Unmanned aerial vehicle flight route planning method and device and storage medium
By generating airspace grid codes to compare route usage information, identifying and relieving route conflicts, the problems of low route approval efficiency and high cross-risk in the existing technology have been solved, and the safety and use efficiency of low-altitude airspace are improved.
Patent Information
- Application Number
- CN202411702094.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-26
- Publication Date
- 2025-02-18
AI Technical Summary
The existing low-altitude airspace management system is inefficient when approving drone flight routes, and cannot completely eliminate route cross-track risks, which affects the safe development of low-altitude airspace.
By generating airspace grid codes, comparing route usage information, identifying route conflict risks, and liberation in case of conflicts, optimizing route planning processes.
It improves the efficiency of route approval, reduces the risk of route cross-borders, assists airspace management parties in risk filtering, and ensures the safe development of low-altitude airspace.
Smart Images
Figure CN119479378A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of Internet technology, and in particular to a method, device and storage medium for planning a flight route for an unmanned aerial vehicle. Background Art
[0002] An important function of the low-altitude airspace management system is the flight route declaration and approval function. Airspace users, such as drone operators, submit route application information on the system. The declaration elements include: route latitude and longitude information, and route use time range. The airspace manager needs to review the declared routes and make a decision to approve or reject them. The current process for airspace managers to approve routes is to obtain the approved route information within the time range of the newly declared route, and then check on the 3D map to see if the routes intersect. If there is an intersection, the approval is rejected and the conflict point is notified to the airspace user. The airspace user then changes the route and submits the application based on the route conflict point in the approval opinion until the route is approved or the airspace user abandons the application.
[0003] With the development of the low-altitude economy, the number of flight routes in the region has increased dramatically during the same period of time. The current approval process relies more on manual + map-based approval, which has low approval efficiency and low airspace utilization. At the same time, it is still impossible to completely eliminate the risk of route crossing (route crossing may cause collisions between drones during flight), which affects the safe development of low-altitude airspace. Summary of the invention
[0004] The main purpose of the present invention is to provide a method, device and storage medium for planning a flight route of an unmanned aerial vehicle, aiming to solve the above-mentioned technical problems.
[0005] To achieve the above object, the present invention provides a method for planning a flight route for an unmanned aerial vehicle.
[0006] The UAV flight route planning method comprises the following steps: Obtaining the route usage information declared by the airspace user when applying for the route, the route usage information includes the route point location, usage start time and end time; Generate an airspace grid code for the declared route usage information based on the preset airspace rules; Compare the data of the applied airspace grid code with the approved airspace grid code within the corresponding time range; If the airspace grid code corresponding to the route usage information does not exist within the corresponding time range in the current database, the application can be submitted normally, and the route usage information and the corresponding airspace grid code will be stored in the database.
[0007] In one embodiment, the step of generating an applied airspace grid code for the reported route usage information based on the preset airspace rules includes: Establish a three-dimensional grid of latitude, longitude and altitude according to a certain unit size; Get the minimum longitude value logMin, maximum longitude value logMax, minimum latitude value latMin, maximum latitude value latMax, minimum altitude value heightMin and maximum altitude value heightMax in the route information; Combine the endpoint values of each latitude, longitude and altitude into eight minimum unit points; Traversing the three-dimensional grid from the minimum longitude value, the minimum latitude value, and the minimum height value, increasing by one unit in the height direction until the maximum height value, then increasing by one unit in the latitude direction until the maximum latitude value, and finally increasing by one unit in the longitude range direction until the maximum longitude value, thereby obtaining a plurality of route grids, any of which has a unique grid number; A plurality of the route grids are merged into a route geometry corresponding to the route.
[0008] In one embodiment, if there is no airspace grid code corresponding to the route usage information in the current database within the corresponding time range, the application can be submitted normally, and the route usage information and the corresponding airspace grid code are stored in the database, including: All grid numbers in the route geometry are compared with the grid numbers stored in the database in turn. Only when all grid numbers have no conflicts, can the application be submitted normally and the route geometry and the corresponding grid numbers be stored in the database.
[0009] In one embodiment, after the step of comparing the applied airspace grid code with the approved airspace grid code within the corresponding time range, the UAV flight route planning method further includes: If the airspace grid code applied for and corresponding to the route usage information conflicts with the airspace grid code in the database during the same usage period; The route is then deconflicted.
[0010] In one embodiment, the step of resolving the conflict of the route includes: Get the grid number in the route geometry that conflicts with the database; Get the previous grid number of the conflicting grid number; With the line route direction as the front, try to solve the problem in the order of left detour, right detour, upper detour, and lower detour. If there is no conflict in the grid of the current path and the number of grids of the solution path is the least, then use this solution path; The relief path is integrated into the original route geometry to form a new relief route.
[0011] In one embodiment, before the step of merging the plurality of route grids into a route geometry corresponding to the route, the method further comprises: The three-dimensional grids intersecting with the route are geometrically judged, and the three-dimensional grids intersecting with the route are numbered to obtain the route grid.
[0012] In addition, to achieve the above-mentioned purpose, the present invention also provides a UAV flight route planning method, which includes: a memory, a processor, and a UAV flight route planning program stored in the memory and executable on the processor, and when the UAV flight route planning program is executed by the processor, the steps of the UAV flight route planning method as described above are implemented.
[0013] In addition, to achieve the above-mentioned purpose, the present invention also provides a computer-readable storage medium, on which a UAV flight route planning program is stored, and when the UAV flight route planning program is executed by a processor, the steps of the UAV flight route planning method described above are implemented. The beneficial effects that can be achieved by the present invention are as follows: A method for planning a UAV flight route proposed in an embodiment of the present invention verifies whether there is a route conflict by means of an airspace grid code, identifies the risk of route conflict in advance, and resolves the conflict when it occurs. This allows airspace users to complete the route approval submission process as quickly as possible, and can assist airspace managers in filtering risks in airspace route approval. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] Figure 1 It is a schematic diagram of the structure of a device in a hardware operating environment involved in an embodiment of the present invention; Figure 2 A schematic diagram of the flow chart of the method for planning the flight route of a UAV according to the present invention; Figure 3 A two-dimensional schematic diagram of a route of an embodiment of a method for planning a flight route for a UAV according to the present invention; Figure 4 A schematic diagram of a flight path geometry of an embodiment of a method for planning a flight route for a UAV according to the present invention; Figure 5 A schematic diagram of the route geometry when there is a route conflict in the UAV flight route planning method of the present invention.
[0015] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION
[0016] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.
[0017] An important function of the low-altitude airspace management system is the flight route declaration and approval function. Airspace users, such as drone operators, submit route application information on the system. The declaration elements include: route latitude and longitude information, and route use time range. The airspace manager needs to review the declared routes and make a decision to approve or reject them. The current process for airspace managers to approve routes is to obtain the approved route information within the time range of the newly declared route, and then check on the 3D map to see if the routes intersect. If there is an intersection, the approval is rejected and the conflict point is notified to the airspace user. The airspace user then changes the route and submits the application based on the route conflict point in the approval opinion until the route is approved or the airspace user abandons the application.
[0018] With the development of the low-altitude economy, the number of flight routes in the region has increased dramatically during the same period of time. The current approval process relies more on manual + map-based approval, which has low approval efficiency and low airspace utilization. At the same time, it is still impossible to completely eliminate the risk of route crossing (route crossing may cause collisions between drones during flight), which affects the safe development of low-altitude airspace.
[0019] The present invention provides a solution, which verifies whether there is a route conflict by means of an airspace grid code, identifies the risk of route conflict in advance, and resolves the conflict when it occurs. It allows airspace users to complete the route approval submission process as quickly as possible, and at the same time assists airspace managers in risk filtering of airspace route approval.
[0020] The main solutions of the embodiments of the present invention are: Obtaining the route usage information declared by the airspace user when applying for the route, the route usage information includes the route point location, usage start time and end time; Generate an airspace grid code for the declared route usage information based on the preset airspace rules; Compare the data of the applied airspace grid code with the approved airspace grid code within the corresponding time range; If the airspace grid code corresponding to the route usage information does not exist within the corresponding time range in the current database, the application can be submitted normally, and the route usage information and the corresponding airspace grid code will be stored in the database.
[0021] like Figure 1 As shown, Figure 1 It is a schematic diagram of the terminal structure of the hardware operating environment involved in the embodiment of the present invention.
[0022] The terminal of the embodiment of the present invention can be a PC, or it can be a smart phone, a tablet computer, an e-book reader, an MP3 (Moving Picture Experts Group Audio Layer III) player, an MP4 (Moving Picture Experts Group Audio Layer IV) player, a portable computer, or other portable terminal devices with display function.
[0023] like Figure 1 As shown, the terminal may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.
[0024] Optionally, the terminal may also include a camera, an RF (Radio Frequency) circuit, a sensor, an audio circuit, a WiFi module, and the like. Among them, sensors include light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor and a proximity sensor, wherein the ambient light sensor may adjust the brightness of the display screen according to the brightness of the ambient light, and the proximity sensor may turn off the display screen and / or backlight when the mobile terminal is moved to the ear. As a type of motion sensor, the gravity acceleration sensor can detect the magnitude of acceleration in each direction (generally three axes), and can detect the magnitude and direction of gravity when stationary. It can be used for applications that identify the posture of the mobile terminal (such as horizontal and vertical screen switching, related games, magnetometer posture calibration), vibration recognition related functions (such as pedometer, tapping), etc.; of course, the mobile terminal can also be equipped with other sensors such as gyroscopes, barometers, hygrometers, thermometers, infrared sensors, etc., which will not be repeated here.
[0025] Those skilled in the art will understand that Figure 1 The terminal structure shown in the figure does not constitute a limitation on the terminal, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.
[0026] like Figure 1 As shown, the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a UAV flight route planning program.
[0027] exist Figure 1 In the terminal shown, the network interface 1004 is mainly used to connect to the backend server and communicate data with the backend server; the user interface 1003 is mainly used to connect to the client (user end) and communicate data with the client; and the processor 1001 can be used to call the drone flight route planning program stored in the memory 1005 and perform the following operations: Obtaining the route usage information declared by the airspace user when applying for the route, the route usage information includes the route point location, usage start time and end time; Generate an airspace grid code for the declared route usage information based on the preset airspace rules; Compare the data of the applied airspace grid code with the approved airspace grid code within the corresponding time range; If the airspace grid code corresponding to the route usage information does not exist within the corresponding time range in the current database, the application can be submitted normally, and the route usage information and the corresponding airspace grid code will be stored in the database.
[0028] Furthermore, the processor 1001 may call the drone flight route planning program stored in the memory 1005, and further perform the following operations: Establish a three-dimensional grid of latitude, longitude and altitude according to a certain unit size; Get the minimum longitude value logMin, maximum longitude value logMax, minimum latitude value latMin, maximum latitude value latMax, minimum altitude value heightMin and maximum altitude value heightMax in the route information; Combine the endpoint values of each latitude, longitude and altitude into eight minimum unit points; Traversing the three-dimensional grid from the minimum longitude value, the minimum latitude value, and the minimum height value, increasing by one unit in the height direction until the maximum height value, then increasing by one unit in the latitude direction until the maximum latitude value, and finally increasing by one unit in the longitude range direction until the maximum longitude value, thereby obtaining a plurality of route grids, any of which has a unique grid number; A plurality of the route grids are merged into a route geometry corresponding to the route.
[0029] Furthermore, the processor 1001 may call the drone flight route planning program stored in the memory 1005, and further perform the following operations: All grid numbers in the route geometry are compared with the grid numbers stored in the database in turn. Only when all grid numbers have no conflicts, can the application be submitted normally and the route geometry and the corresponding grid numbers be stored in the database.
[0030] Furthermore, the processor 1001 may call the drone flight route planning program stored in the memory 1005, and further perform the following operations: If the airspace grid code applied for and corresponding to the route usage information conflicts with the airspace grid code in the database during the same usage period; The route is then deconflicted.
[0031] Furthermore, the processor 1001 may call the drone flight route planning program stored in the memory 1005, and further perform the following operations: Get the grid number in the route geometry that conflicts with the database; Get the previous grid number of the conflicting grid number; With the line route direction as the front, try to solve the problem in the order of left detour, right detour, upper detour, and lower detour. If there is no conflict in the grid of the current path and the number of grids of the solution path is the least, then use this solution path; The relief path is integrated into the original route geometry to form a new relief route.
[0032] The specific embodiments of the data storage device of the present invention are basically the same as the embodiments of the data storage method described below, and will not be described in detail here.
[0033] Reference Figure 2 The embodiment of the present invention provides a method for planning a flight route of an unmanned aerial vehicle, and the method for planning a flight route of an unmanned aerial vehicle comprises: Obtaining the route usage information declared by the airspace user when applying for the route, the route usage information includes the route point location, usage start time and end time; Generate an airspace grid code for the declared route usage information based on the preset airspace rules; Compare the data of the applied airspace grid code with the approved airspace grid code within the corresponding time range; If the airspace grid code corresponding to the route usage information does not exist within the corresponding time range in the current database, the application can be submitted normally, and the route usage information and the corresponding airspace grid code will be stored in the database.
[0034] In this embodiment, airspace users refer to entities that need to fly drones in low-altitude airspace, such as drone operating companies and drone pilots. Airspace managers refer to government low-altitude airspace managers, the Civil Aviation Administration, etc. In general, airspace users submit route applications, and airspace managers review and approve them based on the submitted route applications.
[0035] In this application, the existence of route conflicts is verified by means of airspace grid codes, route conflict risks are identified in advance, and they are resolved when conflicts occur. This allows airspace users to complete the route approval submission process as quickly as possible, and can also assist airspace managers in risk filtering of airspace route approvals.
[0036] Furthermore, the step of generating an applied airspace grid code for the reported route usage information based on the preset airspace rules includes: Establish a three-dimensional grid of latitude, longitude and altitude according to a certain unit size; Get the minimum longitude value logMin, maximum longitude value logMax, minimum latitude value latMin, maximum latitude value latMax, minimum altitude value heightMin and maximum altitude value heightMax in the route information; Combine the endpoint values of each latitude, longitude and altitude into eight minimum unit points; Traversing the three-dimensional grid from the minimum longitude value, the minimum latitude value, and the minimum height value, increasing by one unit in the height direction until the maximum height value, then increasing by one unit in the latitude direction until the maximum latitude value, and finally increasing by one unit in the longitude range direction until the maximum longitude value, thereby obtaining a plurality of route grids, any of which has a unique grid number; A plurality of the route grids are merged into a route geometry corresponding to the route.
[0037] In general, the airspace management party can set the size of each grid on the system according to the route capacity involved in the current airspace. The smaller the grid, the greater the capacity. For example, in this application 2"X2", the latitude and longitude are 2"X2", and the height is explained in cells of 10 meters.
[0038] When the airspace user applies for a route, the system needs to fill in the route point coordinates, route use start time, and end time. For example: flight route A, application time 202410290930-202410291530 120.1921801375,30.1838608503,120; 120.1951533512,30.1838689854,120; 120.1952192135,30.1825022853,120; The two-dimensional schematic diagram of the route is as follows Figure 3 shown.
[0039] When the airspace user submits an application, the system generates the airspace grid code for the current applied route according to the preset airspace rules. The format is "longitude code_latitude code_altitude code". The specific generation rules are as follows: Get the minimum longitude value logMin, the maximum longitude value logMax, the minimum latitude value latMin, the maximum latitude value latMax, the minimum altitude value heightMin, the maximum altitude value heightMax in the route information The unit size in the longitude direction is logcell=2″, the unit size in the latitude direction is latcell=2″, and the unit size in the height direction is heightcell=10 meters.
[0040] The starting number in the longitude and latitude directions is logstartcellNum =logMin / 2″; the starting number in the latitude direction is latStartCellNum =latMin / 2″; the starting number in the height range is heightStartCellNum = heightMin / 10.
[0041] Start from the minimum longitude, minimum latitude, and minimum height (logmin, latmin, heightMin) to traverse the grid, increase one unit in the height direction until the maximum, then increase one unit in the latitude until the maximum latitude, and finally increase one unit in the longitude range direction Get the eight minimum unit points of the minimum unit grid: (logTmpMin, latTmpMin, heightTmpMin), (logTmpMin, latTmpMax, heightTmpMin), (logTmpMax, latTmpMin, heightTmpMin), (logTmpMax, latTmpMax, heightTmpMin), (logTmpMin, latTmpMin, heightTmpMax), (logTmpMin, latTmpMax, heightTmpMax), (logTmpMax, latTmpMin, heightTmpMax), (logTmpMax, latTmpMin, heightTmpMax), (logTmpMax, latTmpMax, heightTmpMax).
[0042] Then, the route grid occupied by the route application is obtained according to the following algorithm.
[0043] / / Traverse each grid within the route longitude range for (int i=logstartcellNum; i*logcell <logmax;i++){ double logTmpMin=logstartcellNum*logcell; double logTmpMax=(logstartcellNum+1)*logcell; / / Traverse each grid within the route latitude range for(int j=latstartcellNum;latstartcellNum+j*logcell <latmax;j++){ double latTmpMin=latstartCellNum*logcell: doublelatTmpMax =(latstartCellNum+1)*logcell; / / Traverse each grid within the route height range for (int k=heightstartCellNum; k*heightCell <heightMax;k++){ double heightTmpMin =heightMin*heightcell; double heightTmpMax=(heightMin+1)*heightcell; / / Get the 8 points of the current three-dimensional grid / / (logTmpMin, latTmpMin, heightTmpMin), (logTmpMin, latTmpMax, heightTmpMin), (logTmpMax, latTmpMin, heightTmpMin) / / (logTmpMax, latTmpMax, heightTmpMin), (logTmpMin, latTmpMin, heightTmpMax), (l0gTmpMin, latTmpMax, heightTmpMax) / / (logTmpMax, latTmpMin, heightTmpMax), (logTmpMax, latTmpMax, heightTmpMax) / / Continue to perform geometric intersection judgment on the spatial geometric body composed of 8 points and the route. If the geometric body intersects the route, it is a valid grid code.
[0044] If the spatial geometric body composed of the 8 points intersects with the flight path, the grid number i_j_k is obtained (the k number is 3 digits, and if it is less than 3 digits, 0 is added in front).
[0045] According to the above rules, the corresponding route grid code of flight route A is: 216345_54330_012; 216346_54330_012; 216347_54330_012; 216348_54330_012; 216349_54330_012; 216350_54330_012; 216351_54328_012; 216351_54329_012; 216351_54330_012; Merge the multiple route grids generated above into a route geometry, such as Figure 4 shown.
[0046] If the airspace grid code corresponding to route A does not exist within the corresponding time range in the current database, the airspace user can be prompted that route A has no conflicting routes and can submit the application normally. When the airspace management party approves the route, the airspace grid code, use start time, and use end time of route A will be stored in the database.
[0047] If the airspace grid code of route A conflicts with the airspace grid code in the existing library during the same usage period, assuming that the conflicting route code is 216351_54328_012, please refer to Figure 4 , then enter the route conflict resolution process: Get the previous grid code that conflicts with the airspace grid code in the application: 216350_54330_012 With the line route direction as the front, try to solve the problem in the order of left detour, right detour, upper detour and lower detour. If there is no conflict in the grids of the current path and the number of grids of the solution path is the least, then this solution path will be used.
[0048] For the exemplary embodiment provided in this application, the spatial grid code of the left, front, and right relief path corresponds to: Left detour: 216350_54331_012, 216351_54331_012, 216352_54331_012, 216352_54330_012, 216352_54329_012 Right bypass path: 216350_54329_012 (a route grid and there is no identical route in the approved route code library, and other routes are not shorter than this one, so the current bypass path is selected and other attempts are stopped) The grid center point location data (longitude, latitude, altitude) is obtained through the grid code. The rule is: (code*coding unit+(code+1)*coding unit) / 2. The previously obtained release path grid 216350_54329_012 is converted to the corresponding location data: Longitude: (216350*2″+216351*2″) / 2= 120.194722222 Dimensions: (54329*2″+54330*2″) / 2=30.1830555556, Height: (12*10+13*10) / 2=125 The grid code corresponding to each route point of the original route: Route point 1: 120.1921801375, 30.1838608503, 120 replaced by 216345_54330_012 Route point 2: 120.1951533512, 30.1838689854, 120 replaced by 216351_54330_012 Route point 3: 120.1952192135, 30.1825022853, 120 replaced by 216351_54328_012 The conflicting grid code 216350_54330_012 is not on a specific route point, so the closest grid to the route point is 216351_54330_012. According to the search rule: the difference in longitude code + difference in latitude code + difference in altitude code is the smallest, then the route point is inserted between route point 1 and route point 2, and the new route point is: 120.1921801375,30.1838608503,120; 120.194722222, 30.1830555556, 125; 120.1951533512,30.1838689854,120; 120.1952192135,30.1825022853,120; New routes after the conflict is resolved Figure 5 shown.
[0049] Afterwards, the airspace user can be notified that route A conflicts with other approved routes, and the new route path after the conflict is resolved can be displayed. After the airspace user confirms to accept the new path, he can click to submit the application. After the airspace management party approves it, the airspace grid code, start time and end time corresponding to route A will be stored in the database.
[0050] In addition, an embodiment of the present invention further provides a computer-readable storage medium, on which a UAV flight route planning program is stored. When the UAV flight route planning program is executed by a processor, the following operations are implemented: Obtaining the route usage information declared by the airspace user when applying for the route, the route usage information includes the route point location, usage start time and end time; Generate an airspace grid code for the declared route usage information based on the preset airspace rules; Compare the data of the applied airspace grid code with the approved airspace grid code within the corresponding time range; If the airspace grid code corresponding to the route usage information does not exist within the corresponding time range in the current database, the application can be submitted normally, and the route usage information and the corresponding airspace grid code will be stored in the database.
[0051] Furthermore, when the UAV flight route planning program is executed by the processor, the following operations are also implemented: Establish a three-dimensional grid of latitude, longitude and altitude according to a certain unit size; Get the minimum longitude value logMin, maximum longitude value logMax, minimum latitude value latMin, maximum latitude value latMax, minimum altitude value heightMin and maximum altitude value heightMax in the route information; Combine the endpoint values of each latitude, longitude and altitude into eight minimum unit points; Traversing the three-dimensional grid from the minimum longitude value, the minimum latitude value, and the minimum height value, increasing by one unit in the height direction until the maximum height value, then increasing by one unit in the latitude direction until the maximum latitude value, and finally increasing by one unit in the longitude range direction until the maximum longitude value, thereby obtaining a plurality of route grids, any of which has a unique grid number; A plurality of the route grids are merged into a route geometry corresponding to the route.
[0052] Furthermore, when the UAV flight route planning program is executed by the processor, the following operations are also implemented: All grid numbers in the route geometry are compared with the grid numbers stored in the database in turn. Only when all grid numbers have no conflicts, can the application be submitted normally and the route geometry and the corresponding grid numbers be stored in the database.
[0053] Furthermore, when the UAV flight route planning program is executed by the processor, the following operations are also implemented: If the airspace grid code applied for and corresponding to the route usage information conflicts with the airspace grid code in the database during the same usage period; The route is then deconflicted.
[0054] Furthermore, when the UAV flight route planning program is executed by the processor, the following operations are also implemented: Get the grid number in the route geometry that conflicts with the database; Get the previous grid number of the conflicting grid number; With the line route direction as the front, try to solve the problem in the order of left detour, right detour, upper detour, and lower detour. If there is no conflict in the grid of the current path and the number of grids of the solution path is the least, then use this solution path; The relief path is integrated into the original route geometry to form a new relief route.
[0055] The specific embodiments of the computer-readable storage medium of the present invention are basically the same as the embodiments of the above-mentioned application software security vulnerability detection method, and will not be described in detail here.
[0056] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.
[0057] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.
[0058] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, including a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present invention.
[0059] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.
Claims
1. A method for planning a flight route of an unmanned aerial vehicle, characterized in that: The UAV flight route planning method comprises the following steps: Obtaining the route usage information declared by the airspace user when applying for the route, the route usage information includes the route point location, usage start time and end time; Generate an airspace grid code for the declared route usage information based on the preset airspace rules; Compare the data of the applied airspace grid code with the approved airspace grid code within the corresponding time range; If the airspace grid code corresponding to the route usage information does not exist within the corresponding time range in the current database, the application can be submitted normally, and the route usage information and the corresponding airspace grid code will be stored in the database.
2. The method for planning a flight route of an unmanned aerial vehicle according to claim 1, wherein: The step of generating an applied airspace grid code for the reported route usage information based on the preset airspace rules includes: Establish a three-dimensional grid of latitude, longitude and altitude according to a certain unit size; Get the minimum longitude value logMin, maximum longitude value logMax, minimum latitude value latMin, maximum latitude value latMax, minimum altitude value heightMin and maximum altitude value heightMax in the route information; Combine the endpoint values of each latitude, longitude and altitude into eight minimum unit points; Traversing the three-dimensional grid from the minimum longitude value, the minimum latitude value, and the minimum height value, increasing by one unit in the height direction until the maximum height value, then increasing by one unit in the latitude direction until the maximum latitude value, and finally increasing by one unit in the longitude range direction until the maximum longitude value, thereby obtaining a plurality of route grids, any of which has a unique grid number; A plurality of the route grids are merged into a route geometry corresponding to the route.
3. The method for planning a flight route of an unmanned aerial vehicle according to claim 2, wherein: If there is no airspace grid code corresponding to the route usage information in the corresponding time range in the current database, the application can be submitted normally, and the steps of storing the route usage information and the corresponding airspace grid code in the database include: All grid numbers in the route geometry are compared with the grid numbers stored in the database in turn. Only when all grid numbers have no conflicts, can the application be submitted normally and the route geometry and the corresponding grid numbers be stored in the database.
4. The method for planning a flight route of an unmanned aerial vehicle according to claim 3, characterized in that: After the step of comparing the applied airspace grid code with the approved airspace grid code within the corresponding time range, the UAV flight route planning method further includes: If the airspace grid code applied for and corresponding to the route usage information conflicts with the airspace grid code in the database during the same usage period; The route is then deconflicted.
5. The method for planning a flight route of an unmanned aerial vehicle according to claim 4, characterized in that: The steps of resolving the conflict of the route include: Get the grid number in the route geometry that conflicts with the database; Get the previous grid number of the conflicting grid number; With the line route direction as the front, try to solve the problem in the order of left detour, right detour, upper detour, and lower detour. If there is no conflict in the grid of the current path and the number of grids of the solution path is the least, then use this solution path; The relief path is integrated into the original route geometry to form a new relief route.
6. The method for planning a flight route of an unmanned aerial vehicle according to claim 2, characterized in that: Before the step of merging a plurality of the route grids into a route geometry corresponding to the route, the method further comprises: The three-dimensional grids intersecting with the route are geometrically judged, and the three-dimensional grids intersecting with the route are numbered to obtain the route grid.
7. A UAV flight route planning device, characterized in that: The UAV flight route planning device includes: a memory, a processor, and a UAV flight route planning program stored in the memory and executable on the processor. When the UAV flight route planning program is executed by the processor, the steps of the data calculation method described in any one of claims 1 to 6 are implemented.
8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a UAV flight route planning program, which, when executed by a processor, implements the steps of the UAV flight route planning method according to any one of claims 1 to 6.