A method, device and medium for UAV route planning based on obstacle distance

Abstract

The present invention provides a method, device, and medium for planning a UAV route based on obstacle distance. The method comprises: determining a plurality of initial flight routes based on the starting grid coordinates and the destination grid coordinates of a target UAV; determining a safety interval corresponding to each target grid based on the distance between each target grid on each initial flight route and each obstacle in the target space; determining a grid safety level corresponding to each target grid based on the safety interval corresponding to each target grid; and determining a target flight route based on the grid safety level of each target grid and the grid safety level of the next target grid on the corresponding initial flight route. By comprehensively considering the safety level of obstacles in the target space for the target UAV's planned flight and the UAV's flight distance, the present invention improves the safety of the determined target flight route, thereby ensuring the UAV's flight safety.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicles (UAVs), and in particular to a method, device, and medium for planning a UAV route based on obstacle distance. Background Art

[0002] With the booming drone industry, drone flight volume continues to increase. According to statistics from the Civil Aviation Administration of China, in 2023, the cumulative flight hours of civilian drones nationwide reached 23.11 million, an increase of 11.8% year-on-year. The vast majority of these drones operate at low altitudes, and the increasing density of low-altitude flights has led to increasing safety concerns. Therefore, more scientific and rational planning of drone flight routes is necessary to improve the safety of low-altitude operations.

[0003] Traditional flight route planning methods, such as the A* algorithm, are based on heuristic search algorithms and are suitable for quickly searching for the shortest flight routes. However, since the flight environment of drones is mostly low-altitude airspace, where there may also be ground obstacles, when planning drone flight routes, the safety interval between the drone and obstacles must also be fully considered to reduce the probability of collisions between the drone and ground obstacles due to emergencies such as power outages or communication failures during flight. Traditional flight route planning methods do not focus on analyzing the safety risks of obstacles, lack consideration for the flight safety of drones, and are unable to fully guarantee the flight safety of drones. Summary of the Invention

[0004] In view of the above technical problems, the technical solution adopted by the present invention is:

[0005] According to one aspect of the present application, a method for planning a UAV route based on obstacle distance is provided, which is applied to a flight route planning system. The flight route planning system includes a target grid map corresponding to a target space, the target grid map includes a plurality of target grids, the target grid map corresponds to a grid coordinate system, and each target grid corresponds to a grid coordinate in the grid coordinate system.

[0006] The obstacle distance-based UAV route planning method described in this application includes the following steps:

[0007] Step S100: In response to receiving a flight route planning request from a target UAV, determining a plurality of initial flight routes from the starting grid to the destination grid according to the starting grid coordinates of the starting grid and the destination grid coordinates of the destination grid included in the flight route planning request;

[0008] Step S200: Obtain the distance between each target grid and each obstacle in the target space, and obtain a distance list set A = (A1, A2, ..., A m,...,A h );A m =(A m1 ,A m2 ,...,A mj ,...,A mk ); where m = 1, 2, ..., h; h is the number of target grids; A m is the distance list corresponding to the mth target grid; j = 1, 2, ..., k; k is the number of obstacles in the target space; A mj is the distance between the mth target grid and the jth obstacle in the target space;

[0009] Step S300: MIN(A m ) is determined as the safety interval D corresponding to the mth target grid m ; Wherein, MIN() is a preset minimum value determination function;

[0010] Step S400: If 0 < D m ≤d1, then the grid security level corresponding to the mth target grid is determined to be c1; if d1<D m ≤d2, then the grid security level corresponding to the mth target grid is determined to be c2; if D m > d2, then the grid security level corresponding to the mth target grid is determined to be c3; where d1 and d2 are preset safety interval thresholds; c3>c2>c1>0;

[0011] Step S500: Determine a target flight route from a plurality of initial flight routes based on the grid safety level of each target grid on each initial flight route and the grid safety level of the key grid corresponding to the target grid; the key grid corresponding to the target grid is the next target grid on the corresponding initial flight route.

[0012] In an exemplary embodiment of the present application, step S100 includes:

[0013] Step S110: The grid coordinates are (x a ,y a )、(x a ,y b )、(x b ,y a ) and (x b ,y b The target flight area is determined as the target grid area; a is the horizontal coordinate of the starting grid coordinate; y a is the vertical coordinate of the starting grid coordinate; x b is the horizontal coordinate of the target grid coordinate; bis the ordinate of the destination grid coordinate;

[0014] The starting grid corresponding to the starting grid coordinates is the target grid of the starting position point of the target UAV in the target grid map; the destination grid corresponding to the destination grid coordinates is the target grid of the destination position point of the target UAV in the target grid map;

[0015] Step S120 , according to a preset flight route planning algorithm, starting from the starting grid, traversing each target grid in the target flight area, and ending at the destination grid, to determine a number of initial flight routes.

[0016] In an exemplary embodiment of the present application, step S500 includes:

[0017] Step S510: Determine the safety level cost value and safety level cost coefficient corresponding to each target grid according to the grid safety level of each target grid on each initial flight route and the grid safety level of the key grid corresponding to the target grid;

[0018] Step S520: Determine an estimated cost value for each target grid on each initial flight route based on the starting grid coordinates, the destination grid coordinates, and each corresponding grid coordinate on each initial flight route;

[0019] Step S530: Determine a total cost corresponding to each initial flight route based on the estimated cost values, safety level cost values, and safety level cost coefficients of a plurality of target grids on each initial flight route;

[0020] Step S540: Determine the initial flight route with the smallest total cost as the target flight route.

[0021] In an exemplary embodiment of the present application, the distance between each target grid and each obstacle in the target space is determined by the following steps:

[0022] Step S201: Get the coordinates of the center of each target grid in the grid coordinate system, and obtain a grid center coordinate list I = (I1, I2, ..., I m ,...,I h );I m =(I m1 ,I m2 ); where I m is the coordinate of the center of the mth target grid in the grid coordinate system; I m1 For I m The horizontal axis, I m2 For I m The vertical coordinate of

[0023] Step S202: Obtain the coordinates of the center of each obstacle in the target space in the grid coordinate system, and obtain the obstacle center coordinate list L = (L1, L2, ..., L j ,...,L k );L j =(L j1 ,L j2 ); where L j is the coordinate of the center of the j-th obstacle in the target space in the grid coordinate system; L j1 For L j The horizontal axis, L j2 For L j The vertical coordinate of

[0024] Step S203: Determine the distance A between the mth target grid and the jth obstacle in the target space. mj =((I m1 -L j1 ) 2 +(I m2 -L j2 ) 2 ) 1 / 2 .

[0025] In an exemplary embodiment of the present application, step S510 includes:

[0026] Step S511: Obtain the grid security levels corresponding to several target grids between the starting grid and the destination grid on each initial flight route, and obtain a grid security level list set V = (V1, V2, ..., V i ,...,V n );V i =(V i1 ,V i2 ,...,V ig ,...,V if(i) ); where i = 1, 2, ..., n; n is the number of initial flight routes; V i is the grid safety level list corresponding to the i-th initial flight route; g = 1, 2, ..., f(i); f(i) is the number of target grids between the starting grid and the destination grid on the i-th initial flight route; V ig is the grid safety level corresponding to the gth target grid between the starting grid and the destination grid on the i-th initial flight route;

[0027] Step S512: According to V ig and V i(g+1) , determine the safety level change O corresponding to the gth target grid between the starting grid and the destination grid on the i-th initial flight route ig ;

[0028] Step S513: Determine the safety level cost value corresponding to the gth target grid between the starting grid and the destination grid on the i-th initial flight route. Among them, e is a natural constant;

[0029] Step S514: If V i(g+1) If c1 is used, the safety level cost coefficient G corresponding to the g-th target grid between the starting grid and the destination grid on the i-th initial flight route is determined. ig =t×c3×O ig ;

[0030] If V i(g+1) If c2 is the value, then the safety level cost coefficient G corresponding to the g-th target grid between the starting grid and the destination grid on the i-th initial flight route is determined. ig =t×c2×O ig ;

[0031] If V i(g+1) If c3 is used, the safety level cost coefficient G corresponding to the g-th target grid between the starting grid and the destination grid on the i-th initial flight route is determined. ig =t×c1×O ig ;

[0032] Among them, t is the preset security level cost weight coefficient.

[0033] In an exemplary embodiment of the present application, step S512 includes:

[0034] Step S5121: If V ig is c3, and V i(g+1) is c3, then

[0035] If V ig is c2, and V i(g+1) is c3, then

[0036] If V ig is c1, and V i(g+1) is c3, then

[0037] If V ig is c1, and V i(g+1) is c2, then

[0038] If V ig is c2, and V i(g+1) is c2, then

[0039] If Vig is c3, and V i(g+1) is c2, then

[0040] If V ig is c1, and V i(g+1) is c1, then

[0041] If V ig is c2, and V i(g+1) is c1, then

[0042] If V ig is c3, and V i(g+1) is c1, then O ig =c3.

[0043] In an exemplary embodiment of the present application, step S520 includes:

[0044] Step S521: Obtain the grid coordinates corresponding to several target grids between the starting grid and the destination grid on each initial flight route, and obtain the initial flight route coordinate list set E = (E1, E2, ..., E i ,...,E n );E i =(E i1 ,E i2 ,...,E ig ,...,E if(i) );E ig =(E ig1 ,E ig2 ); where E i is the initial flight route coordinate list corresponding to the i-th initial flight route; E ig is the grid coordinate of the gth target grid between the starting grid and the destination grid on the i-th initial flight route; E ig1 For E ig The horizontal axis of E ig2 For E ig The vertical coordinate of

[0045] Step S522: Determine the route along the i-th initial flight path from the starting grid to E ig The corresponding cumulative cost value H at the target grid ig =|E ig1 -x a |+|E ig2 -y a |;

[0046] Step S523: Determine the route along the i-th initial flight path from E igThe corresponding key cost value M from the target grid to the destination grid ig =((E ig1 -x b ) 2 +(E ig2 -y b ) 2 ) 1 / 2 ;

[0047] Step S524: If H ig ≤M ig , then determine E ig The corresponding position coefficient T at the target grid ig =M ig / H ig Otherwise, determine E ig The corresponding position coefficient T at the target grid ig =H ig / M ig ;

[0048] Step S525: Determine E ig The cumulative cost coefficient of the corresponding target grid Among them, e is a natural constant;

[0049] Step S526: Determine E ig The corresponding key cost coefficient W of the target grid ig =1-U ig ;

[0050] Step S527: According to U ig and W ig , determine E ig The estimated cost value Z of the corresponding target grid ig =U ig ×H ig +W ig ×M ig .

[0051] In an exemplary embodiment of the present application, step S530 includes:

[0052] Step S531: According to Z ig 、P ig and G ig , determine the total cost B corresponding to the i-th initial flight route i =∑ f(i) g＝1 (Z ig +P ig ×G ig ).

[0053] According to one aspect of the present application, a non-transitory computer-readable storage medium is provided, wherein the storage medium stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the aforementioned obstacle distance-based drone route planning method.

[0054] According to one aspect of the present application, an electronic device is provided, including a processor and the aforementioned non-transitory computer-readable storage medium.

[0055] The present invention has at least the following beneficial effects:

[0056] The obstacle distance-based drone route planning method of the present invention determines several initial flight routes based on the starting grid coordinates and destination grid coordinates of the target drone. The safety interval corresponding to each target grid is then determined based on the distance between each target grid on each initial flight route and each obstacle in the target space. The grid safety level corresponding to each target grid is then determined based on the safety interval corresponding to each target grid. The target flight route is then determined based on the grid safety level of each target grid and the grid safety level of the next target grid on its corresponding initial flight route. By comprehensively considering the safety level of obstacles in the target space for the target drone's planned flight and the drone's flight distance, the safety of the determined target flight route is improved, reducing the serious consequences of drone damage caused by collisions with ground obstacles due to sudden accidents such as power outages or communication failures during flight, thereby ensuring drone flight safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0058] Figure 1 A flowchart of a method for planning a UAV route based on obstacle distance provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0059] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 those skilled in the art without making any creative efforts shall fall within the scope of protection of the present invention.

[0060] With the increasing number of drones in flight, flight safety considerations have necessitated flight management, specifically flight route planning, to ensure each drone follows its own flight path. The ultra-low-altitude flight environment in which drones operate has become increasingly complex and dynamic with the development of the drone industry. Therefore, to ensure the safety of drones during flight, flight routes must be rationally and safely planned. This paper proposes a drone route planning method based on obstacle distance.

[0061] A UAV route planning method based on obstacle distance is applied to a flight route planning system. The flight route planning system includes a target grid map corresponding to a target space. The target grid map includes a plurality of target grids. The target grid map corresponds to a grid coordinate system. Each target grid has corresponding grid coordinates in the grid coordinate system.

[0062] The target space is the space where the target UAV flies.

[0063] like Figure 1 As shown, the obstacle distance-based UAV route planning method described in this application includes the following steps:

[0064] Step S100: In response to receiving a flight route planning request from a target UAV, determining a plurality of initial flight routes from the starting grid to the destination grid according to the starting grid coordinates of the starting grid and the destination grid coordinates of the destination grid included in the flight route planning request;

[0065] Furthermore, step S100 includes steps S110 to S120:

[0066] Step S110: The grid coordinates are (x a ,y a )、(x a ,y b )、(x b ,y a ) and (x b ,y b The target flight area is determined as the target grid area; a is the horizontal coordinate of the starting grid coordinate; y a is the vertical coordinate of the starting grid coordinate; x b is the horizontal coordinate of the target grid coordinate; b is the ordinate of the destination grid coordinate;

[0067] Among them, the starting grid corresponding to the starting grid coordinates is the target grid of the starting position point of the target UAV in the target grid map; the destination grid corresponding to the destination grid coordinates is the target grid of the destination position point of the target UAV in the target grid map.

[0068] Step S120 , according to a preset flight route planning algorithm, starting from the starting grid, traversing each target grid in the target flight area, and ending at the destination grid, to determine a number of initial flight routes.

[0069] The preset flight route planning algorithm may adopt an existing path planning algorithm, such as the A-star algorithm.

[0070] Step S200: Obtain the distance between each target grid and each obstacle in the target space, and obtain a distance list set A = (A1, A2, ..., A m ,...,A h );A m =(A m1 ,A m2 ,...,A mj ,...,A mk ); where m = 1, 2, ..., h; h is the number of target grids; A m is the distance list corresponding to the mth target grid; j = 1, 2, ..., k; k is the number of obstacles in the target space; A mj is the distance between the mth target grid and the jth obstacle in the target space;

[0071] The distance between each target grid and each obstacle in the target space is determined through steps S201 to S203:

[0072] Step S201: Get the coordinates of the center of each target grid in the grid coordinate system, and obtain a grid center coordinate list I = (I1, I2, ..., I m ,...,I h );I m =(I m1 ,I m2 ); where I m is the coordinate of the center of the mth target grid in the grid coordinate system; I m1 For I m The horizontal axis, I m2 For I m The vertical coordinate of

[0073] Step S202: Obtain the coordinates of the center of each obstacle in the target space in the grid coordinate system, and obtain the obstacle center coordinate list L = (L1, L2, ..., L j ,...,Lk );L j =(L j1 ,L j2 ); where L j is the coordinate of the center of the j-th obstacle in the target space in the grid coordinate system; L j1 For L j The horizontal axis, L j2 For L j The vertical coordinate of

[0074] The obstacle in the target space may be an obstacle on the ground of the target space whose height is greater than a preset height threshold.

[0075] Step S203: Determine the distance A between the mth target grid and the jth obstacle in the target space. mj =((I m1 -L j1 ) 2 +(I m2 -L j2 ) 2 ) 1 / 2 .

[0076] Step S300: MIN(A m ) is determined as the safety interval D corresponding to the mth target grid m ; Wherein, MIN() is a preset minimum value determination function;

[0077] Step S400: If 0 < D m ≤d1, then the grid security level corresponding to the mth target grid is determined to be c1;

[0078] If d1<D m ≤d2, then the grid security level corresponding to the mth target grid is determined to be c2;

[0079] If D m >d2, then the grid security level corresponding to the mth target grid is determined to be c3;

[0080] Where d1 and d2 are preset safety interval thresholds; c3>c2>c1>0;

[0081] c1, c2, and c3 can be determined by staff based on existing grid safety level determination methods, or they can be set by staff themselves based on civil aviation drone flight standards or rules.

[0082] Step S500: Determine a target flight route from a plurality of initial flight routes according to the grid safety level of each target grid on each initial flight route and the grid safety level of the key grid corresponding to the target grid.

[0083] The key grid corresponding to the target grid is the next target grid of the target grid on its corresponding initial flight route.

[0084] Furthermore, step S500 includes steps S510 to S540:

[0085] Step S510: Determine the safety level cost value and safety level cost coefficient corresponding to each target grid according to the grid safety level of each target grid on each initial flight route and the grid safety level of the key grid corresponding to the target grid;

[0086] Further, step S510 includes steps S511 to S514:

[0087] Step S511: Obtain the grid security levels corresponding to several target grids between the starting grid and the destination grid on each initial flight route, and obtain a grid security level list set V = (V1, V2, ..., V i ,...,V n );V i =(V i1 ,V i2 ,...,V ig ,...,V if(i) ); where i = 1, 2, ..., n; n is the number of initial flight routes; V i is the grid safety level list corresponding to the i-th initial flight route; g = 1, 2, ..., f(i); f(i) is the number of target grids between the starting grid and the destination grid on the i-th initial flight route; V ig is the grid safety level corresponding to the gth target grid between the starting grid and the destination grid on the i-th initial flight route;

[0088] Step S512: According to V ig and V i(g+1) , determine the safety level change O corresponding to the gth target grid between the starting grid and the destination grid on the i-th initial flight route ig ;

[0089] Further, step S512 includes step S5121:

[0090] Step S5121: If V ig is c3, and V i(g+1) is c3, then

[0091] If V ig is c2, and V i(g+1) is c3, then

[0092] If V ig is c1, and V i(g+1) is c3, then

[0093] If V ig is c1, and V i(g+1) is c2, then

[0094] If V ig is c2, and V i(g+1) is c2, then

[0095] If V ig is c3, and V i(g+1) is c2, then

[0096] If V ig is c1, and V i(g+1) is c1, then

[0097] If V ig is c2, and V i(g+1) is c1, then

[0098] If V ig is c3, and V i(g+1) is c1, then O ig =c3.

[0099] Step S513: Determine the safety level cost value corresponding to the gth target grid between the starting grid and the destination grid on the i-th initial flight route. Among them, e is a natural constant;

[0100] Step S514: If V i(g+1) If c1 is used, the safety level cost coefficient G corresponding to the g-th target grid between the starting grid and the destination grid on the i-th initial flight route is determined. ig =t×c3×O ig ;

[0101] If V i(g+1) If c2 is the value, then the safety level cost coefficient G corresponding to the g-th target grid between the starting grid and the destination grid on the i-th initial flight route is determined. ig =t×c2×O ig ;

[0102] If V i(g+1) If c3 is used, the safety level cost coefficient G corresponding to the g-th target grid between the starting grid and the destination grid on the i-th initial flight route is determined. ig=t×c1×O ig ;

[0103] Among them, t is the preset security level cost weight coefficient.

[0104] Step S520: Determine an estimated cost value for each target grid on each initial flight route based on the starting grid coordinates, the destination grid coordinates, and each corresponding grid coordinate on each initial flight route;

[0105] Further, step S520 includes steps S521 to S527:

[0106] Step S521: Obtain the grid coordinates corresponding to several target grids between the starting grid and the destination grid on each initial flight route, and obtain the initial flight route coordinate list set E = (E1, E2, ..., E i ,...,E n );E i =(E i1 ,E i2 ,...,E ig ,...,E if(i) );E ig =(E ig1 ,E ig2 ); where E i is the initial flight route coordinate list corresponding to the i-th initial flight route; E ig is the grid coordinate of the gth target grid between the starting grid and the destination grid on the i-th initial flight route; E ig1 For E ig The horizontal axis of E ig2 For E ig The vertical coordinate of

[0107] Step S522: Determine the route along the i-th initial flight path from the starting grid to E ig The corresponding cumulative cost value H at the target grid ig =|E ig1 -x a |+|E ig2 -y a |;

[0108] Step S523: Determine the route along the i-th initial flight path from E ig The corresponding key cost value M from the target grid to the destination grid ig =((E ig1 -x b ) 2 +(E ig2 -y b ) 2 ) 1 / 2 ;

[0109] Step S524: If H ig ≤M ig , then determine E ig The corresponding position coefficient T at the target grid ig =M ig / H ig Otherwise, determine E ig The corresponding position coefficient T at the target grid ig =H ig / M ig ;

[0110] Step S525: Determine E ig The cumulative cost coefficient of the corresponding target grid Among them, e is a natural constant;

[0111] Step S526: Determine E ig The corresponding key cost coefficient W of the target grid ig =1-U ig ;

[0112] Step S527: According to U ig and W ig , determine E ig The estimated cost value Z of the corresponding target grid ig =U ig ×H ig +W ig ×M ig .

[0113] Step S530: Determine a total cost corresponding to each initial flight route based on the estimated cost values, safety level cost values, and safety level cost coefficients of a plurality of target grids on each initial flight route;

[0114] Wherein, step S530 includes step S531:

[0115] Step S531: According to Z ig 、P ig and G ig , determine the total cost B corresponding to the i-th initial flight route i =∑ f(i) g＝1 (Z ig +P ig ×G ig ).

[0116] Step S540: Determine the initial flight route with the smallest total cost as the target flight route.

[0117] The obstacle distance-based drone route planning method of the present invention determines several initial flight routes based on the starting grid coordinates and destination grid coordinates of the target drone. Then, based on the grid safety level of each target grid on the initial flight route and the grid safety level of the key grid whose grid coordinates correspond to the target grid, the safety level cost value, safety level cost coefficient, and estimated cost value corresponding to the target grid are determined. The total cost value corresponding to each initial flight route is then determined, and the initial flight route with the smallest total cost value is determined as the target flight route. By comprehensively considering the safety levels of obstacles within the target space of the target drone's planned flight, the safety of the determined target flight route is improved, avoiding serious consequences caused by sudden accidents during the drone's flight and ensuring the drone's flight safety.

[0118] An embodiment of the present invention further provides a computer program product comprising program code. When the program product is run on an electronic device, the program code is used to enable the electronic device to execute the steps of the method according to various exemplary embodiments of the present invention described above in this specification.

[0119] Furthermore, although the steps of the method of the present disclosure are described in a particular order in the accompanying drawings, this does not require or imply that the steps must be performed in this particular order, or that all steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps.

[0120] Through the description of the above embodiments, it is easy for those skilled in the art to understand that the example embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a mobile terminal, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

[0121] In an exemplary embodiment of the present disclosure, an electronic device capable of implementing the above method is also provided.

[0122] Those skilled in the art will appreciate that various aspects of the present invention may be implemented as systems, methods, or program products. Therefore, various aspects of the present invention may be implemented in the following forms: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software implementations, which may be collectively referred to herein as "circuits," "modules," or "systems."

[0123] The electronic device according to this embodiment of the present invention is merely an example and should not limit the functions and scope of use of the embodiments of the present invention.

[0124] The electronic device is implemented as a general-purpose computing device. Components of the electronic device may include, but are not limited to, the aforementioned at least one processor, the aforementioned at least one storage, and a bus connecting different system components (including the storage and the processor).

[0125] The storage stores program codes, which can be executed by the processor, so that the processor performs the steps according to various exemplary embodiments of the present invention described in the above “Exemplary Method” section of this specification.

[0126] The memory may include readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory, and may further include read only memory (ROM).

[0127] The storage may also include a program / utility having a set (at least one) of program modules, such program modules including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0128] The bus may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures.

[0129] The electronic device may also communicate with one or more external devices (e.g., a keyboard, a pointing device, a Bluetooth device, etc.), one or more devices that enable a user to interact with the electronic device, and / or any device that enables the electronic device to communicate with one or more other computing devices (e.g., a router, a modem, etc.). Such communication may be performed via an input / output (I / O) interface. Furthermore, the electronic device may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter.

[0130] Through the description of the above embodiments, it is easy for those skilled in the art to understand that the example embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

[0131] In exemplary embodiments of the present disclosure, a computer-readable storage medium is also provided, on which is stored a program product capable of implementing the aforementioned methods of this specification. In some possible implementations, various aspects of the present invention may also be implemented in the form of a program product comprising program code. When the program product is executed on a terminal device, the program code is configured to cause the terminal device to execute the steps according to various exemplary embodiments of the present invention described in the "Exemplary Methods" section of this specification.

[0132] The program product may be implemented in any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0133] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0134] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0135] The program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, and the like, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a stand-alone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving a remote computing device, the remote computing device may be connected to the user computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0136] Furthermore, the above-described figures are merely illustrative of the processes included in the method according to exemplary embodiments of the present invention and are not intended to be limiting. It is readily understood that the processes illustrated in the above-described figures do not indicate or limit the temporal order of these processes. Furthermore, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0137] It should be noted that although several modules or units of the device for action execution are mentioned in the detailed description above, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above can be concretized in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided into multiple modules or units to be concretized.

[0138] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A method for UAV route planning based on obstacle distance, characterized in that: Applied to a flight route planning system, the flight route planning system includes a target grid map corresponding to a target space, the target grid map includes a plurality of target grids, the target grid map corresponds to a grid coordinate system, and each target grid corresponds to a grid coordinate in the grid coordinate system; The method comprises the following steps: Step S100: In response to receiving a flight route planning request from a target UAV, determining a plurality of initial flight routes from the starting grid to the destination grid according to the starting grid coordinates of the starting grid and the destination grid coordinates of the destination grid included in the flight route planning request; Step S200: Obtain the distance between each target grid and each obstacle in the target space, and obtain a distance list set A = (A1, A2, ..., A m ,...,A h );A m =(A m1 ,A m2 ,...,A mj ,...,A mk ); wherein, m=1, 2, ..., h; h is the number of the target grids; A m is the distance list corresponding to the mth target grid; j = 1, 2, ..., k; k is the number of obstacles in the target space; A mj is the distance between the mth target grid and the jth obstacle in the target space; Step S300: MIN(A m ) is determined as the safety interval D corresponding to the mth target grid m ; Wherein, MIN() is a preset minimum value determination function; Step S400: If 0 < D m ≤d1, then determine the grid security level corresponding to the mth target grid as c1; if d1<D m ≤d2, then determine the grid security level corresponding to the mth target grid as c2; if D m > d2, then the grid security level corresponding to the mth target grid is determined to be c3; wherein d1 and d2 are preset safety interval thresholds; c3>c2>c1>0; Step S500: Determine a target flight route from a plurality of initial flight routes based on the grid safety level of each target grid on each initial flight route and the grid safety level of the key grid corresponding to the target grid; the key grid corresponding to the target grid is the next target grid on the corresponding initial flight route.

2. The method according to claim 1, characterized in that The step S100 includes: Step S110: The grid coordinates are (x a ,y a )、(x a ,y b )、(x b ,y a ) and (x b ,y b The target flight area is determined as the target grid area; a is the horizontal coordinate of the starting grid coordinate; a is the ordinate of the starting grid coordinate; b is the horizontal coordinate of the target grid coordinate; b The ordinate of the target grid coordinate; The starting grid corresponding to the starting grid coordinates is the target grid of the starting position point of the target UAV in the target grid map; the destination grid corresponding to the destination grid coordinates is the target grid of the destination position point of the target UAV in the target grid map; Step S120 , according to a preset flight route planning algorithm, starting from the starting grid, traversing each target grid in the target flight area, and ending at the destination grid, to determine a number of initial flight routes.

3. The method according to claim 2, characterized in that The step S500 includes: Step S510: Determine a safety level cost value and a safety level cost coefficient corresponding to each target grid according to the grid safety level of each target grid on each initial flight route and the grid safety level of the key grid corresponding to the target grid; Step S520: determining an estimated cost value of each target grid on each of the initial flight routes based on the starting grid coordinates, the destination grid coordinates, and each corresponding grid coordinate on each of the initial flight routes; Step S530: determining a total cost corresponding to each of the initial flight routes based on the estimated cost values, safety level cost values, and safety level cost coefficients of the target grids on each of the initial flight routes; Step S540: Determine the initial flight route with the smallest total cost as the target flight route.

4. The method according to claim 3, characterized in that The distance between each target grid and each obstacle in the target space is determined by the following steps: Step S201: Obtain the coordinates of the center of each target grid in the grid coordinate system, and obtain a grid center coordinate list I = (I1, I2, ..., I m ,...,I h );I m =(I m1 ,I m2 ); where I m is the coordinate of the center of the mth target grid in the grid coordinate system; m1 For I m The horizontal axis, I m2 For I m The vertical coordinate of Step S202: Obtain the coordinates of the center of each obstacle in the target space in the grid coordinate system, and obtain the obstacle center coordinate list L = (L1, L2, ..., L j ,...,L k );L j =(L j1 ,L j2 ); where L j is the coordinate of the center of the j-th obstacle in the target space in the grid coordinate system; L j1 For L j The horizontal axis, L j2 For L j The vertical coordinate of Step S203: Determine the distance A between the mth target grid and the jth obstacle in the target space. mj =((I m1 -L j1 ) 2 +(I m2 -L j2 ) 2 ) 1 / 2 .

5. The method according to claim 3, characterized in that The step S510 includes: Step S511: Obtain the grid security levels corresponding to several target grids between the starting grid and the destination grid on each of the initial flight routes, and obtain a grid security level list set V = (V1, V2, ..., V i ,...,V n );V i =(V i1 ,V i2 ,...,V ig ,...,V if(i) ); where i = 1, 2, ..., n; n is the number of the initial flight routes; V i is a grid safety level list corresponding to the i-th initial flight route; g = 1, 2, ..., f(i); f(i) is the number of target grids between the starting grid and the destination grid on the i-th initial flight route; V ig is the grid safety level corresponding to the g-th target grid between the starting grid and the destination grid on the i-th initial flight route; Step S512: According to V ig and V i(g+1) , determine the safety level change O corresponding to the gth target grid between the starting grid and the destination grid on the i-th initial flight route ig ; Step S513: Determine the safety level cost value corresponding to the gth target grid between the starting grid and the destination grid on the i-th initial flight route. Among them, e is a natural constant; Step S514: If V i(g+1) If c1 is c1, then determine the safety level cost coefficient G corresponding to the g-th target grid between the starting grid and the destination grid on the i-th initial flight route ig =t×c3×O ig ; If V i(g+1) If c2 is c2, then determine the safety level cost coefficient G corresponding to the g-th target grid between the starting grid and the destination grid on the i-th initial flight route ig =t×c2×O ig ; If V i(g+1) If c3 is c, then determine the safety level cost coefficient G corresponding to the g-th target grid between the starting grid and the destination grid on the i-th initial flight route. ig =t×c1×O ig ; Among them, t is the preset security level cost weight coefficient.

6. The method according to claim 5, characterized in that The step S512 includes: Step S5121: If V ig is c3, and V i(g+1) is c3, then If V ig is c2, and V i(g+1) is c3, then If V ig is c1, and V i(g+1) is c3, then If V ig is c1, and V i(g+1) is c2, then If V ig is c2, and V i(g+1) is c2, then If V ig is c3, and V i(g+1) is c2, then If V ig is c1, and V i(g+1) is c1, then If V ig is c2, and V i(g+1) is c1, then If V ig is c3, and V i(g+1) is c1, then O ig =c3.

7. The method according to claim 6, characterized in that The step S520 includes: Step S521: Obtain the grid coordinates corresponding to several target grids between the starting grid and the destination grid on each of the initial flight routes, and obtain the initial flight route coordinate list set E = (E1, E2, ..., E i ,...,E n );E i =(E i1 ,E i2 ,...,E ig ,...,E if(i) );E ig =(E ig1 ,E ig2 ); where E i is the initial flight route coordinate list corresponding to the i-th initial flight route; E ig is the grid coordinate corresponding to the gth target grid between the starting grid and the destination grid on the i-th initial flight route; E ig1 For E ig The horizontal axis of E ig2 For E ig The vertical coordinate of Step S522: Determine the route along the initial flight path from the starting grid to E. ig The corresponding cumulative cost value H at the target grid ig =|E ig1 -x a |+|E ig2 -y a |; Step S523: Determine the route along the i-th initial flight path from E ig The key cost value M from the corresponding target grid to the destination grid ig =((E ig1 -x b ) 2 +(E ig2 -y b ) 2 ) 1 / 2 ; Step S524: If H ig ≤M ig , then determine E ig The corresponding position coefficient T at the target grid ig =M ig / H ig Otherwise, determine E ig The corresponding position coefficient T at the target grid ig =H ig / M ig ; Step S525: Determine E ig The cumulative cost coefficient of the corresponding target grid Among them, e is a natural constant; Step S526: Determine E ig The corresponding key cost coefficient W of the target grid ig =1-U ig ; Step S527: According to U ig and W ig , determine E ig The estimated cost value Z of the corresponding target grid ig =U ig ×H ig +W ig ×M ig .

8. The method according to claim 7, characterized in that The step S530 includes: Step S531: According to Z ig 、P ig and G ig , determine the total cost B corresponding to the i-th initial flight route i =∑ f(i) g＝1 (Z ig +P ig ×G ig ).

9. A non-transitory computer-readable storage medium, wherein at least one instruction or at least one program is stored in the storage medium, characterized in that: The at least one instruction or the at least one program is loaded and executed by the processor to implement the drone route planning method based on obstacle distance as described in any one of claims 1-8.

10. An electronic device, characterized in that: The device comprises a processor and the non-transitory computer-readable storage medium as claimed in claim 9.

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