A dynamic low-altitude route planning method and system based on low-altitude meteorological data analysis

Abstract

The present invention discloses a dynamic low-altitude route planning method and system based on low-altitude meteorological data analysis, which relates to the technical field of route planning, including pre-planning of routes according to information of areas to be surveyed and mapped; during flight, adjusting routes in real time according to real-time meteorological information and known obstacle areas; after surveying and mapping, re-planning the routes to re-shoot the geographical areas corresponding to substandard shooting data to obtain standard data. When the drone flies according to a predetermined route, the present invention considers real-time wind speed and wind direction information to determine the safety boundary of the obstacle area, adjusts the route of the drone to bypass the obstacle area, and reduces the safety risk of the drone during surveying and mapping; after surveying and mapping, secondary surveying is performed on areas 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, so as to plan routes that meet surveying and mapping requirements while reducing operating costs and time.

Description

Technical Field

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

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

[0003] Traditional low-altitude route planning methods for surveying and mapping mostly adopt fixed planning modes, mainly based on static geographic information and limited historical meteorological data, lacking the ability to dynamically analyze and integrate real-time low-altitude meteorological data. This has led to the following problems: First, the traditional fixed planning mode requires the aircraft to fly stably and accurately along the predetermined route to ensure the accuracy and integrity of the collected data. However, the low-altitude flight environment is complex and changeable, and the changes in low-altitude meteorological factors such as wind speed and wind direction may cause the drone to face higher safety risks during flight, resulting in safety accidents such as collisions between drones and obstacles; Second, once sudden meteorological condition changes are encountered during the surveying and mapping flight, the established route cannot be optimized and adjusted in time, which may cause the surveying and mapping task to be interrupted, data to be missing or repeatedly collected, increasing the subsequent operation cost and time. Summary of the Invention

[0004] To solve the above technical problems, a dynamic low-altitude route planning method and system based on low-altitude meteorological data analysis are provided. The technical solution of the present invention solves the problems proposed in the above background art, that is, due to 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 the drone to face higher safety risks when flying along the fixed planned route, and the established route cannot be adjusted according to real-time meteorological information during the surveying and mapping flight, which may lead to problems such as interruption of the surveying and mapping task, data loss or repeated collection.

[0005] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0006] A dynamic low-altitude route planning method based on low-altitude meteorological data analysis specifically includes:

[0007] Obtain the information of the area to be surveyed and mapped, where the information of the area to be surveyed and mapped includes the shape information of the area to be surveyed and mapped and the obstacle area information within the area to be surveyed and mapped;

[0008] According to the shape information of the area to be surveyed and mapped, determine the circumscribed rectangle of the area to be surveyed and mapped as the flight area of the drone;

[0009] Take the direction of the longer side of the circumscribed rectangle of the area to be surveyed and mapped as the flight heading of the unmanned aerial vehicle (UAV);

[0010] Obtain the specification information of the imaging device carried by the UAV, and determine the area size information of a single shot when the UAV flies along the heading according to the specification information of the imaging device;

[0011] Take the size of the side perpendicular to the heading in the single-shot area of the UAV as the width of the flight strip, and take the size of the longer side of the circumscribed rectangle of the area to be measured as the length of the flight strip;

[0012] Obtain the overlap degree requirements for this surveying and mapping task, where the overlap degree requirements include the heading overlap degree requirement and the cross-track overlap degree requirement;

[0013] Considering the cross-track overlap degree requirement, cover the flight area with flight strips, and the midline of each flight strip is the flight route of the UAV in the flight area;

[0014] Among them, the shape of the flight strip is rectangular;

[0015] Take the intersection point of the flight route and the shorter side of the circumscribed rectangle of the surveying area as the turning point of the UAV corresponding to this flight route;

[0016] According to the determined in-area flight routes and the turning points of the UAV corresponding to each flight route, based on the S-shaped flight route planning method, determine the pre-planned flight route of the UAV;

[0017] During the flight of the UAV, obtain real-time meteorological information, and adjust the flight route in real time according to the real-time meteorological information and the known obstacle areas;

[0018] After the surveying and mapping is completed, obtain the captured data from the surveying and mapping, and determine the substandard captured data based on the data standard;

[0019] Determine the geographical areas in the flight area corresponding to each substandard captured data;

[0020] Based on the planned flight route, re-capture the geographical areas corresponding to each substandard captured data to obtain data that meets the standards.

[0021] Preferably, the step of determining the pre-planned flight route of the UAV based on the S-shaped flight route planning method according to the determined in-area flight routes and the turning points of the UAV corresponding to each flight route specifically includes:

[0022] Obtain the photo-taking interval time of the imaging device carried by the UAV;

[0023] According to the area size information covered by a single shot of the UAV, the heading overlap degree requirement, and the photo-taking interval time of the imaging device carried by the UAV, calculate the shooting flight speed of the UAV;

[0024] Determine the turning routes between the UAV turning points according to the UAV turning points corresponding to each route and the shooting flight speed of the UAV;

[0025] Connect the route of the UAV within the mapping area and the turning route outside the mapping area to obtain the pre-planned route of the UAV;

[0026] The calculation formula for the shooting flight speed of the UAV is:

[0027]

[0028] In the formula, is the shooting flight speed of the UAV, is the size of the area covered by a single UAV shot in the course direction, is the course overlap degree required for this mapping, is the shooting interval time of the imaging device carried by the UAV.

[0029] Preferably, the determining the turning routes between the UAV turning points according to the UAV turning points corresponding to each route and the shooting flight speed of the UAV specifically includes:

[0030] Determine the starting point of the turning route corresponding to this route according to the course of the UAV on this route, and take the nearest UAV turning point as the end point of the turning route;

[0031] Based on the shooting flight speed of the UAV, determine the minimum turning radius when the UAV flies at the shooting flight speed;

[0032] Determine the center of the turning route according to the minimum turning radius of the UAV and the starting point and end point of the turning route;

[0033] Determine the arc passing through the starting point and end point of the turning route according to the determined center and radius, and this section of arc route is the turning route of the UAV.

[0034] Preferably, the adjusting the route in real time according to the real-time meteorological information and the known obstacle area specifically includes:

[0035] Determine the real-time wind speed and wind direction information of the current area according to the real-time meteorological information;

[0036] Determine the included angle between the wind direction and the UAV flight direction according to the real-time wind direction information;

[0037] Calculate the speed of the UAV when reaching the shooting flight speed under the current wind speed and wind direction conditions according to the wind speed information and the included angle between the wind direction and the UAV flight direction, and set the speed of the UAV to this speed;

[0038] Determine whether the next area belongs to the obstacle area according to the known obstacle area;

[0039] If it belongs to the obstacle area, determine the safety boundary of the known obstacle area according to the flight speed of the UAV shooting.

[0040] Select the turning point in the safety boundary of the obstacle area as the intermediate waypoint, and determine the obstacle avoidance route for the UAV to bypass the obstacle area.

[0041] Adjust the flight route of the UAV according to the determined obstacle avoidance route to bypass the obstacle area.

[0042] The formula for calculating the speed of the UAV is:

[0043]

[0044] In the formula, is the shooting flight speed, is the speed of the UAV, is the wind speed, is the included angle between the wind direction and the flight direction of the UAV.

[0045] Preferably, the determining the safety boundary of the known obstacle area according to the flight speed of the UAV shooting specifically includes:

[0046] Obtain the shape of the known obstacle area, and determine the turning points of the route when the UAV bypasses the area according to the shape of the obstacle area.

[0047] Determine the maximum tilt angle of the UAV according to the specification information of the UAV.

[0048] Determine the minimum turning radius of the UAV when turning according to the flight speed of the UAV when turning and the maximum tilt angle of the UAV.

[0049] Determine the turning points of the UAV at the turning points of the route according to the minimum turning radius.

[0050] Connect the turning points corresponding to each turning point of the route, and the formed polygon is used as the safety boundary of the obstacle area.

[0051] The formula for calculating the minimum turning radius of the UAV is:

[0052]

[0053] In the formula, is the minimum turning radius of the UAV, is the flight speed of the UAV shooting, is the acceleration due to gravity, is the maximum tilt angle of the UAV.

[0054] Preferably, the re-surveying the geographical areas corresponding to the non-standard shooting data by the planned route specifically includes:

[0055] Determine the number of reshoots for the geographical area corresponding to the substandard shooting data by the drone;

[0056] Determine the real-time wind direction information for the geographical area corresponding to each piece of substandard shooting data according to the real-time meteorological information;

[0057] Determine the shooting flight altitude for each area according to the difference between the shooting data and the standard data in each area, where the shooting flight altitude is the height of the drone from the ground;

[0058] Determine the flight altitude that needs to be adjusted when the drone flies to each area for shooting according to the shooting flight altitude of each area;

[0059] Determine whether the drone is flying with the wind when flying to each area according to the wind direction information;

[0060] Divide the areas where the drone is flying with the wind into high-priority areas, and other areas are ordinary areas;

[0061] Obtain the distance between each substandard area and the drone;

[0062] Determine the reshoot priority for each area according to the distance between each area and the drone, the number of reshoots required for each area, and the flight altitude that needs to be adjusted for shooting in each area;

[0063] The drone selects the area with the highest reshoot priority as the next shooting area, recalculates the reshoot priority of the unshot areas when arriving at the next shooting area for shooting, and selects the subsequent shooting areas according to this priority until all substandard areas have been reshot;

[0064] Among them, the drone preferentially selects high-priority areas as the next shooting area;

[0065] The calculation formula for the resampling priority of each area is:

[0066]

[0067] In the formula, is the reshoot priority of the area, is the number of reshoots of the area, is the reshoot times weight, is the distance from this area to the drone, is the minimum value of the distances from the substandard areas to the drone, is the maximum value of the distances from the substandard areas to the drone, is the distance weight, is the adjusted flight altitude, is the minimum adjusted flight altitude, is the maximum adjusted flight altitude, To adjust the flight altitude weight.

[0068] Preferably, determining the number of reshooting times for the geographical area corresponding to the substandard shooting data by the UAV specifically includes:

[0069] Obtain the adjacent areas in each direction of the geographical area corresponding to the substandard shooting data, and take the new area composed of each adjacent area and this geographical area as the geographical area to which this shooting data belongs;

[0070] Obtain the number of substandard shooting data in the geographical area to which this shooting data belongs, and calculate the number of reshooting times for this area according to the number of this shooting data;

[0071] The formula for calculating the number of reshooting times is:

[0072]

[0073] In the formula, is the number of reshooting times, is the number of substandard data, is the minimum value of the number of substandard data in the geographical area, is the maximum value of the number of substandard data in the geographical area, is the preset maximum number of reshooting times.

[0074] Furthermore, a dynamic low-altitude route planning system based on low-altitude meteorological data analysis is proposed, which is used to implement a dynamic low-altitude route planning method based on low-altitude meteorological data analysis as described above. This system includes:

[0075] An information acquisition module, which is used to acquire UAV specification information, the specification information of the camera equipment carried by the UAV, mapping area information, mapping task information, and real-time meteorological information;

[0076] A shooting area calculation module, which is used to determine the area data of a single shooting of the UAV according to the specification information of the camera equipment carried by the UAV and the information related to the mapping task;

[0077] A route pre-planning module, which is used to pre-plan the mapping flight route of the UAV according to the known information;

[0078] An obstacle avoidance route planning module, which is used to plan the route for the UAV to bypass the obstacle area in real time according to the real-time meteorological information and the shooting flight speed of the UAV;

[0079] A re-planning module, which is used to re-plan the mapping route for the geographical area corresponding to the substandard shooting data.

[0080] Optionally, the route pre-planning module includes:

[0081] A flight area determination unit configured to determine the flight area of the UAV according to the shape of the plot to be surveyed.

[0082] A flight strip width determination unit configured to determine the width of the UAV flight strip according to the area information of a single UAV shot and the side overlap degree requirement information for surveying and mapping.

[0083] An in-area route determination unit configured to determine the flight heading of the UAV according to the trend of the longer side of the UAV flight area, and determine the route of the UAV in the flight area according to the heading of the UAV and the width of the UAV flight strip.

[0084] A turning route determination unit configured to determine the turning route between the UAV turning points according to the UAV turning points corresponding to each route in the area and the shooting flight speed of the UAV.

[0085] A route determination unit configured to obtain the pre-planned route according to the results determined by the in-area route determination unit and the turning route determination unit.

[0086] Optionally, the obstacle avoidance route planning module includes:

[0087] A flight speed determination unit configured to determine the flight speed of the UAV when bypassing the turning points of the obstacle area according to the shooting flight speed of the UAV, the real-time wind speed, and the included angle between the wind direction and the UAV flight direction.

[0088] A turning radius determination unit configured to determine the minimum turning radius of the UAV when bypassing the turning points of the obstacle area according to the maximum tilt angle of the UAV.

[0089] A safety boundary determination unit configured to determine the turning points of the UAV when bypassing the turning points of the obstacle area according to the minimum turning radius, and determine the safety boundary of the obstacle area according to each turning point.

[0090] A route planning unit configured to determine the route of the UAV bypassing the obstacle area in real time according to the safety boundary of the obstacle area.

[0091] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0092] A dynamic low-altitude route planning method based on low-altitude meteorological data analysis provided by the present invention, when the unmanned aerial vehicle (UAV) flies according to a predetermined route, determines whether the next area is an obstacle area. If it is an obstacle area, it considers the real-time wind speed and wind direction information to determine the safety boundary of the obstacle area, adjusts the route of the UAV to bypass the obstacle area, prevents the UAV from hitting an obstacle due to the influence of wind speed and wind direction when flying according to the predetermined route, and reduces the safety risk of the UAV during mapping. After the mapping is completed, the unqualified data area is re-mapped, and when re-mapping, factors such as real-time meteorological factors, the distances of each area, and the number of re-shoots of each area are considered, so as to plan a route that meets the mapping requirements while reducing the operation cost and time. BRIEF DESCRIPTION OF THE DRAWINGS

[0093] Figure 1 It is a flowchart of a dynamic low-altitude route planning method based on low-altitude meteorological data analysis according to an embodiment of the present invention;

[0094] Figure 2 It is a flowchart of a method for determining the pre-planned route of the UAV in a dynamic low-altitude route planning method based on low-altitude meteorological data analysis according to an embodiment of the present invention;

[0095] Figure 3 It is a flowchart 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;

[0096] Figure 4 It is a flowchart of a method for determining the 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;

[0097] Figure 5 It 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 OF THE EMBODIMENTS

[0098] 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 in the following description are only examples, and those skilled in the art can think of other obvious variations.

[0099] Referring to Figures 1-4 As shown, an embodiment of the present invention provides a dynamic low-altitude route planning method based on low-altitude meteorological data analysis. The method specifically includes the following steps:

[0100] Obtain the information of the area to be mapped, where the information of the area to be mapped includes the shape information of the area to be mapped and the obstacle area information within the area to be mapped;

[0101] According to the shape information of the area to be mapped, determine the circumscribed rectangle of the area to be mapped as the flight area of the UAV;

[0102] Use the direction of the longer side of the circumscribed rectangle of the area to be surveyed as the heading of the UAV flight;

[0103] Obtain the specification information of the imaging device carried by the UAV, and determine the area size information of a single shot when the UAV flies along the heading according to the specification information of the imaging device;

[0104] In this embodiment, the specific method for determining the area size information of a single shot when the UAV flies along the heading according to the specification information of the imaging device is as follows:

[0105] Determine the pixel and focal length information of the imaging device according to the specification information of the imaging device carried by the UAV;

[0106] Obtain the expected minimum ground sampling distance for this survey task;

[0107] Calculate the height of the UAV relative to the ground according to the pixel, focal length and expected minimum ground sampling distance information of the imaging device;

[0108] Determine the size information of the surface area covered by a single shot of the UAV according to the height of the UAV relative to the ground and the focal length of the imaging device;

[0109] The calculation formula for the height of the UAV relative to the ground is:

[0110]

[0111] Where, is the height of the UAV relative to the ground, is the effective focal length of the imaging device, is the expected minimum ground sampling distance, is the actual size of a single pixel of the imaging device sensor.

[0112] Use the size of the side perpendicular to the heading in the area of a single shot of the UAV as the width of the flight strip, and use the size of the longer side of the circumscribed rectangle of the area to be measured as the length of the flight strip;

[0113] Obtain the overlap degree requirements for this survey task, and the overlap degree requirements include the heading overlap degree requirements and the lateral overlap degree requirements;

[0114] Considering the lateral overlap degree requirements, fill the flight area with flight strips, and the midline of each flight strip is the flight route of the UAV in the flight area;

[0115] It should be noted that the shape of the flight strip is rectangular, the long side of the flight strip is parallel to the long side of the circumscribed rectangle of the area to be measured, and the short side is parallel to the short side of the circumscribed rectangle of the area to be measured.

[0116] It is understandable that when covering the flight area with flight strips, the range of the last flight strip may exceed the flight area. In this case, the lateral overlap can be adjusted so that all flight strips fall within the flight area. This operation can not only prevent the collection of redundant data but also increase the data overlap, which is beneficial for subsequent data processing.

[0117] Exemplarily, the specific method for adjusting the lateral overlap according to the situation of the last flight strip is as follows:

[0118] Obtain the information of the last flight strip, including whether the coverage range of the last flight strip exceeds the flight area;

[0119] If it exceeds the flight area, calculate the width by which the last flight strip exceeds the range;

[0120] Calculate the adjusted lateral overlap according to the width by which the range is exceeded;

[0121] The formula for calculating the lateral overlap is:

[0122]

[0123] In the formula, is the number of flight strips, is the width of the flight strip, is the lateral overlap that meets the mapping requirements, is the width by which the last flight strip exceeds the range, is the adjusted lateral overlap.

[0124] Take the intersection point of the shorter side of the circumscribed rectangle of the flight path and the mapping area as the UAV turning point corresponding to this flight path;

[0125] Based on the flight paths within the determined area and the UAV turning points corresponding to each flight path, determine the pre-planned flight path of the UAV based on the S-shaped flight path planning method;

[0126] Exemplarily, the specific method for determining the pre-planned flight path of the UAV is as follows:

[0127] Obtain the shooting interval time of the imaging device carried by the UAV;

[0128] Calculate the shooting flight speed of the UAV according to the area size information covered by a single UAV shot, the requirement of the longitudinal overlap, and the shooting interval time of the imaging device carried by the UAV;

[0129] Determine the turning flight paths between each UAV turning point according to the UAV turning points corresponding to each flight path and the shooting flight speed of the UAV;

[0130] Connect the flight paths of the UAV within the mapping area and the turning flight paths outside the mapping area to obtain the pre-planned flight path of the UAV;

[0131] The calculation formula for the shooting flight speed of the drone is as follows:

[0132]

[0133] In the formula, is the shooting flight speed of the drone, is the size of the area covered by a single shot of the drone in the course direction, is the course overlap degree required for this mapping, is the shooting interval time of the camera equipment carried by the drone.

[0134] Exemplarily, according to the turning points of the drone corresponding to each route and the shooting flight speed of the drone, the specific method for determining the turning route between each drone turning point is as follows:

[0135] According to the course of the drone on this route, determine the starting point of the turning route corresponding to this route, and take the nearest drone turning point as the end point of the turning route;

[0136] Based on the shooting flight speed of the drone, determine the minimum turning radius when the drone flies at the shooting flight speed;

[0137] According to the minimum turning radius of the drone, the starting point and the end point of the turning route, determine the center of the turning route;

[0138] According to the determined center and radius, determine the arc passing through the starting point and the end point of the turning route, and this arc route is the turning route of the drone.

[0139] During the flight of the drone, obtain real-time meteorological information and adjust the route in real time according to the real-time meteorological information and the known obstacle area;

[0140] Exemplarily, the specific method for adjusting the route in real time according to the real-time meteorological information and the known obstacle area is as follows:

[0141] Determine the real-time wind speed and wind direction information of the current area according to the real-time meteorological information;

[0142] According to the real-time wind direction information, determine the included angle between the wind direction and the flight direction of the drone;

[0143] According to the wind speed information and the included angle between the wind direction and the flight direction of the drone, calculate the speed of the drone when reaching the shooting flight speed under the current wind speed and wind direction conditions, and set the speed of the drone to this speed;

[0144] Determine whether the next area belongs to the obstacle area according to the known obstacle area;

[0145] If it belongs to the obstacle area, determine the safety boundary of the known obstacle area according to the shooting flight speed of the UAV;

[0146] Select the turning point in the safety boundary of the obstacle area as the intermediate waypoint, and determine the obstacle avoidance route for the UAV to bypass the obstacle area;

[0147] Adjust the flight route of the UAV according to the determined obstacle avoidance route to bypass the obstacle area;

[0148] The formula for calculating the speed of the UAV is:

[0149]

[0150] In the formula, is the shooting flight speed, is the speed of the UAV, is the wind speed, is the included angle between the wind direction and the flight direction of the UAV.

[0151] It should be noted that considering the influence of the 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 it is downwind, the set speed of the UAV may be less than the shooting flight speed, and when it is upwind, the set speed of the UAV may be greater than the shooting flight speed. Therefore, when selecting a UAV, the set speed range and speed adjustment performance of the UAV should be considered and other indicators.

[0152] Exemplarily, the specific method for determining the safety boundary of the known obstacle area according to the shooting flight speed of the UAV is:

[0153] Obtain the shape of the known obstacle area, and determine the turning points of the route when the UAV bypasses the area according to the shape of the obstacle area;

[0154] Determine the maximum tilt angle of the UAV according to the specification information of the UAV;

[0155] Determine the minimum turning radius of the UAV when turning according to the flight speed of the UAV when turning and the maximum tilt angle of the UAV;

[0156] Determine the turning points of the UAV at the turning points of the route according to the minimum turning radius;

[0157] Connect the turning points corresponding to each turning point of the route, and the formed polygon is used as the safety boundary of the obstacle area;

[0158] The formula for calculating the minimum turning radius of the UAV is:

[0159]

[0160] In the formula, is the minimum turning radius of the drone, is the flight speed of the drone during shooting, is the acceleration due to gravity, is the maximum tilt angle of the drone.

[0161] In this embodiment, when the drone flies along a predetermined route, it determines in advance whether the next area is an obstacle area based on the known distribution information of the obstacle areas. If it is an obstacle area, it considers the real-time wind speed and wind direction information to determine the safety boundary of the obstacle area, adjusts the route of the drone to bypass the obstacle area, and prevents the drone from hitting obstacles due to the influence of wind speed and wind direction when flying along the predetermined route, reducing the safety risk of the drone during mapping.

[0162] After the mapping is completed, the captured shooting data is obtained, and based on the data standard, the shooting data that does not meet the standard is determined;

[0163] Determine the geographical areas corresponding to the shooting data that does not meet the standard in the flight area;

[0164] Based on the planned route, re-shoot the geographical areas corresponding to the shooting data that does not meet the standard to obtain data that meets the standard;

[0165] Exemplarily, the specific method for re-shooting the geographical areas corresponding to the shooting data that does not meet the standard is as follows:

[0166] Determine the number of re-shooting times of the drone for the geographical areas corresponding to the shooting data that does not meet the standard;

[0167] Determine the real-time wind direction information of the geographical areas corresponding to the shooting data that does not meet the standard according to the real-time meteorological information;

[0168] Determine the shooting flight height of each area according to the difference between the shooting data of each area and the standard data, and the shooting flight height is the height of the drone from the ground;

[0169] Determine the flight height that needs to be adjusted when the drone flies to each area for shooting according to the shooting flight height of each area;

[0170] Determine whether the drone is flying with the wind when flying to each area according to the wind direction information;

[0171] Divide the areas flying with the wind into high-priority areas, and other areas are ordinary areas;

[0172] Obtain the distance between each non-conforming area and the drone;

[0173] Determine the re-shooting priority of each area according to the distance between each area and the drone, the number of re-shooting times required for each area, and the flight height that needs to be adjusted for shooting in each area;

[0174] The UAV selects the area with the highest reshooting priority as the next shooting area, recalculates the reshooting priority of the unshot areas when arriving at the next shooting area for shooting, and selects the subsequent shooting areas according to this priority until the substandard areas are reshot completely;

[0175] Among them, the UAV preferentially selects the area with a high priority as the next shooting area;

[0176] The calculation formula for the resampling priority of each area is:

[0177]

[0178] In the formula, is the reshooting priority of the area, is the number of reshooting times of the area, is the weight of the number of reshooting times, is the distance from the area to the UAV, is the minimum value of the distances from the substandard areas to the UAV, is the maximum value of the distances from the substandard areas to the UAV, is the distance weight, is the adjusted flight altitude, is the minimum adjusted flight altitude, is the maximum adjusted flight altitude, is the weight of the adjusted flight altitude.

[0179] It should be noted that the method for determining the data standard is as follows: According to the data usage of the current surveying and mapping shooting data, obtain the surveying and mapping tasks with the same data usage as the current one in the historical surveying and mapping shootings, and use the standards such as the spatial resolution and geometric accuracy of the data in this task as the standards for the shooting data in the current surveying and mapping task.

[0180] In this embodiment, the specific method for determining the shooting flight altitude of each area according to the difference between the shooting data of each area and the standard data is as follows:

[0181] Obtain the adjacent areas of the geographical area corresponding to the substandard shooting data in each direction, and take the new area composed of each adjacent area and this geographical area as the geographical area to which the shooting data belongs;

[0182] Determine whether the shooting data of the adjacent areas meet the standards;

[0183] If the shooting data of the adjacent areas all meet the standards, keep the shooting flight altitude of this area unchanged;

[0184] If there is shooting data in the adjacent areas that does not meet the standards, calculate the difference between the shooting data that does not meet the standards and the standard data in the geographical area to which the shooting data belongs;

[0185] Calculate the ratio of the maximum difference amount to the flag data as the height change coefficient;

[0186] Determine the shooting flight height of the drone during reshooting according to the shooting flight height and the height change coefficient when the drone shoots non-standard data.

[0187] In this embodiment, after the surveying and mapping is completed, obtain the captured data obtained from the surveying and mapping. Based on the data standard, determine the non-standard captured data among them, determine the geographical areas corresponding to each non-standard captured data in the flight area, perform secondary surveying and mapping on the data unqualified area, and consider real-time meteorological factors, the distances of each area, and the number of reshoots of each area, etc. when performing secondary surveying and mapping, and plan a flight route that meets the surveying and mapping requirements while reducing the operation cost and time.

[0188] In this embodiment, the method for determining the number of reshoots of the drone for the geographical area corresponding to the non-standard captured data is as follows:

[0189] Obtain the adjacent areas of the geographical area corresponding to the non-standard captured data in each direction, and take the new area composed of each adjacent area and this geographical area as the geographical area to which this captured data belongs;

[0190] Obtain the number of non-standard captured data in the geographical area to which this captured data belongs, and calculate the number of reshoots of this area according to the number of this captured data;

[0191] The formula for calculating the number of reshoots is:

[0192]

[0193] In the formula, is the number of reshoots, is the number of non-standard data, is the minimum value of the number of non-standard data in the geographical area, is the maximum value of the number of non-standard data in the geographical area, is the preset maximum number of reshoots.

[0194] Refer to Figure 5 As shown, an embodiment of the present invention also provides a dynamic low-altitude route planning system based on low-altitude meteorological data analysis, including:

[0195] An information acquisition module, which is used to acquire drone specification information, specification information of the camera device carried by the drone, surveying and mapping area information, surveying and mapping task information, and real-time meteorological information;

[0196] 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 device carried by the drone and the information related to the surveying and mapping task;

[0197] A pre-flight route planning module, which is used to pre-plan the mapping flight route of the UAV according to known information;

[0198] An obstacle avoidance route planning module, which is used to real-time plan the route for the UAV to bypass the obstacle area according to the real-time meteorological information and the shooting flight speed of the UAV;

[0199] A replanning module, which is used to re-plan the mapping route for the geographical area corresponding to the substandard shooting data.

[0200] Among them, the pre-flight route planning module includes:

[0201] A flight area determination unit, which is used to determine the flight area of the UAV according to the shape of the plot to be mapped;

[0202] A flight strip width determination unit, which is used to determine the width of the UAV flight strip according to the area information of a single UAV shot and the required information of the lateral overlap degree for mapping;

[0203] An in-area route determination unit, which is used to determine the flight heading of the UAV according to the trend of the longer side of the UAV flight area, and determine the route of the UAV in the flight area according to the heading of the UAV and the width of the UAV flight strip;

[0204] A turning route determination unit, which is used to determine the turning route between the UAV turning points according to the UAV turning points corresponding to each route in the area and the shooting flight speed of the UAV;

[0205] A route determination unit, which is used to obtain the pre-planned route according to the results determined by the in-area route determination unit and the turning route determination unit.

[0206] Among them, the obstacle avoidance route planning module includes:

[0207] A flight speed determination unit, which is used to determine the flight speed of the UAV when bypassing the turning point of the obstacle area according to the shooting flight speed of the UAV, the real-time wind speed and the included angle between the wind direction and the flight direction of the UAV;

[0208] A turning radius determination unit, which is used to determine the minimum turning radius of the UAV when bypassing the turning point of the obstacle area according to the maximum tilt angle of the UAV;

[0209] A safety boundary determination unit, which is configured to determine a turning point when the unmanned aerial vehicle bypasses a turning point of a route in an obstacle area according to the minimum turning radius, and determine the safety boundary of the obstacle area according to each turning point;

[0210] A route planning unit, which is configured to determine the route for the unmanned aerial vehicle to bypass the obstacle area in real time according to the safety boundary of the obstacle area.

[0211] In summary, the advantages of the present invention are as follows: when the unmanned aerial vehicle flies according to a predetermined route, it is judged 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 the real-time wind speed and wind direction information, and the route of the unmanned aerial vehicle is adjusted to bypass the obstacle area, preventing the unmanned aerial vehicle from hitting an obstacle due to the influence of the wind speed and wind direction when flying according to the predetermined route, and reducing the safety risk of the unmanned aerial vehicle during mapping; after mapping, the unqualified data area is re-mapped, and when re-mapping, factors such as real-time meteorological factors, the distances of each area, and the number of re-shoots of each area are considered, reducing the operation cost and time while planning a route that meets the mapping requirements.

[0212] 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 by the above embodiments. What is described in the above embodiments and the specification is only the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended 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 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 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 non-standard shooting data are re-photographed to obtain data that meets the standards; 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.

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: 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.

5. 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 maximum flight altitude, To adjust the flight altitude weight.

6. A method for dynamic low-altitude route planning based on low-altitude meteorological data analysis according to claim 5, 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.

7. 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 6, 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.

8. A dynamic low-altitude route planning system based on low-altitude meteorological data analysis according to claim 7, 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.

9. A dynamic low-altitude route planning system based on low-altitude meteorological data analysis according to claim 7, 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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