone and the starting and ending points of the turning route; According to the determined center and radius, determine the arc passing through the starting point and end point of the turning route. This arc route is the turning route of the UAV.

[0024] During the flight of the drone, real-time weather information is obtained and the route is adjusted in real time based on the real-time weather information and known obstacle areas; For example, the specific method of adjusting the route in real time according to the real-time weather information and known obstacle areas is: Determine the real-time wind speed and direction information of the current area based on real-time meteorological information; According to the real-time wind direction information, determine the angle between the wind direction and the flight direction of the drone; According to the wind speed information and the angle between the wind direction and the flight direction of the drone, the speed of the drone when the shooting flight speed is reached under the current wind speed and wind direction is calculated, and the speed of the drone is set to this speed; Determine whether the next area belongs to the obstacle area based on the known obstacle area; If it is an obstacle area, the safety boundary of the known obstacle area is determined based on the flight speed of the drone; Select the turning point in the safety boundary of the obstacle area as the intermediate waypoint to determine the obstacle avoidance route of the drone to bypass the obstacle area; Adjust the flight route of the drone to bypass the obstacle area according to the determined obstacle avoidance route; The formula for calculating the speed of the drone is: In the formula, To capture the flight speed, is the speed of the drone, is the wind speed, It is the angle between wind direction and the flight direction of the UAV.

[0025] It should be noted that, considering the influence of wind speed and wind direction, when the actual flight speed meets the shooting flight speed, the set speed of the UAV may be different from the shooting flight speed. When in a tailwind, the set speed of the UAV may be lower than the shooting flight speed. When in a headwind, the set speed of the UAV may be higher than the shooting flight speed. Therefore, when choosing a UAV, you should consider indicators such as the set speed range and speed adjustment performance of the UAV.

[0026] For example, the specific method for determining the safety boundary of the known obstacle area according to the flight speed of the drone is as follows: Obtain the shape of the known obstacle area, and determine the turning point of the route when the UAV bypasses the area according to the shape of the obstacle area; According to the specification information of the UAV, determine the maximum tilt angle of the UAV; According to the flight speed of the UAV when turning and the maximum tilt angle of the UAV, the minimum turning radius of the UAV when turning is determined; Determine the turning point of the drone at the turning point of the route based on the minimum turning radius; Connect the turning points corresponding to each route turning point, and the polygon formed is used as the safety boundary of the obstacle area; The calculation formula of the minimum turning radius of the UAV is: In the formula, is the minimum turning radius of the drone, Filming the flight speed of a drone, is the acceleration due to gravity, is the maximum tilt angle of the drone.

[0027] In this embodiment, when the UAV flies according to the predetermined route, it determines in advance whether the next area is an obstacle area based on the known obstacle area distribution information. If it is an obstacle area, the real-time wind speed and wind direction information are considered to determine the safety boundary of the obstacle area, and the UAV route is adjusted to bypass the obstacle area, so as to prevent the UAV from being affected by the wind speed and wind direction when flying according to the predetermined route and colliding with obstacles, thereby reducing the safety risk of the UAV during surveying and mapping.

[0028] After the surveying and mapping is completed, the photographic data obtained from the surveying and mapping is obtained, and based on the data standards, the photographic data that does not meet the standards is determined; Determine the geographical area corresponding to each non-standard shooting data in the flight area; Based on the planned route, the geographical areas corresponding to the non-standard shooting data are re-photographed to obtain data that meets the standards; Exemplarily, the specific method for re-photographing the geographical area corresponding to each substandard photographing data is as follows: Determine the number of times the drone re-photographs the geographical area corresponding to the substandard photographic data; Determine the real-time wind direction information of the geographical area corresponding to each non-standard shooting data according to the real-time meteorological information; Determine the shooting flight height of each area according to the difference between the shooting data of each area and the standard data, wherein the shooting flight height is the height of the drone from the ground; According to the shooting flight altitude of each area, determine the flight altitude that needs to be adjusted when the drone flies to each area for shooting; Determine whether the drone is flying with the wind when flying to each area based on wind direction information; The areas with downwind flights are classified as high priority areas, and other areas are normal areas; Get the distance between each non-standard area and the drone; Determine the reshooting priority of each area based on the distance of each area from the drone, the number of reshoots required for each area, and the flight altitude that needs to be adjusted for shooting in each area; The drone takes the area with the highest re-shooting priority as the next shooting area, and recalculates the re-shooting priority of the un-shot area when it arrives at the next shooting area for shooting, and selects the subsequent shooting areas according to the priority until all the substandard areas are re-shot; Among them, the drone preferentially selects the high-priority area as the next shooting area; The calculation formula for the resampling priority of each area is: In the formula, is the reshoot priority of the region, is the number of retakes of the region, is the weight of the number of retakes, is the distance from the area to the drone, is the minimum distance to the drone in the non-standard area, is the maximum distance to the drone in the non-standard area, is the distance weight, To adjust the flight altitude, To adjust the flight altitude to the minimum, To adjust the flight altitude to the maximum, To adjust the flight altitude weight.

[0029] It should be noted that the method for determining the data standard is: according to the data usage of the surveying and mapping data this time, obtain the surveying and mapping tasks with the same data usage as this time in the historical surveying and mapping, and use the spatial resolution and geometric accuracy of the data in the task as the standard for the shooting data in this surveying and mapping task.

[0030] In this embodiment, the specific method for determining the shooting flight height of each area according to the difference between the shooting data of each area and the standard data is: Obtaining adjacent areas in all directions of the geographical area corresponding to the non-standard shooting data, and taking a new area composed of each adjacent area and the geographical area as the geographical area to which the shooting data belongs; Determine whether the captured data of the adjacent area meets the criteria; If the shooting data of the adjacent areas all meet the standards, the shooting flight altitude of the area will be kept unchanged; If there is shooting data in the adjacent area that does not meet the standard, the difference between the shooting data that does not meet the standard and the standard data in the geographical area to which the shooting data belongs is calculated; Calculate the ratio of the maximum difference value and the mark data as the height variation coefficient; Based on the shooting flight altitude and the altitude variation coefficient when the UAV shoots substandard data, the shooting flight altitude of the UAV when reshooting is determined.

[0031] In this embodiment, after the surveying is completed, the shooting data obtained from the surveying is obtained, and based on the data standard, the shooting data that does not meet the standard is determined, and the geographical area corresponding to each non-standard shooting data in the flight area is determined, and the area with unqualified data is subjected to secondary surveying. In the secondary surveying, factors such as real-time meteorological factors, the distance between each area, and the number of re-shooting times for each area are taken into consideration to plan a route that meets the surveying requirements while reducing operating costs and time.

[0032] In this embodiment, the method for determining the number of times the drone re-shoots the geographical area corresponding to the substandard shooting data is as follows: Obtaining adjacent areas in all directions of the geographical area corresponding to the non-standard shooting data, and taking a new area composed of each adjacent area and the geographical area as the geographical area to which the shooting data belongs; Acquire the number of substandard shooting data in the geographical area to which the shooting data belongs, and calculate the number of reshooting times of the area according to the number of shooting data; The formula for calculating the number of retakes is: In the formula, is the number of retakes, is the amount of substandard data, is the minimum number of substandard data in a geographic area, is the maximum number of substandard data in a geographic area. The preset maximum number of retakes.

[0033] Reference Figure 5 As shown, one embodiment of the present invention further provides a dynamic low-altitude route planning system based on low-altitude meteorological data analysis, comprising: An information acquisition module, the information acquisition module is used to obtain the specification information of the drone, the specification information of the camera equipment carried by the drone, the surveying and mapping area information, the surveying and mapping task information and the real-time weather information; A shooting area calculation module, which is used to determine the area data of a single shooting of the drone according to the specification information of the camera equipment carried by the drone and the relevant information of the surveying and mapping task; A route pre-planning module, which is used to pre-plan the surveying and mapping flight route of the UAV based on known information; The obstacle avoidance route planning module is used to plan the route of the UAV to avoid the obstacle area in real time according to the real-time weather information and the shooting flight speed of the UAV; The re-planning module is used to re-plan the surveying route for the geographical area corresponding to the substandard shooting data.

[0034] Wherein, the route pre-planning module includes: A flight area determination unit, the flight area determination unit is used to determine the flight area of ​​the UAV according to the shape of the land to be surveyed; A flight strip width determination unit, the flight strip width determination unit is used to determine the width of the drone flight strip according to the area information of a single shot of the drone and the lateral overlap requirement information of the surveying and mapping; An intra-regional route determination unit, the intra-regional route determination unit is used to determine the flight direction of the drone according to the direction of the longer side of the drone flight area, and determine the route of the drone in the flight area according to the heading of the drone and the width of the drone flight strip; A turning route determination unit, the turning route determination unit is used to determine the turning routes between the turning points of each drone according to the turning points of the drones corresponding to each route in the area and the shooting flight speed of the drone; The route determination unit is used to obtain the pre-planned route according to the results determined by the intra-regional route determination unit and the turning route determination unit.

[0035] Wherein, the obstacle avoidance route planning module includes: A flight speed determination unit, the flight speed determination unit is used to determine the flight speed of the unmanned aircraft when the unmanned aircraft bypasses the turning point of the route of the obstacle area according to the shooting flight speed of the unmanned aircraft, the real-time wind speed and the angle between the wind direction and the flight direction of the unmanned aircraft; A turning radius determination unit, the turning radius determination unit is used to determine the minimum turning radius of the UAV when bypassing the turning point of the route of the obstacle area according to the maximum tilt angle of the UAV; A safety boundary determination unit, the safety boundary determination unit is used to determine the turning point of the UAV when bypassing the turning point of the route of the obstacle area according to the minimum turning radius, and determine the safety boundary of the obstacle area according to each turning point; A route planning unit is used to determine in real time a route for the drone to bypass an obstacle area based on the safety boundary of the obstacle area.

[0036] To sum up, the advantages of the present invention are: when the UAV flies according to the predetermined route, it is determined whether the next area is an obstacle area. If it is an obstacle area, the real-time wind speed and wind direction information is considered to determine the safety boundary of the obstacle area, and the route of the UAV is adjusted to bypass the obstacle area, so as to prevent the UAV from being affected by the wind speed and wind direction when flying according to the predetermined route and colliding with obstacles, thereby reducing the safety risk of the UAV during surveying and mapping; after the surveying and mapping is completed, the area with unqualified data is subjected to secondary surveying and mapping, and the real-time meteorological factors, the distance between each area and the number of re-shooting times of each area and other factors are considered during the secondary surveying and mapping, so as to plan a route that meets the surveying and mapping requirements while reducing the operation cost and time.

[0037] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. A dynamic low-altitude route planning method based on low-altitude meteorological data analysis, characterized in that: include: Acquire information about the area to be surveyed and mapped, wherein the information about the area to be surveyed and mapped includes shape information of the area to be surveyed and mapping and information about an obstacle area within the area to be surveyed and mapped; According to the shape information of the area to be surveyed, the circumscribed rectangle of the area to be surveyed is determined as the flight area of ​​the UAV; The direction of the longer side of the circumscribed rectangle of the area to be surveyed is used as the flight direction of the drone; Obtaining specification information of the camera device carried by the drone, and determining the size information of the area captured in a single shot when the drone flies along the heading according to the specification information of the camera device; The size of the side perpendicular to the heading in the single-shot area of ​​the drone is used as the width of the flight strip, and the size of the longer side of the circumscribed rectangle of the area to be measured is used as the length of the flight strip; Obtaining the overlap requirement of this surveying and mapping task, wherein the overlap requirement includes the heading overlap requirement and the lateral overlap requirement; Considering the lateral overlap requirement, the flight strips are spread over the entire flight area, and the center line of each flight strip is the route of the drone within the flight area; Wherein, the shape of the flight strip is a rectangle; The intersection of the route and the shorter side of the circumscribed rectangle of the surveying area is taken as the turning point of the drone corresponding to the route; According to the determined routes in the area and the UAV turning points corresponding to each route, the pre-planned route of the UAV is determined based on the S-shaped route planning method; During the flight of the drone, real-time weather information is obtained and the route is adjusted in real time based on the real-time weather information and known obstacle areas; After the surveying and mapping is completed, the photographic data obtained from the surveying and mapping is obtained, and based on the data standards, the photographic data that does not meet the standards is determined; Determine the geographical area corresponding to each non-standard shooting data in the flight area; Based on the planned route, the geographical areas corresponding to the substandard shooting data are re-photographed to obtain data that meets the standards.

2. A method for dynamic low-altitude route planning based on low-altitude meteorological data analysis according to claim 1, characterized in that: The method of determining the pre-planned route of the drone based on the determined routes in the area and the drone turning points corresponding to each route, based on the S-shaped route planning method, specifically includes: Get the photo-taking interval of the camera device on the drone; Calculate the shooting flight speed of the drone based on the size of the area covered by the drone in a single shot, the heading overlap requirement, and the shooting interval of the camera equipment carried by the drone; According to the UAV turning points corresponding to each route and the shooting flight speed of the UAV, the turning routes between the turning points of each UAV are determined; Connect the UAV's route within the surveying area and the turning route outside the surveying area to obtain the UAV's pre-planned route; The calculation formula of the shooting flight speed of the drone is: In the formula, The flight speed of the drone. The size of the heading direction of the area covered by a single shot of the drone. The heading overlap required for this survey is: This is the interval between photos taken by the drone's camera.

3. A dynamic low-altitude route planning method based on low-altitude meteorological data analysis according to claim 2, characterized in that: Determining the turning routes between the turning points of the drones according to the turning points of the drones corresponding to the routes and the shooting flight speed of the drones specifically includes: According to the heading of the UAV on the route, determine the starting point of the turning route corresponding to the route, and take the nearest UAV turning point as the end point of the turning route; Based on the shooting flight speed of the UAV, determine the minimum turning radius of the UAV when it flies at the shooting flight speed; Determine the center of the turning route based on the minimum turning radius of the drone and the starting and ending points of the turning route; According to the determined center and radius, determine the arc passing through the starting point and end point of the turning route. This arc route is the turning route of the UAV.

4. The method for dynamic low-altitude route planning based on low-altitude meteorological data analysis according to claim 1 is characterized in that: The real-time adjustment of the route according to the real-time weather information and known obstacle areas specifically includes: Determine the real-time wind speed and direction information of the current area based on real-time meteorological information; According to the real-time wind direction information, determine the angle between the wind direction and the flight direction of the drone; According to the wind speed information and the angle between the wind direction and the flight direction of the drone, the speed of the drone when the shooting flight speed is reached under the current wind speed and wind direction is calculated, and the speed of the drone is set to this speed; Determine whether the next area belongs to the obstacle area based on the known obstacle area; If it is an obstacle area, the safety boundary of the known obstacle area is determined based on the flight speed of the drone; Select the turning point in the safety boundary of the obstacle area as the intermediate waypoint to determine the obstacle avoidance route of the drone to bypass the obstacle area; Adjust the flight route of the drone to bypass the obstacle area according to the determined obstacle avoidance route; The formula for calculating the speed of the drone is: In the formula, To capture the flight speed, is the speed of the drone, is the wind speed, It is the angle between wind direction and the flight direction of the UAV.

5. A method for dynamic low-altitude route planning based on low-altitude meteorological data analysis according to claim 4, characterized in that: Determining the safety boundary of the known obstacle area based on the flight speed of the drone specifically includes: Obtain the shape of the known obstacle area, and determine the turning point of the route when the UAV bypasses the area according to the shape of the obstacle area; According to the specification information of the UAV, determine the maximum tilt angle of the UAV; According to the flight speed of the UAV when turning and the maximum tilt angle of the UAV, the minimum turning radius of the UAV when turning is determined; Determine the turning point of the drone at the turning point of the route based on the minimum turning radius; Connect the turning points corresponding to each route turning point, and the polygon formed is used as the safety boundary of the obstacle area; The calculation formula of the minimum turning radius of the UAV is: In the formula, is the minimum turning radius of the drone, Filming the flight speed of a drone, is the acceleration due to gravity, is the maximum tilt angle of the drone.

6. The method for dynamic low-altitude route planning based on low-altitude meteorological data analysis according to claim 1 is characterized in that: The planned route re-surveys the geographical areas corresponding to each substandard shooting data, specifically including: Determine the number of times the drone re-photographs the geographical area corresponding to the substandard photographic data; Determine the real-time wind direction information of the geographical area corresponding to each non-standard shooting data according to the real-time meteorological information; Determine the shooting flight height of each area according to the difference between the shooting data of each area and the standard data, wherein the shooting flight height is the height of the drone from the ground; According to the shooting flight altitude of each area, determine the flight altitude that needs to be adjusted when the drone flies to each area for shooting; Determine whether the drone is flying with the wind when flying to each area based on wind direction information; The areas with downwind flights are classified as high priority areas, and other areas are normal areas; Get the distance between each non-standard area and the drone; Determine the reshooting priority of each area based on the distance of each area from the drone, the number of reshoots required for each area, and the flight altitude that needs to be adjusted for shooting in each area; The drone takes the area with the highest re-shooting priority as the next shooting area, and recalculates the re-shooting priority of the un-shot area when it arrives at the next shooting area for shooting, and selects the subsequent shooting areas according to the priority until all the substandard areas are re-shot; Among them, the drone preferentially selects the high-priority area as the next shooting area; The calculation formula for the resampling priority of each area is: In the formula, is the reshoot priority of the region, is the number of retakes of the region, is the weight of the number of retakes, is the distance from the area to the drone, is the minimum distance to the drone in the non-standard area, is the maximum distance to the drone in the non-standard area, is the distance weight, To adjust the flight altitude, To adjust the flight altitude to the minimum, To adjust the flight altitude to the maximum, To adjust the flight altitude weight.

7. A method for dynamic low-altitude route planning based on low-altitude meteorological data analysis according to claim 6, characterized in that: The determining of the number of times the drone re-shoots the geographical area corresponding to the substandard shooting data specifically includes: Obtaining adjacent areas in all directions of the geographical area corresponding to the non-standard shooting data, and taking a new area composed of each adjacent area and the geographical area as the geographical area to which the shooting data belongs; Acquire the number of substandard shooting data in the geographical area to which the shooting data belongs, and calculate the number of reshooting times of the area according to the number of shooting data; The formula for calculating the number of retakes is: In the formula, is the number of retakes, is the amount of substandard data, is the minimum number of substandard data in a geographic area, is the maximum number of substandard data in a geographic area. The preset maximum number of retakes.

8. A dynamic low-altitude route planning system based on low-altitude meteorological data analysis, used to implement the low-altitude route planning method according to any one of claims 1 to 7, characterized in that: include: An information acquisition module, the information acquisition module is used to obtain the specification information of the drone, the specification information of the camera equipment carried by the drone, the surveying and mapping area information, the surveying and mapping task information and the real-time weather information; A shooting area calculation module, which is used to determine the area data of a single shooting of the drone according to the specification information of the camera equipment carried by the drone and the relevant information of the surveying and mapping task; A route pre-planning module, which is used to pre-plan the surveying and mapping flight route of the UAV based on known information; The obstacle avoidance route planning module is used to plan the route of the UAV to avoid the obstacle area in real time according to the real-time weather information and the shooting flight speed of the UAV; The re-planning module is used to re-plan the surveying route for the geographical area corresponding to the substandard shooting data.

9. A dynamic low-altitude route planning system based on low-altitude meteorological data analysis according to claim 8, characterized in that: The route pre-planning module includes: A flight area determination unit, the flight area determination unit is used to determine the flight area of ​​the UAV according to the shape of the land to be surveyed; A flight strip width determination unit, the flight strip width determination unit is used to determine the width of the drone flight strip according to the area information of a single shot of the drone and the lateral overlap requirement information of the surveying and mapping; An intra-regional route determination unit, the intra-regional route determination unit is used to determine the flight direction of the drone according to the direction of the longer side of the drone flight area, and determine the route of the drone in the flight area according to the heading of the drone and the width of the drone flight strip; A turning route determination unit, the turning route determination unit is used to determine the turning routes between the turning points of each drone according to the turning points of the drones corresponding to each route in the area and the shooting flight speed of the drone; The route determination unit is used to obtain the pre-planned route according to the results determined by the intra-regional route determination unit and the turning route determination unit.

10. A dynamic low-altitude route planning system based on low-altitude meteorological data analysis according to claim 8, characterized in that: The obstacle avoidance route planning module includes: A flight speed determination unit, the flight speed determination unit is used to determine the flight speed of the unmanned aircraft when the unmanned aircraft bypasses the turning point of the route of the obstacle area according to the shooting flight speed of the unmanned aircraft, the real-time wind speed and the angle between the wind direction and the flight direction of the unmanned aircraft; A turning radius determination unit, the turning radius determination unit is used to determine the minimum turning radius of the UAV when bypassing the turning point of the route of the obstacle area according to the maximum tilt angle of the UAV; A safety boundary determination unit, the safety boundary determination unit is used to determine the turning point of the UAV when bypassing the turning point of the route of the obstacle area according to the minimum turning radius, and determine the safety boundary of the obstacle area according to each turning point; A route planning unit is used to determine in real time a route for the drone to bypass an obstacle area based on the safety boundary of the obstacle area.

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