Method for determining take-off and landing area of unmanned aerial vehicle and related device

Abstract

The embodiment of the invention discloses a method for determining a take-off and landing area of an unmanned aerial vehicle and a related device, which are used for automatically determining the take-off and landing area. The method comprises the steps of determining a target area corresponding to a specified area on a digital map according to environment information of the specified area; dividing the target area to obtain a plurality of sub-areas; for each sub-region, a plurality of airport regions are generated on the digital map based on an equidistant arrangement algorithm, and at least preset proportion parts of the airport regions are overlapped with the sub-regions; for each airport area in the sub-areas, performing offset processing on the airport area according to an offset point generated based on an offset arrangement algorithm; and for each airport area, determining a respective target take-off and landing area in the airport area.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of drones, and in particular to a method for determining a take-off and landing area of ​​a drone and related devices. Background Art

[0002] With the continuous development of drone technology, drones have been widely used in aerial photography, agriculture, environmental monitoring, infrastructure inspection and other fields. They have the advantages of high flexibility and low cost, which improves the efficiency of tasks. Among them, in order to ensure safety, it is necessary to carefully select the take-off and landing area of ​​the drone. The existing solution is to make subjective judgments based on the personal experience of the operator to complete the selection of the take-off and landing area of ​​the drone.

[0003] However, in the existing solution, the drone take-off and landing areas are selected manually. In the scenario of large-scale drone applications, manual selection is relatively subjective, the safety of the manually selected drone take-off and landing areas cannot be guaranteed, and the efficiency of manual selection is low, which cannot meet the actual mission requirements. Summary of the invention

[0004] The embodiments of the present application provide a method and a related device for determining a take-off and landing area of ​​a UAV, which are used to automatically determine a take-off and landing area.

[0005] A first aspect of an embodiment of the present application provides a method for determining a take-off and landing area of ​​a drone, comprising:

[0006] Determining a target area corresponding to the designated area on a digital map according to environmental information of the designated area;

[0007] Dividing the target area to obtain a plurality of sub-areas;

[0008] For each of the sub-regions, generating a plurality of airport regions on the digital map based on an equidistant arrangement algorithm, wherein at least a preset proportion of the airport region overlaps with the sub-region;

[0009] For each of the airport areas in the sub-areas, performing an offset process on the airport area according to an offset point generated based on an offset arrangement algorithm;

[0010] For each of the airport areas, a respective target take-off and landing area is determined within the airport area.

[0011] Optionally, before determining the target area corresponding to the designated area on the digital map according to the environmental information of the designated area, the method further includes:

[0012] Obtaining the environmental information to be processed and the correction information of the designated area;

[0013] The environmental information to be processed is corrected by using the correction information, and noise is removed and the format is unified to obtain the environmental information of the designated area.

[0014] Optionally, the target area is divided into multiple sub-areas, including:

[0015] An origin is randomly generated in the target area, and based on the origin and a predetermined direction, a dividing line is generated at every preset angle, so as to divide the target area into a plurality of sub-areas through the dividing lines;

[0016] or,

[0017] The target area is divided into a plurality of sub-areas based on at least one predetermined transverse dividing line and / or at least one predetermined longitudinal dividing line.

[0018] Optionally, for each of the sub-regions, generating a plurality of airport regions on the digital map based on an equidistant arrangement algorithm includes:

[0019] For each of the sub-areas, a first airport area is generated on the digital map, the airport area is circular on the digital map, and the radius of the first airport area is one quarter of the maximum mileage of the drone of the specified model;

[0020] On the digital map, at least one second airport area is generated with equal distance in a preset first direction based on the first airport area, and at least one third airport area is generated with equal distance in a preset second direction based on the first airport area and the second airport area, and the radius of the second airport area and the third airport area are both one-fourth of the maximum mileage of the drone of the specified model;

[0021] or,

[0022] For each of the sub-regions, a plurality of the airport regions are generated at equal distances within the sub-region and do not overlap with each other.

[0023] Optionally, for each of the airport regions in the sub-regions, performing an offset process on the airport region according to an offset point generated based on an offset arrangement algorithm includes:

[0024] For each of the airport areas in the sub-areas, a plurality of discrete points are randomly generated in an offset area, wherein the offset area is the difference between the airport area and the calculation area, and the calculation area is the intersection area of ​​the airport area and other airport areas;

[0025] Calculating according to the coordinate information of the plurality of discrete points to obtain a center point, and determining the offset point at a target distance from the center point, wherein the target distance is a randomly generated distance;

[0026] offset the airport area to a location of a circle with the offset point as the center and the radius of the airport area as the radius;

[0027] or,

[0028] For each of the airport areas in the sub-areas, the offset point is determined at a target distance from the center of the airport area, and the airport area is offset based on the offset point, and the target distance is a randomly generated distance.

[0029] Optionally, after generating a plurality of airport areas on the digital map based on an equidistant arrangement algorithm for each of the sub-regions, and before performing an offset process on each of the airport areas in the sub-regions according to an offset point generated based on an offset arrangement algorithm, the method further comprises:

[0030] Determine whether the coverage rate is greater than a first preset threshold, the coverage rate being a ratio of an area of ​​an intersection of a calculation area and the sub-area to an area of ​​the sub-area, the calculation area being a union area of ​​all the airport areas;

[0031] If not, generating at least one fourth airport area on the digital map so that the coverage rate is greater than the first preset threshold, and the radius of the fourth airport area is less than one quarter of the maximum mileage of the drone of the specified model;

[0032] If yes, then executing the first target step, wherein the first target step is to perform an offset process on each of the airport areas in the sub-areas according to the offset points generated based on the offset arrangement algorithm;

[0033] After performing offset processing on each of the airport areas in the sub-areas according to the offset points generated based on the offset arrangement algorithm, and before determining a respective target take-off and landing area within the airport area for each of the airport areas, the method further includes:

[0034] Determining whether the coverage rate is greater than a second preset threshold, where the second preset threshold is greater than the first preset threshold;

[0035] If it is less than or equal to, return to execute the first target step until the coverage rate is greater than the second preset threshold;

[0036] If it is greater, the second target step is executed, and the second target step is to determine the respective target take-off and landing areas within the airport area for each of the airport areas.

[0037] Optionally, for each of the airport areas, determining a respective target take-off and landing area within the airport area includes:

[0038] For each of the airport areas, randomly generating a plurality of candidate take-off and landing areas in the airport area;

[0039] Obtaining index values ​​of a plurality of preset indexes for each of the candidate take-off and landing areas according to the environmental information;

[0040] Performing weighted average calculation according to a plurality of preset index weight coefficients and the normalized index values ​​to obtain a comprehensive score for each of the candidate take-off and landing areas;

[0041] The target take-off and landing area corresponding to the airport area is determined based on the comprehensive score of each candidate take-off and landing area.

[0042] Optionally, determining the target take-off and landing area corresponding to the airport area based on the comprehensive score of each candidate take-off and landing area includes:

[0043] Adjusting the comprehensive score of each of the candidate take-off and landing areas based on preset constraints;

[0044] Screening out a preset number of pre-selected take-off and landing areas with the highest comprehensive scores from all the candidate take-off and landing areas in the airport area;

[0045] Performing cross-mutation processing on the coordinates of the pre-selected take-off and landing areas to obtain new take-off and landing areas;

[0046] Determine the area with the highest comprehensive score among the pre-selected take-off and landing areas and the newly-selected take-off and landing areas as the take-off and landing area to be determined;

[0047] Optimizing the take-off and landing area to be determined;

[0048] Determine whether the preset termination condition is met;

[0049] If not, the set of the pre-selected take-off and landing area and the newly-generated take-off and landing area is taken as a new candidate take-off and landing area, and the specified step is returned to execute until the preset termination condition is met, wherein the specified step is to select a preset number of pre-selected take-off and landing areas with the highest comprehensive scores from all the candidate take-off and landing areas in the airport area;

[0050] If the conditions are met, the to-be-determined take-off and landing area is determined as the target take-off and landing area corresponding to the airport area;

[0051] or,

[0052] The candidate take-off and landing area with the highest comprehensive score is determined as the target take-off and landing area corresponding to the airport area.

[0053] A second aspect of an embodiment of the present application provides a take-off and landing area determination device, including:

[0054] A determination unit, configured to determine a target area corresponding to the designated area on a digital map according to environmental information of the designated area;

[0055] A division unit, used for dividing the target area into multiple sub-areas;

[0056] a layout unit, configured to generate, for each of the sub-regions, a plurality of airport regions on the digital map based on an equidistant layout algorithm, wherein at least a preset proportion of the airport region overlaps with the sub-region;

[0057] An offset unit is used for performing an offset process on each of the airport areas in the sub-areas according to an offset point generated based on an offset arrangement algorithm;

[0058] The determination unit is further configured to determine, for each of the airport areas, a respective target take-off and landing area within the airport area.

[0059] A third aspect of an embodiment of the present application provides a take-off and landing area determination device, including:

[0060] CPU, memory and input / output interface;

[0061] The memory is a short-term storage memory or a persistent storage memory;

[0062] The central processing unit is configured to communicate with the memory and execute instructions in the memory to perform the aforementioned method.

[0063] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, comprising instructions, which, when executed on a computer, enable the computer to execute the aforementioned method.

[0064] It can be seen from the above technical solutions that the embodiments of the present application have the following advantages:

[0065] First, the target area corresponding to the designated area is determined on the digital map according to the environmental information of the designated area, and then the target area is divided and processed to obtain multiple sub-areas. Then, for each sub-area, multiple airport areas are generated on the digital map based on the equidistant layout algorithm. Then, for each airport area in the sub-area, the airport area is offset according to the offset point generated based on the offset layout algorithm. Finally, for each airport area, the respective target take-off and landing area is determined within the airport area. In this way, the target area can be divided, arranged at equal distances, and randomly offset, and then the target take-off and landing area is selected from the airport area, and relevant information is automatically collected and the target take-off and landing area of ​​the drone is selected. No manual work is required, and the safety is high. The selection efficiency is high, and the related steps have synergistic advantages, which ensures the integrity, uniformity and adequacy of the airport area coverage and meets the actual task requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 A schematic diagram of an embodiment of a method for determining a take-off and landing area of ​​a UAV disclosed in the present application;

[0067] Figure 2 A schematic diagram of another embodiment of a method for determining a take-off and landing area of ​​a UAV disclosed in the present application;

[0068] Figure 3 This is a schematic diagram of dividing the target area disclosed in this application;

[0069] Figure 4 This is a schematic diagram of the equidistant arrangement disclosed in this application;

[0070] Figure 5 This is a schematic diagram of the equidistant arrangement and edge supplement disclosed in this application;

[0071] Figure 6 This is a schematic diagram of the random offset arrangement disclosed in this application;

[0072] Figure 7 A schematic diagram of an embodiment of a take-off and landing area determination device disclosed in the present application;

[0073] Figure 8 This is a schematic diagram of another embodiment of a take-off and landing area determination device disclosed in this application. DETAILED DESCRIPTION

[0074] The present application is further described in detail below in conjunction with the accompanying drawings.

[0075] The embodiments of the present application provide a method and a related device for determining a take-off and landing area of ​​a UAV, which are used to automatically determine a take-off and landing area.

[0076] The flight safety of drones has always been a highly valued issue in the industry. The selection of drone take-off and landing points is directly related to the safety of drone take-off and landing, and also affects the efficiency of the mission. Improper selection of take-off and landing points may lead to risks such as accidental collisions, electromagnetic interference, and line of sight obstruction, and even cause drone crashes or casualties. The existing solution is to select the take-off and landing area based on the operator's personal experience. However, manual selection is more subjective, lacks consideration, and safety cannot be guaranteed. In addition, the efficiency of manual selection is low and cannot meet the mission requirements. In order to solve the above problems, the present application provides a method for determining the take-off and landing area of ​​a drone and a device for determining the take-off and landing area, which can automatically generate the target take-off and landing area of ​​the drone based on more detailed and objective information, ensure safety, reduce risks, do not require manual work, and have a high selection efficiency, which can meet the actual mission requirements.

[0077] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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 should fall within the scope of protection of the present invention.

[0078] The terms "first", "second", "third", "fourth", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0079] The following is a description of a method for determining a take-off and landing area of ​​a drone in the present application. Figure 1 , an embodiment of a method for determining a take-off and landing area of ​​a drone of the present application includes:

[0080] 101. Determine a target area corresponding to the designated area on a digital map according to environmental information of the designated area;

[0081] The target area corresponding to the designated area is determined on the digital map according to the environmental information of the designated area. The designated area is a selected place where drones need to be deployed to perform tasks, which can be selected according to actual needs. Environmental information is used to describe the environment of the area, such as three-dimensional coordinates, obstacle conditions, slope and other information. Specifically, after collecting the environmental information of the designated area, the corresponding target area is generated on the digital map using the environmental information. The target area is a graphic represented by the designated area after being scaled down on the take-off and landing area determination device. The target area has the same shape as the designated area. The shape of the designated area is not limited, so the shape of the target area is also not limited.

[0082] 102. Divide the target area into multiple sub-areas;

[0083] The target area is divided into multiple sub-areas. Regardless of the shape of the target area, it can be divided according to a predetermined division method to obtain multiple sub-areas. It can be divided according to angles or according to predetermined division lines, which are not specifically limited here.

[0084] 103. For each sub-region, multiple airport areas are generated on the digital map based on an equidistant layout algorithm;

[0085] For each sub-region, multiple airport regions are generated on the digital map based on the equidistant layout algorithm, wherein at least a preset proportion of the airport region overlaps with the sub-region, and the preset proportion can be set according to actual conditions. For example, if the preset proportion is set to 50%, it is necessary to ensure that at least half of the airport region overlaps with the sub-region. The equidistant layout algorithm requires that the distances between some or all airport regions are the same, and the same distance is maintained for setting.

[0086] 104. For each airport area in the sub-area, perform an offset process on the airport area according to an offset point generated based on an offset arrangement algorithm;

[0087] For each airport area in the sub-area, the airport area is offset according to the offset point generated by the offset layout algorithm. The offset layout algorithm can randomly generate or generate offset points that meet preset conditions, and then offset the entire airport area to the offset point to cover more sub-areas.

[0088] 105. For each airport area, determine the respective target take-off and landing areas within the airport area.

[0089] For each airport area, a respective target take-off and landing area is determined within the airport area. Specifically, the airport area can be evaluated, and the one with a higher evaluation score is determined as the target take-off and landing area of ​​the airport area. Each airport area has a target take-off and landing area.

[0090] In the embodiment of the present application, the target area corresponding to the designated area is first determined on the digital map according to the environmental information of the designated area, and then the target area is divided and processed to obtain multiple sub-areas, and then for each sub-area, multiple airport areas are generated on the digital map based on the equidistant layout algorithm, and then for each airport area in the sub-area, the airport area is offset according to the offset point generated based on the offset layout algorithm, and finally for each airport area, the respective target take-off and landing area is determined in the airport area. In this way, the target area can be divided, arranged at equal distances and randomly offset, and then the target take-off and landing area is selected from the airport area, and the relevant information is automatically collected and the target take-off and landing area of ​​the drone is selected, without manual work, with high safety and high selection efficiency, and the related steps have synergistic advantages, ensuring the integrity, uniformity and adequacy of the airport area coverage, and meeting the actual task requirements.

[0091] See also Figures 2 to 6 Another embodiment of a method for determining a take-off and landing area of ​​a drone of the present application includes:

[0092] 201. Obtaining the environmental information and correction information to be processed in the designated area;

[0093] Obtain the unprocessed environmental information and correction information of the designated area. The unprocessed environmental information is the collected unprocessed information, such as digital elevation model data and digital surface model, which can be obtained through remote sensing satellites or aerial photography, etc. The correction information is more accurate coordinate information, such as real-time motion relative positioning control point information, which can be collected through ground laser scanning and other technical means. The designated area is a selected place where drones need to be deployed to perform tasks, which can be selected according to actual needs.

[0094] 202. Correct the environmental information to be processed by using the correction information, remove noise and unify the format, and obtain the environmental information of the designated area;

[0095] The environmental information to be processed is corrected by the correction information, and the noise is removed and the format is unified to obtain the environmental information of the specified area. Specifically, the data from different sources are unified into the same spatial reference system (such as WGS84), and the correction information is used to perform geometric correction on the environmental information to be processed, and then filtering and small hole filling are performed to remove noise, and then the format of these data is converted to the same format, such as GeoTiff. After obtaining the environmental information of the specified area, the spatial index and attribute index can be constructed, and the environmental information can be stored to improve the efficiency of subsequent data access.

[0096] 203. Determine a target area corresponding to the designated area on a digital map according to environmental information of the designated area;

[0097] The target area corresponding to the designated area is determined on the digital map according to the environmental information of the designated area. The environmental information is used to describe the environment of the area, such as three-dimensional coordinates, obstacle conditions, slope and other information. Specifically, after collecting the environmental information of the designated area, the corresponding target area is generated on the digital map using the environmental information. The target area is a graphic represented on the take-off and landing area determination device after the designated area is scaled down. The target area has the same shape as the designated area. The shape of the designated area is not limited, so the shape of the target area is also not limited.

[0098] 204. Divide the target area into multiple sub-areas;

[0099] The target area is divided into multiple sub-areas. Regardless of the shape of the target area, it can be divided according to a predetermined division method to obtain multiple sub-areas. The division can be performed according to an angle or according to a predetermined division line, which is not limited here. For ease of description, the target area is described below as a circle.

[0100] In one embodiment, an origin is randomly generated in the target area, and based on the origin and the predetermined direction, a dividing line is generated at every preset angle, so that the target area is divided into multiple sub-areas by the dividing lines. Figure 3 The target area is a circle, and the randomly generated origin is exactly the center point of the circle. Assuming that the predetermined direction is due east and the preset angle is 30 degrees, a dividing line is generated every 30 degrees in the counterclockwise direction from the horizontal right dividing line to divide the target area into 12 sectors (i.e. sub-areas).

[0101] In another embodiment, the target area is divided into a plurality of sub-areas based on at least one predetermined horizontal dividing line and / or at least one predetermined vertical dividing line. In short, the target area is divided horizontally and / or vertically into a plurality of sub-areas.

[0102] 205. For each sub-region, multiple airport regions are generated on the digital map based on an equidistant arrangement algorithm;

[0103] For each sub-region, multiple airport regions are generated on the digital map based on an equidistant arrangement algorithm, wherein at least a preset proportion of the airport region overlaps with the sub-region, and the preset proportion can be set according to actual conditions. For example, if the preset proportion is set to 50%, it is necessary to ensure that at least half of the airport region overlaps with the sub-region. There are many situations for generating multiple airport regions using an equidistant arrangement algorithm, which are not specifically limited here, and are described below with two implementation methods.

[0104] In one embodiment, for each sub-region, a first airport area is generated on the digital map. The airport area is circular on the digital map, and the radius of the first airport area is one-fourth of the maximum mileage of the drone of the specified model. Then, on the digital map, taking the first airport area as a reference, at least one second airport area is generated equidistantly in a preset first direction, and taking the first airport area and the second airport area as references, at least one third airport area is generated equidistantly in a preset second direction. The radii of the second airport area and the third airport area are both one-fourth of the maximum mileage of the drone of the specified model. Briefly, the first airport area, the second airport area, and the third airport area are all circular with the same size, and the radius of the circle is one-fourth of the maximum mileage of the drone of the specified model, ensuring that the drone can successfully travel back and forth within the airport area. The first direction and the second direction can be preset according to the actual situation, and specific details are not limited here. The equidistant distance can be calculated by the overlap ratio coefficient. Set the overlap ratio coefficient k (0 < k < 1). The larger k is, the higher the overlap degree. Then the distance d between two airport areas = the diameter of the airport area * (1 - k), and k can be preset according to actual needs. For example, please refer to Figure 4 , the sector is a certain sub-region, and the circle is the airport area. Assume that the preset first direction is due east (i.e., to the right), and the second direction is the direction from top to bottom along the arc. Generate the first airport area (i.e., the circle in the upper left corner), and then along the due east direction, generate multiple second airport areas (i.e., all the circles in the first row except the first airport area) at intervals of distance d, and then along the second direction, generate multiple third airport areas (the circles except the first airport area and the second airport area).

[0105] In another embodiment, for each sub-region, multiple non-overlapping airport areas can be generated equidistantly within the sub-region. For example, multiple non-overlapping circles, that is, multiple airport areas, are generated within the sector.

[0106] 206. Determine whether the coverage rate is greater than the first preset threshold. If not, execute step 207 and then step 208. If so, execute step 208;

[0107] Among them, the coverage rate is the ratio of the area of the intersection area of the calculation area and the sub-region to the area of the sub-region. The calculation area is the union area of all airport areas. Briefly, that is, the ratio of the area covered by the airport area in the sub-region to the area of the uncovered area is the coverage rate. The first preset threshold can be set according to actual needs, such as 95%.

[0108] 207. Generate at least one fourth airport area on the digital map so that the coverage rate is greater than the first preset threshold;

[0109] If the coverage rate is less than or equal to the first preset threshold, at least one fourth airport area is generated on the digital map so that the coverage rate is greater than the first preset threshold, wherein the radius of the fourth airport area is less than one quarter of the maximum mileage of the drone of the specified model. In simple terms, the fourth airport area with a smaller area than the first airport area is used to cover the sub-area. For example, see Figure 5 , the areas are fan-shaped, the large circle is the first airport area, the second airport area and the third airport area, the small circle is the fourth airport area, and the fourth airport area is generated for coverage until the coverage rate is greater than the first preset threshold.

[0110] 208. For each airport area in the sub-areas, perform an offset process on the airport area according to an offset point generated based on an offset arrangement algorithm;

[0111] For each airport area in the sub-area, the airport area is offset according to the offset point generated based on the offset arrangement algorithm. The offset arrangement algorithm can randomly generate or generate offset points that meet preset conditions, and then offset the entire airport area to the offset point to cover more sub-areas. There may be many situations, which are not limited here, and are described below with two implementation methods.

[0112] See also Figure 6 In one implementation, for each airport area in the sub-area, a plurality of discrete points are randomly generated in the offset area, wherein the offset area is the difference between the airport area and the operation area, and the operation area is the intersection area of ​​the airport area and other airport areas; then, calculations are performed based on the coordinate information of the plurality of discrete points to obtain the center point, and the offset point is determined at a target distance from the center point, wherein the target distance is a randomly generated distance; finally, the airport area is offset to a circle with the offset point as the center and the radius of the airport area as the radius. Specifically, the offset area corresponding to each airport area is first determined, and discrete points are randomly generated in the offset area. The x-axis coordinates of the discrete points are added and divided by the number, and then the y-axis coordinates of the discrete points are added and divided by the number, to obtain the coordinates of the center point. The target distance is a randomly generated distance, which is generally less than the radius of the first airport area. After obtaining the offset point, the airport area can be offset.

[0113] In another embodiment, for each airport area in the sub-areas, an offset point is determined at a target distance from the center of the airport area, and the airport area is offset based on the offset point, wherein the target distance is a randomly generated distance.

[0114] 209. Determine whether the coverage rate is greater than a second preset threshold. If not, return to step 208. If yes, execute step 210.

[0115] The second preset threshold is greater than the first preset threshold and is generally set to 98%.

[0116] 210. For each airport area, determine the respective target take-off and landing areas within the airport area.

[0117] For each airport area, determine the respective target take-off and landing area within the airport area. Specifically, for each airport area, first randomly generate multiple candidate take-off and landing areas within the airport area, then obtain the index values ​​of multiple preset indicators for each candidate take-off and landing area based on the environmental information, and then perform weighted average calculation based on the preset multiple indicator weight coefficients and the normalized indicator values ​​to obtain the comprehensive score of each candidate take-off and landing area, and finally determine the target take-off and landing area corresponding to the airport area based on the comprehensive score of each candidate take-off and landing area. Among them, the preset indicators include ground flatness, obstacle conditions, field of view, and consistency of dominant wind direction, etc. Regarding the calculation of the comprehensive score, for example, the weight coefficients of the four preset indicators of a candidate take-off and landing area: ground flatness, obstacle conditions, field of view and consistency of the dominant wind direction are 0.3, 0.25, 0.35 and 0.1 respectively, and the normalized indicator values ​​are 0.5, 0.3, 0.1 and 0.8 respectively. The comprehensive score of the candidate take-off and landing area is 0.3*0.5+0.25*0.3+0.35*0.1+0.1*0.8=0.34.

[0118] Based on the comprehensive score of each candidate take-off and landing area, the target take-off and landing area corresponding to the airport area is determined. There are at least two implementation methods for this step, which are not limited here. In one implementation, the candidate take-off and landing area with the highest comprehensive score is determined as the target take-off and landing area corresponding to the airport area. Directly selecting the candidate take-off and landing area with the highest comprehensive score is faster, but it is likely to result in a local optimum rather than a global optimum.

[0119] In another embodiment, the comprehensive score of each candidate take-off and landing area is first adjusted based on the preset constraint conditions, then a preset number of pre-selected take-off and landing areas with the highest comprehensive scores are selected from all the candidate take-off and landing areas in the airport area, and then the coordinates of the pre-selected take-off and landing areas are cross-mutated to obtain new take-off and landing areas, and then the area with the highest comprehensive score among the pre-selected take-off and landing areas and the new take-off and landing areas is determined as the take-off and landing area to be determined, and then the take-off and landing area to be determined is optimized, and it is judged whether the preset termination condition is met. If not, the set of the pre-selected take-off and landing area and the new take-off and landing area is taken as the new candidate take-off and landing area, and then the specified step is returned to execute until the preset termination condition is met, wherein the specified step is to select a preset number of pre-selected take-off and landing areas with the highest comprehensive scores from all the candidate take-off and landing areas in the airport area, and if they are met, the take-off and landing area to be determined is determined as the target take-off and landing area corresponding to the airport area. Specifically, the preset condition can be set according to actual needs, for example, if the average value of the ground height difference is not less than 2 meters or there are obstacles, it is directly adjusted to 0 points. The coordinates are cross-mutated. For example, a pre-selected take-off and landing area includes multiple take-off and landing points. Assuming that there are only two take-off and landing points, the coordinates are (a, b) and (a, c), respectively. The pre-selected take-off and landing area is mutated to obtain (a, d) and (a, c), that is, the value in the coordinate is changed. If the coordinates of a pre-selected take-off and landing area are (a, b) and (a, c), and the coordinates of another pre-selected take-off and landing area are (a, d) and (a, f), cross-processing is performed, then the coordinates of one pre-selected take-off and landing area are (a, d) and (a, c), and the coordinates of another pre-selected take-off and landing area are (a, b) and (a, f), that is, the coordinates of one of the take-off and landing points in one pre-selected take-off and landing area are exchanged with the coordinates of one of the take-off and landing points in another pre-selected take-off and landing area. After repeated screening, the optimization process is performed, that is, the coordinates and shape of the area are disturbed. The preset termination condition is whether the current number of iterations is the maximum, or whether the current comprehensive score is the highest globally.

[0120] In this embodiment, the target area can be divided, arranged at equal distances, and arranged at random offsets, and then the target take-off and landing area can be selected from the airport area, and relevant information can be automatically collected and the target take-off and landing area of ​​the drone can be selected without manual work, with high safety and high selection efficiency. The related steps have synergistic advantages, ensuring the integrity, uniformity, and adequacy of the airport area coverage, and meeting the actual task requirements. In addition, the area division ensures that it can adapt to areas of any shape, the equal distance arrangement achieves uniform coverage of the sub-areas, and the random offset can fill in the missing blind spots to the maximum extent. These three steps complement each other, and the arrangement process is automated and intelligent. The arrangement parameters and strategies can be adjusted according to actual needs, and the drone endurance information can be fully utilized. It can flexibly adapt to various regional shapes and sizes, and facilitate hierarchical processing to improve efficiency.

[0121] The above describes a method for determining a take-off and landing area of ​​a drone in an embodiment of the present application. The following describes a device for determining a take-off and landing area in an embodiment of the present application. Figure 7 , an embodiment of a take-off and landing area determination device in an embodiment of the present application includes:

[0122] A determination unit 701 is used to determine a target area corresponding to a designated area on a digital map according to environmental information of the designated area;

[0123] A division unit 702 is used to divide the target area into multiple sub-areas;

[0124] A layout unit 703 is used for generating a plurality of airport areas on the digital map based on an equidistant layout algorithm for each of the sub-areas, wherein at least a preset proportion of the airport area overlaps with the sub-area;

[0125] An offset unit 704 is used for performing an offset process on each of the airport areas in the sub-areas according to an offset point generated based on an offset arrangement algorithm;

[0126] The determining unit 701 is further configured to determine, for each of the airport areas, a respective target take-off and landing area within the airport area.

[0127] In the embodiment of the present application, the determination unit 701 first determines the target area corresponding to the specified area on the digital map according to the environmental information of the specified area, and then the division unit 702 divides the target area to obtain multiple sub-areas, and then the layout unit 703 generates multiple airport areas on the digital map based on the equidistant layout algorithm for each sub-area, and the offset unit 704 then performs offset processing on the airport area according to the offset points generated based on the offset layout algorithm for each airport area in the sub-area, and finally determines the respective target take-off and landing areas in the airport area for each airport area. In this way, the target area can be divided, arranged at equal distances and randomly offset, and then the target take-off and landing area can be selected from the airport area, and the relevant information can be automatically collected and the target take-off and landing area of ​​the drone can be selected, without manual work, with high safety and high selection efficiency, and the related steps have synergistic advantages, ensuring the integrity, uniformity and adequacy of the airport area coverage, and meeting the actual task requirements.

[0128] A take-off and landing area determination device in an embodiment of the present application is described in detail below. Another embodiment of a take-off and landing area determination device in an embodiment of the present application includes:

[0129] A determination unit, configured to determine a target area corresponding to the designated area on a digital map according to environmental information of the designated area;

[0130] A division unit, used for dividing the target area into multiple sub-areas;

[0131] a layout unit, configured to generate, for each of the sub-regions, a plurality of airport regions on the digital map based on an equidistant layout algorithm, wherein at least a preset proportion of the airport region overlaps with the sub-region;

[0132] An offset unit is used for performing an offset process on each of the airport areas in the sub-areas according to an offset point generated based on an offset arrangement algorithm;

[0133] The determination unit is further configured to determine, for each of the airport areas, a respective target take-off and landing area within the airport area.

[0134] The take-off and landing area determination device further includes a correction unit 705, which is used to:

[0135] Obtaining the environmental information to be processed and the correction information of the designated area;

[0136] The environmental information to be processed is corrected by using the correction information, and noise is removed and the format is unified to obtain the environmental information of the designated area.

[0137] Division units are specifically used for:

[0138] An origin is randomly generated in the target area, and based on the origin and a predetermined direction, a dividing line is generated at every preset angle, so as to divide the target area into a plurality of sub-areas through the dividing lines;

[0139] or,

[0140] The target area is divided into a plurality of sub-areas based on at least one predetermined transverse dividing line and / or at least one predetermined longitudinal dividing line.

[0141] Arrangement unit, specifically used for:

[0142] For each of the sub-areas, a first airport area is generated on the digital map, the airport area is circular on the digital map, and the radius of the first airport area is one quarter of the maximum mileage of the drone of the specified model;

[0143] On the digital map, at least one second airport area is generated with equal distance in a preset first direction based on the first airport area, and at least one third airport area is generated with equal distance in a preset second direction based on the first airport area and the second airport area, and the radius of the second airport area and the third airport area are both one quarter of the maximum mileage of the drone of the specified model;

[0144] or,

[0145] For each of the sub-regions, a plurality of the airport regions are generated at equal distances within the sub-region and do not overlap each other.

[0146] Offset unit, specifically used for:

[0147] For each of the airport areas in the sub-areas, a plurality of discrete points are randomly generated in an offset area, wherein the offset area is the difference between the airport area and the calculation area, and the calculation area is the intersection area of ​​the airport area and other airport areas;

[0148] Calculating according to the coordinate information of the plurality of discrete points to obtain a center point, and determining the offset point at a target distance from the center point, wherein the target distance is a randomly generated distance;

[0149] offset the airport area to a location of a circle with the offset point as the center and the radius of the airport area as the radius;

[0150] or,

[0151] For each of the airport areas in the sub-areas, the offset point is determined at a target distance from the center of the airport area, and the airport area is offset based on the offset point, and the target distance is a randomly generated distance.

[0152] The take-off and landing area determination device also includes a judgment unit, which is used to:

[0153] Determine whether the coverage rate is greater than a first preset threshold, the coverage rate being a ratio of an area of ​​an intersection of a calculation area and the sub-area to an area of ​​the sub-area, the calculation area being a union area of ​​all the airport areas;

[0154] If not, generating at least one fourth airport area on the digital map so that the coverage rate is greater than the first preset threshold, and the radius of the fourth airport area is less than one quarter of the maximum mileage of the drone of the specified model;

[0155] If yes, then execute the first target step, wherein the first target step is to perform an offset process on each of the airport areas in the sub-areas according to the offset points generated based on the offset arrangement algorithm;

[0156] The judgment unit is also used to:

[0157] Determine whether the coverage rate is greater than a second preset threshold, where the second preset threshold is greater than the first preset threshold;

[0158] If it is less than or equal to, return to execute the first target step until the coverage rate is greater than the second preset threshold;

[0159] If it is greater, the second target step is executed, and the second target step is to determine the respective target take-off and landing areas within the airport area for each of the airport areas.

[0160] The determination unit is also specifically used for:

[0161] For each of the airport areas, randomly generating a plurality of candidate take-off and landing areas in the airport area;

[0162] Obtaining index values ​​of a plurality of preset indexes for each of the candidate take-off and landing areas according to the environmental information;

[0163] Performing weighted average calculation according to a plurality of preset index weight coefficients and the normalized index values ​​to obtain a comprehensive score for each of the candidate take-off and landing areas;

[0164] The target take-off and landing area corresponding to the airport area is determined based on the comprehensive score of each candidate take-off and landing area.

[0165] The determination unit is also specifically used for:

[0166] Adjusting the comprehensive score of each of the candidate take-off and landing areas based on preset constraints;

[0167] Screening out a preset number of pre-selected take-off and landing areas with the highest comprehensive scores from all the candidate take-off and landing areas in the airport area;

[0168] Performing cross-mutation processing on the coordinates of the pre-selected take-off and landing areas to obtain new take-off and landing areas;

[0169] Determine the area with the highest comprehensive score among the pre-selected take-off and landing areas and the newly-selected take-off and landing areas as the take-off and landing area to be determined;

[0170] Optimizing the take-off and landing area to be determined;

[0171] Determine whether the preset termination condition is met;

[0172] If not, the set of the pre-selected take-off and landing area and the newly-generated take-off and landing area is taken as a new candidate take-off and landing area, and the specified step is returned to execute until the preset termination condition is met, wherein the specified step is to select a preset number of pre-selected take-off and landing areas with the highest comprehensive scores from all the candidate take-off and landing areas in the airport area;

[0173] If the conditions are met, the to-be-determined take-off and landing area is determined as the target take-off and landing area corresponding to the airport area;

[0174] or,

[0175] The candidate take-off and landing area with the highest comprehensive score is determined as the target take-off and landing area corresponding to the airport area.

[0176] The functions and processes performed by each unit in the take-off and landing area determination device of this embodiment are similar to those of the aforementioned Figures 1 to 6 The functions and processes performed by the take-off and landing area determination device are similar and will not be repeated here.

[0177] Figure 8 It is a schematic diagram of the structure of a take-off and landing area determination device provided in an embodiment of the present application. The take-off and landing area determination device 800 may include one or more central processing units (CPU) 801 and a memory 805, and the memory 805 stores one or more application programs or data.

[0178] The memory 805 may be a volatile storage or a persistent storage. The program stored in the memory 805 may include one or more modules, and each module may include a series of instruction operations in the take-off and landing area determination device 800. Furthermore, the central processing unit 801 may be configured to communicate with the memory 805, and execute a series of instruction operations in the memory 805 on the take-off and landing area determination device 800.

[0179] The take-off and landing area determination device 800 may also include one or more power supplies 802, one or more wired or wireless network interfaces 803, one or more input and output interfaces 804, and / or one or more operating systems, such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, etc.

[0180] The CPU 801 can execute the aforementioned Figures 1 to 6 The operations performed by the take-off and landing area determination device in the illustrated embodiment will not be described in detail here.

[0181] An embodiment of the present application also provides a computer-readable storage medium, including instructions, which, when executed on a computer, enable the computer to execute the method in the aforementioned embodiment.

[0182] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0183] It should be noted that, although the steps in the flowcharts involved in the embodiments are drawn in sequence according to the instructions of the arrows, unless otherwise clearly stated in this document, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0184] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0185] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0186] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0187] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, read-only memory), random access memory (RAM, random access memory), disk or optical disk and other media that can store program code.

Claims

1. A method for determining the take-off and landing area of ​​a drone, characterized in that: include: Determining a target area corresponding to the designated area on a digital map according to environmental information of the designated area; Dividing the target area to obtain a plurality of sub-areas; For each of the sub-regions, generating a plurality of airport regions on the digital map based on an equidistant arrangement algorithm, wherein at least a preset proportion of the airport region overlaps with the sub-region; For each of the airport areas in the sub-areas, performing an offset process on the airport area according to an offset point generated based on an offset arrangement algorithm; For each of the airport areas, a respective target take-off and landing area is determined within the airport area.

2. The method for determining the take-off and landing area according to claim 1, characterized in that: Before determining the target area corresponding to the designated area on the digital map according to the environmental information of the designated area, the method further includes: Obtaining the environmental information to be processed and the correction information of the designated area; The environmental information to be processed is corrected by using the correction information, and noise is removed and the format is unified to obtain the environmental information of the designated area.

3. The method for determining the take-off and landing area according to claim 1, characterized in that: The target area is divided into multiple sub-areas, including: An origin is randomly generated in the target area, and based on the origin and a predetermined direction, a dividing line is generated at every preset angle, so as to divide the target area into a plurality of sub-areas through the dividing lines; or, The target area is divided into a plurality of sub-areas based on at least one predetermined transverse dividing line and / or at least one predetermined longitudinal dividing line.

4. The method for determining the take-off and landing area according to claim 1, characterized in that: For each of the sub-regions, generating a plurality of airport regions on the digital map based on an equidistant arrangement algorithm comprises: For each of the sub-areas, a first airport area is generated on the digital map, the airport area is circular on the digital map, and the radius of the first airport area is one quarter of the maximum mileage of the drone of the specified model; On the digital map, at least one second airport area is generated with equal distance in a preset first direction based on the first airport area, and at least one third airport area is generated with equal distance in a preset second direction based on the first airport area and the second airport area, and the radius of the second airport area and the third airport area are both one-fourth of the maximum mileage of the drone of the specified model; or, For each of the sub-regions, a plurality of the airport regions are generated at equal distances within the sub-region and do not overlap with each other.

5. The method for determining the take-off and landing area according to claim 1, characterized in that: The performing offset processing on each of the airport areas in the sub-areas according to the offset points generated based on the offset arrangement algorithm comprises: For each of the airport areas in the sub-areas, a plurality of discrete points are randomly generated in an offset area, wherein the offset area is the difference between the airport area and the calculation area, and the calculation area is the intersection area of ​​the airport area and other airport areas; Calculating according to the coordinate information of the plurality of discrete points to obtain a center point, and determining the offset point at a target distance from the center point, wherein the target distance is a randomly generated distance; offset the airport area to a location of a circle with the offset point as the center and the radius of the airport area as the radius; or, For each of the airport areas in the sub-areas, the offset point is determined at a target distance from the center of the airport area, and the airport area is offset based on the offset point, and the target distance is a randomly generated distance.

6. The method for determining the take-off and landing area according to claim 1, characterized in that: After generating a plurality of airport areas on the digital map based on an equidistant arrangement algorithm for each of the sub-regions, and before performing an offset process on each of the airport areas in the sub-regions according to an offset point generated based on an offset arrangement algorithm, the method further includes: Determine whether the coverage rate is greater than a first preset threshold, the coverage rate being a ratio of an area of ​​an intersection of a calculation area and the sub-area to an area of ​​the sub-area, the calculation area being a union area of ​​all the airport areas; If not, generating at least one fourth airport area on the digital map so that the coverage rate is greater than the first preset threshold, and the radius of the fourth airport area is less than one quarter of the maximum mileage of the drone of the specified model; If yes, then executing the first target step, wherein the first target step is to perform an offset process on each of the airport areas in the sub-areas according to the offset points generated based on the offset arrangement algorithm; After performing offset processing on each of the airport areas in the sub-areas according to the offset points generated based on the offset arrangement algorithm, and before determining a respective target take-off and landing area within the airport area for each of the airport areas, the method further includes: Determining whether the coverage rate is greater than a second preset threshold, where the second preset threshold is greater than the first preset threshold; If it is less than or equal to, return to execute the first target step until the coverage rate is greater than the second preset threshold; If it is greater, the second target step is executed, and the second target step is to determine the respective target take-off and landing areas within the airport area for each of the airport areas.

7. The method for determining the take-off and landing area according to claim 1, characterized in that: For each of the airport areas, determining a respective target take-off and landing area within the airport area includes: For each of the airport areas, randomly generating a plurality of candidate take-off and landing areas in the airport area; Obtaining index values ​​of a plurality of preset indexes for each of the candidate take-off and landing areas according to the environmental information; Performing weighted average calculation according to a plurality of preset index weight coefficients and the normalized index values ​​to obtain a comprehensive score for each of the candidate take-off and landing areas; The target take-off and landing area corresponding to the airport area is determined based on the comprehensive score of each candidate take-off and landing area.

8. The method for determining the take-off and landing area according to claim 7, characterized in that: The step of determining the target take-off and landing area corresponding to the airport area based on the comprehensive score of each candidate take-off and landing area comprises: Adjusting the comprehensive score of each of the candidate take-off and landing areas based on preset constraints; Screening out a preset number of pre-selected take-off and landing areas with the highest comprehensive scores from all the candidate take-off and landing areas in the airport area; Performing cross-mutation processing on the coordinates of the pre-selected take-off and landing areas to obtain new take-off and landing areas; Determine the area with the highest comprehensive score among the pre-selected take-off and landing areas and the newly-selected take-off and landing areas as the take-off and landing area to be determined; Optimizing the take-off and landing area to be determined; Determine whether the preset termination condition is met; If not, the set of the pre-selected take-off and landing area and the newly-generated take-off and landing area is taken as a new candidate take-off and landing area, and the specified step is returned to execute until the preset termination condition is met, wherein the specified step is to select a preset number of pre-selected take-off and landing areas with the highest comprehensive scores from all the candidate take-off and landing areas in the airport area; If the conditions are met, the to-be-determined take-off and landing area is determined as the target take-off and landing area corresponding to the airport area; or, The candidate take-off and landing area with the highest comprehensive score is determined as the target take-off and landing area corresponding to the airport area.

9. A take-off and landing area determination device, characterized in that: include: A determination unit, configured to determine a target area corresponding to the designated area on a digital map according to environmental information of the designated area; A division unit, used for dividing the target area into multiple sub-areas; a layout unit, configured to generate, for each of the sub-regions, a plurality of airport regions on the digital map based on an equidistant layout algorithm, wherein at least a preset proportion of the airport region overlaps with the sub-region; An offset unit is used for performing an offset process on each of the airport areas in the sub-areas according to an offset point generated based on an offset arrangement algorithm; The determination unit is further configured to determine, for each of the airport areas, a respective target take-off and landing area within the airport area.

10. A take-off and landing area determination device, characterized in that: include: CPU, memory and input / output interface; The memory is a transient storage memory or a persistent storage memory; The central processing unit is configured to communicate with the memory and execute instructions in the memory to perform the method according to any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that: The method comprises instructions, which, when executed on a computer, cause the computer to execute the method according to any one of claims 1 to 8.

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