Cross-end unmanned aerial vehicle route waypoint automatic planning and target detection configuration method

Abstract

The invention discloses a cross-end unmanned aerial vehicle route waypoint automatic planning and target detection configuration method. The method comprises the steps of drawing a navigation area, performing route configuration, generating a route by using a route generation method, setting information of waypoints on the route and target detection actions, and finally issuing the area, the configuration, the waypoints, the waypoint information and the target detection actions to an Android end. According to the invention, automatic route planning and waypoint target detection functions are realized through the visual interface, and additional installation of software is not needed. A user can operate simply and conveniently through a web terminal, the problem that configuration is tedious and prone to errors is solved, route planning and target detection configuration are achieved anytime and anywhere, and efficiency and real-time performance are improved. In addition, cross-platform operation of the web end and the Android end is achieved, and the requirements in different scenes are met.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a configuration method for cross-terminal automatic planning of unmanned aerial vehicle route waypoints and target detection. Background Art

[0002] With the rapid development and widespread application of drone technology, traditional drone route planning and configuration methods have some limitations. For example, they require professional knowledge, complex configuration, lack of real-time performance, and the need to install special software. In addition, with the popularization of mobile devices, users have an increasing demand for operations on different platforms (such as Web, Android, etc.), and the traditional single-end operation method can no longer meet user needs.

[0003] Currently, drone route planning and configuration require professional personnel to operate. The configuration process is cumbersome and prone to errors, and it cannot meet the requirements of real-time and cross-end operation. Therefore, there is an urgent need for a simple, easy-to-use, intelligent cross-end configuration system that can realize functions such as automated route planning, waypoint target detection, and real-time configuration. Summary of the invention

[0004] The purpose of the present invention is to provide a method for configuring cross-terminal UAV route waypoint automatic planning and target detection to solve the above problems.

[0005] In order to achieve the above object, the technical solution of the present invention is achieved as follows:

[0006] A method for configuring cross-terminal UAV route waypoint automatic planning and target detection, comprising:

[0007] Draw the navigation area and calculate the center point of the navigation area;

[0008] Add regional route configuration, rotate the navigation area around the center point in a certain direction to get a new area;

[0009] Calculate the number of latitude lines that the new area passes through based on the line distance in the configuration, and select points based on the point distance and outward expansion distance in the configuration;

[0010] Connect the points in order according to the take-off point type in the configuration to form a route;

[0011] Configure information for waypoints on the route;

[0012] Send the area, configuration, waypoints and waypoint information to the Android terminal to realize the function of cross-terminal operation.

[0013] Preferably, the drawing of the navigation area and the calculation of the center point of the navigation area are performed by drawing the navigation area on Baidu Map and calculating the center point of the area according to the vertices of the area.

[0014] Preferably, the added area route configuration rotates the navigation area around the center point in a certain direction to obtain a new area, including point distance, line distance, heading, outward expansion distance, take-off point type, initial flight altitude, initial flight speed, initial waypoint action, initial waypoint action parameters and whether to return; the new area is obtained by first converting the area vertices into pixel coordinates, and then converting the pixel coordinates into longitude and latitude points after rotation.

[0015] Preferably, the number of latitude lines that the new area passes through is calculated based on the line distance in the configuration, and points are taken based on the point distance and outward expansion distance in the configuration, including the number of latitude lines being obtained by dividing the distance corresponding to the difference between the maximum latitude and the minimum latitude of the calculation area by the line distance; and the points are taken using a mathematical linear function.

[0016] Preferably, the route is connected by determining the order of waypoints according to the type of take-off point.

[0017] Preferably, the take-off point types include northwest point, northeast point, southeast point and southwest point.

[0018] Preferably, the waypoint information includes the waypoint name, the waypoint flight altitude, the waypoint action and the target detection type.

[0019] Preferably, waypoint actions and target detection types include taking pictures, stopping, starting recording, ending recording, changing heading, changing pan / tilt, starting / ending personnel detection, starting / ending vehicle detection, and starting / ending fireworks detection.

[0020] Preferably, the area, configuration, waypoints and waypoint information are sent to the Android terminal to realize the function of cross-terminal operation, including sending the area, configuration, waypoints and waypoint information to the Android terminal via MQTT, and using the same route generation algorithm as the web terminal on the Android terminal to make corresponding adjustments according to actual needs, thereby realizing the function of cross-terminal operation.

[0021] Compared with the prior art, the advantages of the embodiments of the present invention are:

[0022] The present invention enables users to easily complete the settings of intelligent route planning and automated waypoint target detection through an intuitive and friendly interface configuration, without the need for cumbersome third-party tools. It overcomes the defects of cumbersome traditional operations, and users can complete the configuration operations without professional knowledge, broadening the user group and enabling more people to flexibly apply the technology. At the same time, the system has high real-time performance, can respond to environmental changes and task requirements in real time, and quickly adjust routes and target detection strategies, thereby improving the efficiency and real-time performance of route planning, and surpassing the limitations of traditional technologies in response speed. In addition, by sharing a set of algorithms for generating routes, the web and Android terminals can communicate with each other, thereby realizing the function of cross-terminal operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 The present invention is an overall flow chart of the configuration of cross-terminal UAV route waypoint automatic planning and target detection;

[0025] Figure 2 A specific flow chart of the route generation method adopted by the present invention;

[0026] Figure 3 A web layout distribution diagram of the present invention;

[0027] Figure 4 Map the area of ​​the invention;

[0028] Figure 5 A route configuration diagram of the present invention;

[0029] Figure 6 A schematic diagram of an automatically planned route generated by the present invention;

[0030] Figure 7 It is the waypoint information graph of the present invention. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0033] First, build a Vue3 project on the front end, build a database on the back end and write corresponding interfaces for front-end data display and communication between the front end and the Android end. The specific implementation plan is as follows:

[0034] In order to overcome the existing problems that drone route planning and configuration require professional personnel to operate, the configuration process is cumbersome and prone to errors, and it cannot meet the requirements of real-time and cross-end operation, this embodiment proposes a cross-end drone route waypoint automatic planning and target detection configuration method. This method uses mathematical algorithms and target detection algorithms to perform regional route planning and waypoint target detection by modifying the configuration of the web page. Figure 1 As shown in the figure, first draw the area on the map, then click on the display area to ensure that the area has been successfully saved; then add a new area configuration for the drawn area, use the automatic route planning algorithm to generate waypoints and connect them into a route in a certain order; click on any waypoint on the route to configure information for this waypoint, including name, flight altitude and target detection type. Through this method, users do not need to have professional skills, they can complete route planning and target detection configuration by simply operating the web interface, which greatly reduces the operation threshold and configuration difficulty. At the same time, due to the use of mathematical algorithms and target detection algorithms with high real-time performance, the route and target detection settings can be adjusted instantly when needed, which improves real-time performance and flexibility. In addition, this method supports cross-end operation. Users can configure on the web side and then send the configuration information to the Android side, realizing seamless cross-platform operation and meeting the needs of different scenarios.

[0035] like Figure 2 As shown, the automatic route planning algorithm of this embodiment includes the following steps:

[0036] Step 1: Enter the irregular area.

[0037] Select points on Baidu Maps and connect them in the order of clicks to get the navigation area. The points selected are the vertices of the navigation area.

[0038] Step 2: Calculate the center point of the irregular area.

[0039] Calculate the center point of the irregular area in step 1. In this embodiment, first find the maximum longitude and minimum longitude involved in the area, then take the average of the maximum longitude and the minimum longitude as the longitude of the center point, and take the average of the maximum latitude and the minimum latitude as the latitude of the center point.

[0040] Step 3: Rotate the original area around the center point.

[0041] Convert the vertices of the original area into pixel coordinates on the map, calculate the new pixel coordinates obtained by rotating the pixel coordinates in a certain direction (the direction in the configuration), and then convert the new pixel coordinates into new longitude and latitude points to obtain the vertices of the new area, and connect the new vertices to obtain the new area.

[0042] Step 4: Calculate how many latitude lines the new area passes through based on the line distance.

[0043] Calculate the actual distance (in meters) corresponding to the difference between the maximum latitude and the minimum latitude of the new area, calculate the number of latitudes that this area passes through based on the actual distance and line distance, and then calculate the latitude difference between adjacent routes based on the number of routes and the difference between the maximum latitude and the minimum latitude.

[0044] Step 5: Select points based on the point spacing and expansion distance.

[0045] Use a linear function to calculate the intersection of each latitude line and the edge of the region. Each time the result is a polyline, that is, a route segment. Traverse each polyline and select points according to the point distance, that is, calculate the actual distance (in meters) corresponding to the difference between the maximum longitude and the minimum longitude of each polyline, and calculate the longitude difference corresponding to each unit distance; use the point distance and the longitude difference corresponding to the unit distance to calculate the interval between longitudes to select a point; connect the waypoints obtained from each polyline to obtain a new polyline. Then select points according to the external expansion distance, and the point selection method is the same as above.

[0046] Step 6: Generate a route based on the take-off point type.

[0047] First, take out four waypoints, namely the two endpoints of the first polyline and the two endpoints of the last polyline. Compare the latitude and longitude of the four points to find the northeast point, northwest point, southeast point, and southwest point. Find the corresponding point according to the take-off point type, and then connect the points in order to form a route.

[0048] It should be noted that this embodiment Figure 3 , 4 , 5, 6 and 7 are partial displays of the web page. Figure 3 It is the overall display of the web page. Figure 3 The function of issuing and sending routes realizes cross-terminal operations between the web and Android terminals. Figure 4 It is a drawn irregular area. Figure 5 It is a display of the regional configuration, mainly showing which fields the configuration items include. Figure 6 is the generated route, which contains many waypoints; the distance between two adjacent polylines is the line distance in the configuration, and the distance between two adjacent waypoints on each polyline is the point distance in the configuration. All point lines are within the area or at the edge of the area, so the outer expansion distance in the configuration is 0. Figure 7 It is the relevant information display of the waypoint.

[0049] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0050] The above-mentioned embodiments only express several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. A method for configuring cross-terminal UAV route waypoint automatic planning and target detection, characterized in that: include: Draw the navigation area and calculate the center point of the navigation area; Add regional route configuration, rotate the navigation area around the center point in a certain direction to get a new area; Calculate the number of latitude lines that the new area passes through based on the line distance in the configuration, and select points based on the point distance and outward expansion distance in the configuration; Connect the points in order according to the take-off point type in the configuration to form a route; Configure information for waypoints on the route; Send the area, configuration, waypoints and waypoint information to the Android terminal to realize the function of cross-terminal operation.

2. A method for configuring cross-terminal UAV route waypoint automatic planning and target detection as described in claim 1, characterized in that: The drawing of the navigation area and calculation of the center point of the navigation area are to draw the navigation area on Baidu Map and calculate the center point of the area according to the vertices of the area.

3. The method for configuring cross-terminal UAV route waypoint automatic planning and target detection as described in claim 1, characterized in that: The added area route configuration rotates the navigation area around the center point in a certain direction to obtain a new area, including point distance, line distance, heading, expansion distance, take-off point type, initial flight altitude, initial flight speed, initial waypoint action, initial waypoint action parameters and whether to return; the new area is obtained by first converting the area vertices into pixel coordinates, and then converting the pixel coordinates into longitude and latitude points after rotation.

4. The method for configuring cross-terminal UAV route waypoint automatic planning and target detection as described in claim 1, characterized in that: The method calculates the number of latitude lines that the new area passes through according to the line distance in the configuration, and selects points according to the point distance and the outward expansion distance in the configuration, including that the number of latitude lines is obtained by dividing the distance corresponding to the difference between the maximum latitude and the minimum latitude of the calculation area by the line distance; the points are obtained by using a mathematical linear function.

5. The method for configuring cross-terminal UAV route waypoint automatic planning and target detection as described in claim 1, characterized in that: The route is determined by connecting the waypoints in order according to the type of the take-off point.

6. A method for configuring cross-terminal UAV route waypoint automatic planning and target detection as described in claim 5, characterized in that: The take-off point types include northwest point, northeast point, southeast point and southwest point.

7. The method for configuring cross-terminal UAV route waypoint automatic planning and target detection as described in claim 1, characterized in that: The waypoint information includes the waypoint name, the waypoint flight altitude, the waypoint action and the target detection type.

8. The method for configuring cross-terminal UAV route waypoint automatic planning and target detection as described in claim 7, characterized in that: Waypoint actions and target detection types, including taking photos, staying, starting recording, ending recording, changing heading, changing gimbal pitch, starting / ending person detection, starting / ending vehicle detection, and starting / ending fireworks detection.

9. The method for configuring cross-terminal UAV route waypoint automatic planning and target detection as described in claim 1, characterized in that: The area, configuration, waypoints and waypoint information are sent to the Android terminal to realize the function of cross-terminal operation, including sending the area, configuration, waypoints and waypoint information to the Android terminal through MQTT, and using the same route generation algorithm as the web terminal on the Android terminal to make corresponding adjustments according to actual needs, thereby realizing the function of cross-terminal operation.

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