Methods and apparatus for planning drone missions for weather modification

Abstract

This application discloses a method and apparatus for UAV mission planning in weather modification. The method includes: detecting characteristic data of precipitation cloud systems to determine the current movement trend and current mission waypoint of the precipitation cloud systems, and determining the estimated target waypoint; planning a mission route from the current location to the estimated target waypoint; executing the mission route; determining whether to update the estimated target waypoint; if updated, executing the route planning steps with the updated estimated target waypoint; if not updated, reaching the current mission waypoint based on the mission route; determining the seeding operation area based on the characteristic data; planning the operation route according to the seeding operation area, and seeding flares based on it. This method solves the problems of low efficiency and high implementation cost of existing weather modification methods. It can improve the effective utilization rate of flares, save the economic cost of weather modification operations, and conduct weather modification operations accurately and efficiently.

Description

Technical Field

[0001] This application relates to the field of weather modification technology, and in particular to a method and apparatus for planning unmanned aerial vehicle (UAV) missions for weather modification. Background Technology

[0002] Weather modification (or artificial modification for short) involves artificially influencing local atmospheric cloud physics processes under appropriate conditions. It utilizes the microphysical instabilities of clouds (fog) by seeding appropriate catalysts and leveraging natural laws to guide the accelerated development of clouds and precipitation in a predetermined direction. This aims to achieve significant benefits with minimal cost, such as increased rainfall (snow), hail suppression, fog dissipation, and cloud clearing, thus preventing or mitigating meteorological disasters and making rational use of climate resources. Currently, weather modification operations primarily focus on artificial rainfall enhancement and hail suppression.

[0003] Currently, there are three commonly used methods for artificial weather modification: burning silver iodide on the ground by artificial ignition and using atmospheric updrafts for catalysis; using manned rainmaking aircraft to spread silver iodide flares; and launching artificial rainmaking and hail suppression shells from ground-based launchers. The first method suffers from low efficiency and accuracy. While the second method is more effective than the first, it requires pilots to fly the aircraft and manually control the rainmaking equipment, consuming significant manpower. The third method is widely used across the country, but its effectiveness is limited; it cannot precisely influence local precipitation systems, cannot provide real-time assessment of the catalytic effect, and its implementation cost is relatively high. Summary of the Invention

[0004] This application provides a method and apparatus for planning drone missions based on weather modification, which solves the problems of low efficiency and high implementation cost of existing weather modification methods.

[0005] In a first aspect, embodiments of this application provide a method for planning unmanned aerial vehicle (UAV) missions for weather modification, comprising: using cloud radar to detect characteristic data of precipitation cloud systems, determining the current movement trend and current mission waypoint of the precipitation cloud system based on the characteristic data; determining an estimated target waypoint based on the current mission waypoint and the current movement trend, and performing a route planning step until the UAV reaches the current mission waypoint; the route planning step comprising: planning a mission route from the current position of the UAV to the estimated target waypoint; executing the mission route, detecting the characteristic data, and determining whether to update the estimated target waypoint based on the current mission waypoint and the current movement trend; if the estimated target waypoint is updated, then performing the route planning step with the updated estimated target waypoint; if the estimated target waypoint is not updated, then reaching the current mission waypoint based on the mission route; determining a seeding operation area for the precipitation cloud system based on the characteristic data; planning the operation route of the UAV based on the seeding operation area, and seeding flares based on it.

[0006] In conjunction with the first aspect, in one possible implementation, the use of cloud radar to detect the characteristic data of precipitation cloud systems further includes: determining the type and quantity of flames carried by the UAV based on the characteristic data of the precipitation cloud systems.

[0007] In conjunction with the first aspect, in one possible implementation, determining the current movement trend of the precipitation cloud system based on the feature data includes: the feature data includes the cloud type, cloud structure, and cloud physical quantities of the precipitation cloud system; wherein the cloud physical quantities include the movement speed, movement direction, and cloud height of the precipitation cloud system; and determining the current movement trend of the precipitation cloud system based on the cloud physical quantities.

[0008] In conjunction with the first aspect, in one possible implementation, determining whether to update the estimated target waypoint based on the current mission waypoint and the current movement trend includes: determining the current target waypoint based on the current mission waypoint and the current movement trend; determining whether the distance between the current target waypoint and the estimated target waypoint is greater than a preset distance; if the distance between the current target waypoint and the estimated target waypoint is greater than the preset distance, then updating the current target waypoint to the estimated target waypoint; otherwise, not updating the estimated target waypoint.

[0009] In conjunction with the first aspect, in one possible implementation, before planning the UAV's operational route based on the seeding operation area, the method further includes: determining whether the UAV's remaining flight time can complete the operational route; if the UAV's remaining flight time can complete the operational route, then the operational route is executed; if the UAV's remaining flight time cannot complete the operational route, then a local seeding area is determined based on meteorological data within the seeding operation area, and the UAV's operational route is planned based on the local seeding area.

[0010] In conjunction with the first aspect, in one possible implementation, planning the UAV's operational route based on the seeding operation area includes: determining the UAV's operational mode; determining the operational segment based on the seeding operation area and the operational mode; wherein the UAV's operational mode includes single-point seeding and multi-point seeding; planning the operational route based on the operational segment, the UAV's remaining flight time and flight speed; and correcting the operational route in real time based on the current movement trend of the precipitation cloud system.

[0011] In conjunction with the first aspect, in one possible implementation, the step of arriving at the current mission waypoint based on the mission route further includes: determining whether the operational conditions are met based on meteorological data detected by the UAV's onboard detection system; wherein the operational conditions include the timing of the operation and the risk of thunderstorms; if the onboard detection system determines that the operational conditions are met, then the flare spraying procedure is initiated; if the onboard detection system determines that the operational conditions are not met, then the operational route is replanned.

[0012] In conjunction with the first aspect, in one possible implementation, after the flare is spread, the method further includes: assessing whether the current weather modification operation is qualified through meteorological data; if the weather modification operation is qualified, the UAV returns and is withdrawn; if the weather modification operation is unqualified, the current movement trend of the precipitation cloud system is re-determined, and the flight path planning step is executed to determine the spreading operation area and the operation flight path for spreading the flare.

[0013] Secondly, embodiments of this application provide a drone mission planning device for weather modification, comprising: a detection module, configured to detect characteristic data of precipitation cloud systems using cloud radar, and determine the current movement trend and current mission waypoint of the precipitation cloud system based on the characteristic data; a prediction module, configured to determine a predicted target waypoint based on the current mission waypoint and the current movement trend, and execute a route planning step until the drone reaches the current mission waypoint; a mission route planning module, configured to plan a mission route from the current position of the drone to the predicted target waypoint; an update judgment module, configured to execute the mission route, detect the characteristic data, and determine whether to update the predicted target waypoint based on the current mission waypoint and the current movement trend; if the predicted target waypoint is updated, the route planning step is executed with the updated predicted target waypoint; if the predicted target waypoint is not updated, the drone reaches the current mission waypoint based on the mission route; a determination module, configured to determine the seeding operation area of ​​the precipitation cloud system based on the characteristic data; and a seeding planning module, configured to plan the operation route of the drone based on the seeding operation area, and seed flares based thereon.

[0014] Thirdly, embodiments of this application provide an apparatus comprising: a processor; a memory for storing processor-executable instructions; wherein, when the processor executes the executable instructions, it implements the method as described in the first aspect or any possible implementation of the first aspect.

[0015] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0016] This application embodiment acquires real-time characteristic data of precipitation cloud systems in the target precipitation area and plans UAV rain enhancement tasks based on this data, ensuring the effectiveness of weather modification operations. By determining the current movement trend of the precipitation cloud system, errors between the actual UAV operating area and the precipitation cloud system can be avoided. By judging the operating conditions, the utilization rate of the flare can be improved, and the safety of the UAV can be ensured. This effectively solves the problems of low efficiency and high implementation cost of existing weather modification methods. Furthermore, it can improve the effective utilization rate of the flare, save economic costs of weather modification operations, and determine the UAV's operating area in real time, thus enabling accurate and efficient weather modification operations. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A flowchart of a drone mission planning method based on weather modification provided in an embodiment of this application;

[0019] Figure 2 A schematic diagram of the structure of an unmanned aerial vehicle (UAV) mission planning device for weather modification provided in an embodiment of this application;

[0020] Figure 3 This is an example diagram showing the location of precipitation cloud systems and drones provided in the embodiments of this application;

[0021] Figure 4 A flowchart illustrating the preparation, planning, and execution of shadowing operations provided in this application embodiment;

[0022] Figure 5 This is an example diagram of the seeding operation area and mission route provided in an embodiment of this application. Detailed Implementation

[0023] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0024] The following description of some technologies involved in the embodiments of this application is provided to aid understanding and should be considered merely exemplary. Therefore, those skilled in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this application. Similarly, for clarity and brevity, some descriptions of well-known functions and structures are omitted in the following description.

[0025] Precipitation clouds are in motion in the sky, and their shape, location, top and bottom elevations change over time. Taking Yulin, Shaanxi Province as an example, precipitation clouds are mostly distributed at altitudes of 4000m to 5000m, with an elevation difference of over 3000 meters above the ground, and their horizontal movement speed is generally 10km / h to 15km / h.

[0026] It typically takes about 40 minutes for a drone to prepare for takeoff and climb to the operational altitude corresponding to the precipitation cloud system. Once the drone reaches the operational altitude, it ignites its flares and begins its operational flight path. The time it takes for all three flares to burn is approximately 60 minutes. Therefore, the initial detection time by cloud radar is about 100 minutes before the entire cloud-based weather modification operation ends. During this period, the horizontal movement range of the precipitation cloud system is between 17km and 25km. This demonstrates that the planning method for weather modification operations has a significant impact on their accuracy.

[0027] This application integrates real-time detection data from ground-based cloud radar into the UAV ground control system, incorporating the characteristic data of precipitation cloud systems detected by the cloud radar into the UAV's flight path planning process. The ground control system uses the collected detection data to determine if the UAV is at risk of deviating from the operational area, allowing for timely adjustments to the mission flight path. These adjustments include shifting the mission flight path in the direction of the moving precipitation cloud system, increasing / decreasing the mission flight path altitude, and increasing / decreasing the UAV's flight speed. Furthermore, it controls the timing of the flare ignition, organically combining various detection data to achieve online mission flight path planning, thereby improving the effectiveness of cloud seeding operations.

[0028] Figure 1 This is a flowchart of a drone mission planning method based on weather modification, provided in an embodiment of this application, including steps 101 to 108. Figure 1 This is merely one execution order shown in the embodiments of this application and does not represent the only execution order of the UAV mission planning method based on artificial weather modification. Where the final result can be achieved, Figure 1 The steps shown can be performed in parallel or in reverse order.

[0029] Step 101: Utilize cloud radar to detect the characteristic data of precipitation cloud systems, and determine the current movement trend and current mission waypoint of the precipitation cloud systems based on the characteristic data. In this embodiment, after detecting the precipitation target area using cloud radar, it is determined whether the conditions for weather modification operations are met based on the weather conditions and meteorological parameters of the precipitation target area. If the precipitation target area meets the conditions for weather modification operations, then weather modification operations are planned. If the precipitation target area does not meet the conditions for weather modification operations, cloud radar is used again to detect until a precipitation target area that meets the conditions for weather modification operations is detected.

[0030] Specifically, obtain information on weather, cloud conditions, precipitation, wind speed, and humidity in the target precipitation area, and combine this information with recent satellite cloud imagery to determine if conditions are suitable for weather modification operations. If conditions are suitable, formulate a weather modification operation plan.

[0031] like Figure 4As shown, a ground control system needs to be deployed before performing step 101. Specifically, in this application, the carrier for the UAV flight operation platform and the cloud radar is a container. Based on the coordinates of the precipitation cloud system, the container has the advantage of rapid transport. The container is towed to a suitable take-off and landing site, which is no more than 30km away from the UAV's seeding operation area. The side leveling and lifting mechanism of the container is opened and it is firmly supported on the hardened ground. The flatbed truck is driven away from the bottom of the container, and the container can remain in a raised and leveled state. The ground mains power (220V) is connected or the generator is started to ensure that the ground control system is working properly. Then, the UAV is taken out of the container and laid flat on the ground using the guide rail crane on the top of the container. It is unpacked, inspected, and assembled to complete the pre-flight preparations. Finally, the electric skylight of the container is opened, the cloud radar is raised outside the container, and the one-key leveling device is activated to adjust the cloud radar to a horizontal position to improve detection accuracy.

[0032] In this application, the modular container meets the mobility requirements, enabling it to be moved between different sites according to seasonal changes in the region, maximizing its application in weather modification operations. Furthermore, the container can simultaneously carry two composite-wing UAVs, and through a "one-station, two-aircraft" command and control system, both UAVs can take off and operate simultaneously, with a single operation covering an area of ​​200 to 300 square kilometers.

[0033] In this embodiment, the characteristic data of the precipitation cloud system includes the cloud type (stratus, cumulus, cumulonimbus, cumulonimbus, undulating clouds, etc., different types of precipitation cloud systems exhibit different characteristics during precipitation), cloud structure (thickness, height, horizontal distribution, and vertical structure, etc., cloud structure has a significant impact on the precipitation process. For example, cumulonimbus clouds typically have a deep vertical structure and strong convection, which can produce heavy precipitation), and cloud physical quantities (movement speed, direction of movement, and cloud height of the precipitation cloud system). The current movement trend of the precipitation cloud system is determined based on the cloud physical quantities. The current movement trend includes the current direction and speed of movement of the precipitation cloud system.

[0034] It is important to note that, such as Figure 3 As shown in this application, the current mission waypoint refers to a suitable location for flare seeding, determined based on the current actual position of the precipitation cloud system and taking into account the distance between it and the UAV.

[0035] Furthermore, the type and quantity of flares carried by the UAV are determined based on the characteristic data of the precipitation cloud system. For example, the flare-spreading pod carried by the UAV in this application carries three warm cloud flares. The flare-spreading pod is used for spreading silver iodide or a warm cloud catalyst (the catalytic principle will not be elaborated here). Those skilled in the art can control the spatiotemporal density of the flare spreading according to the needs of the cloud cover operation. The catalyst, after diffusion, can achieve a certain catalytic depth. In addition, single-point, multi-point, or combined ignition can be selected based on the characteristic data of the precipitation cloud system to achieve the best results.

[0036] Step 102: Determine the estimated target waypoint based on the current mission waypoint and current movement trend. In this embodiment, the estimated target waypoint is determined based on cloud structure, cloud physical quantities, and the current position of the UAV.

[0037] Specifically, by using satellite positioning technology and measuring instruments, combined with ground-based cloud radar measurements, the coordinates and boundaries of the precipitation cloud system are accurately determined. Based on the coordinates and boundaries of the precipitation cloud system, the operational altitude and area for drone-based flare deployment are determined.

[0038] The estimated target waypoint of the UAV is determined based on its current mission waypoint and the current movement trend of the precipitation cloud system. Furthermore, during the UAV's flight, information such as the movement direction, speed, and altitude of the precipitation cloud system, as well as the UAV's current altitude, is acquired in real time and fed back to the ground control system. The ground control system calculates the flight interval time for the UAV to reach the current mission waypoint based on the coordinates of the precipitation cloud system and the UAV's flight speed and current position. Based on the UAV's current position, flight speed, and the current movement trend of the precipitation cloud system, it predicts the estimated target waypoint to be reached after the flight interval time.

[0039] like Figure 3 As shown, the method for calculating the estimated target waypoint is as follows:

[0040] , .

[0041] in, , , .

[0042] In the formula, This indicates the estimated latitude and longitude coordinates of the target waypoint. This represents the latitude and longitude coordinates of the current location of the precipitation cloud system. Represents pi (π). and These represent the horizontal and vertical distances from the UAV's current position to the current mission waypoint, respectively (for example, the horizontal direction is due north and the vertical direction is due east). Represents the Earth's equatorial radius. This indicates the distance from the drone's current position to the current mission waypoint. This indicates the height of the precipitation cloud system. Indicates the drone's current altitude. Indicates the speed of movement of precipitation cloud systems. This indicates the vertical velocity of the drone. This indicates the direction of movement of precipitation cloud systems.

[0043] The drone in this application exemplarily uses a compound-wing drone.

[0044] Step 103: Plan the mission route for the UAV from its current location to the estimated target waypoint. In this embodiment, based on the UAV's current location and the estimated target waypoint, and considering the limitations of UAV performance, weather conditions, and terrain, a path planning algorithm (such as the artificial potential field algorithm, A-star algorithm, etc.) is used to plan the UAV's mission route.

[0045] Step 104: Execute the mission route and detect feature data. In this embodiment, during the execution of the mission route, the UAV is configured to detect the feature data of precipitation clouds in real time. Those skilled in the art can also configure the cloud radar to perform periodic detection or to detect at a preset position on the mission route according to actual needs.

[0046] Step 105: Determine whether to update the estimated target waypoint based on the current mission waypoint and current movement trend. In this embodiment, the current target waypoint is determined based on the current mission waypoint and current movement trend. It is then determined whether the distance between the current target waypoint and the estimated target waypoint is greater than a preset distance. If the distance is greater than the preset distance, the current target waypoint is updated to the estimated target waypoint. Otherwise, the estimated target waypoint is not updated. This achieves real-time correction of the mission flight path, ensuring that the UAV always follows the precipitation cloud system so that subsequent operations can be carried out within the effective range.

[0047] Specifically, the current movement trend and current mission waypoint are obtained based on the characteristic data of the precipitation cloud system at this time, and the current target waypoint is determined by combining the current position and flight speed of the UAV. To avoid frequent adjustments to the estimated target waypoint of the UAV, when the distance between the estimated target waypoint and the current target waypoint is less than a preset distance, the estimated target waypoint is not updated, and the mission flight path is not updated. When the distance between the estimated target waypoint and the current target waypoint is greater than the preset distance, the target waypoint is updated, and the mission flight path is replanned, that is, steps 103 to 105 are repeated. Otherwise, steps 106 to 108 are executed. For example, the preset distance is a straight-line distance of 500 meters or a height difference of 100 meters.

[0048] It is important to note that in this application, the estimated target waypoint refers to the location suitable for flare deployment within the estimated position of the precipitation cloud system after the UAV reaches the system, based on the estimated current movement trend of the precipitation cloud system before or at the moment of UAV takeoff. The current target waypoint is the location suitable for flare deployment within the estimated position of the precipitation cloud system after the UAV reaches the system, based on the estimated current movement trend of the precipitation cloud system at the current moment. Specifically, precipitation clouds move irregularly, and therefore their current movement trend may change irregularly. The estimated target waypoint is the location suitable for flare deployment after the UAV reaches the precipitation cloud system, based on the estimated current movement trend at the previous moment. The current target waypoint is the location suitable for flare deployment after the UAV reaches the precipitation cloud system, based on the estimated current movement trend at the current moment.

[0049] Step 106: Reach the current mission waypoint based on the mission route. In this embodiment, the UAV executes the mission route until it reaches the current mission waypoint. After the UAV reaches the current mission waypoint, it determines whether the operational conditions are met based on the meteorological data detected by the UAV's onboard detection system. The operational conditions include the timing of the operation and the risk of thunderstorms. If the onboard detection system determines that the operational conditions are met, the flare spraying procedure is initiated. If the onboard detection system determines that the operational conditions are not met, the operational route is replanned.

[0050] Specifically, based on the characteristic data of the precipitation cloud system and the meteorological data collected by the UAV, it is determined whether the operation is timely, i.e., the timing for igniting the flare is determined. It is also determined whether there is a risk of thunderstorms to ensure the safety of the UAV. If the operation conditions are met, i.e., it is suitable to ignite the flare and there is no risk of thunderstorms, then steps 107 to 108 are executed. Otherwise, steps 101 to 106 are executed.

[0051] Specifically, to monitor meteorological elements and atmospheric electric field changes during cloud seeding operations in complex weather conditions in real time, and to ensure the safety of UAV-based cloud seeding operations, each UAV will be equipped with an onboard detection system using in-situ detection methods to collect data along the mission flight path and transmit the data to the ground control system. Specifically, the onboard detection system equipment includes a flight path meteorological instrument and a power field detector.

[0052] The airborne detection system of the UAV can be configured to detect meteorological data in real time, periodically, or at preset locations along the mission route.

[0053] The flight path meteorological instrument has a sampling rate greater than 1Hz, enabling the measurement of raw data on conventional meteorological elements such as atmospheric static temperature, air pressure, and relative humidity along the mission flight path. Combined with the UAV's GPS information, it can obtain flight path meteorological information corresponding to the UAV's time / spatial location during the mission. The ionization detector can measure the atmospheric electric field and its changes, providing short-term warnings of potential thunderstorm activity and the risk of electrostatic discharge in local areas. This allows the UAV to adjust its mission flight path based on thunderstorm warnings, avoiding potential dangers during the mission.

[0054] In addition, those skilled in the art can also set up emergency obstacle avoidance strategies for drones, and adopt emergency obstacle avoidance strategies when receiving thunderstorm warnings to ensure the safety of drones.

[0055] Step 107: Determine the seeding area for precipitation clouds based on feature data. In this embodiment, after the UAV reaches the current mission waypoint, a suitable area for seeding flares is determined as the seeding operation area based on the cloud type, thickness, cloud height, temperature, and updrafts within the precipitation cloud system. Specifically, the cloud type is first determined, as different types of precipitation clouds have different precipitation mechanisms and physical characteristics, requiring different seeding strategies. The seeding operation area is further determined based on the cloud structure; generally, areas with thicker clouds and higher altitudes are more suitable for seeding operations. Simultaneously, the temperature of the precipitation cloud system is monitored to ensure the catalyst functions at a suitable temperature, and seeding the catalyst in areas with strong updrafts can more effectively promote the condensation and growth of cloud droplets.

[0056] Step 108: Plan the UAV's operational flight path based on the seeding operation area, and seed flares accordingly. In this embodiment, the UAV's operational mode is determined, and the operational flight segment is determined based on the seeding operation area and the operational mode. The UAV's operational mode includes single-point seeding and multi-point seeding. The operational flight path is planned based on the operational flight segment, the UAV's remaining flight time, and flight speed, and the operational flight path is corrected in real time based on the current movement trend of the precipitation cloud system.

[0057] Specifically, based on the number of flares carried by the drone, it is divided into single-point spraying and multi-point spraying. The number of flares sprayed will affect the spacing of the operation path when the drone plans its operation route.

[0058] like Figure 5 As shown, furthermore, after the UAV reaches the current mission waypoint, the UAV's operational route is comprehensively planned based on the range of the seeding operation area sent by the cloud radar and the UAV's endurance. In this application, a zigzag reciprocating operation method is used to plan the operational route, and the calculation method is as follows:

[0059] , .in, In the formula, This indicates the length of the drone's zigzag round trip operation path. This indicates the spacing between work paths in the work route. Indicates the length of the work area. Indicates the width of the work area. This indicates the total flight distance of the drone's seeding route. This indicates the drone's dispersal speed. This indicates the time of drone seeding.

[0060] In one embodiment of this application, before planning the drone's operational route based on the seeding operation area, it can be determined whether the drone's remaining flight time is sufficient to complete the operational route. If the drone's remaining flight time is sufficient to complete the operational route, then the operational route is executed. If the drone's remaining flight time is insufficient to complete the operational route, then a local seeding area is determined within the seeding operation area based on meteorological data, and the drone's operational route is planned based on this local seeding area.

[0061] In addition, meteorological data collected by the airborne detection system mounted on the UAV is used to assess whether the current cloud seeding operation is successful. If the operation is successful, the UAV returns and is withdrawn. If the operation is unsuccessful, the current movement trend of the precipitation cloud system is re-determined, and the flight path planning steps are executed to determine the seeding operation area and flight path for seeding with flares. In other words, the effectiveness of the cloud seeding operation is evaluated. If the operation does not achieve the expected results, steps 101 to 108 are repeated.

[0062] While this application provides the method operation steps as described in the embodiments or flowcharts, more or fewer operation steps may be included based on conventional or non-inventive labor. The order of steps listed in this embodiment is merely one possible execution order among many and does not represent the only execution order. In actual device or client product execution, the methods shown in this embodiment or the accompanying drawings can be executed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment).

[0063] like Figure 2 As shown in the figure, this application embodiment also provides a drone mission planning device 200 for artificial weather modification. The device includes: a detection module 201, a prediction module 202, a mission route planning module 203, an update judgment module 204, a determination module 205, and a planning and dissemination module 206, as detailed below.

[0064] The detection module 201 is used to detect the characteristic data of precipitation cloud systems using cloud radar, and to determine the current movement trend and current mission waypoint of the precipitation cloud system based on the characteristic data.

[0065] The prediction module 202 is used to determine the predicted target waypoint based on the current mission waypoint and the current movement trend, and to perform route planning steps until the UAV reaches the current mission waypoint.

[0066] The mission route planning module 203 is used to plan the mission route between the current position and the estimated target waypoint for the UAV.

[0067] The update judgment module 204 is used to execute the mission route, detect feature data, and determine whether to update the estimated target waypoint based on the current mission waypoint and the current movement trend.

[0068] If the estimated destination is updated, the route planning steps will be performed using the updated estimated destination.

[0069] If the estimated target waypoint is not updated, the current mission waypoint will be reached based on the mission route.

[0070] The determination module 205 is used to determine the seeding operation area of ​​precipitation cloud system based on feature data.

[0071] The planning and dispersing module 206 is used to plan the operation route of the UAV according to the dispersing operation area and to spread flame strips based on it.

[0072] Some modules in the apparatus described in this application can be described in the general context of computer-executable instructions that are executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, classes, etc., that perform a specific task or implement a specific abstract data type. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0073] The apparatus or module described in the above embodiments can be implemented by a computer chip or physical entity, or by a product with a certain function. For ease of description, the above apparatus is described by dividing it into various modules according to their functions. When implementing the embodiments of this application, the functions of each module can be implemented in one or more software and / or hardware. Of course, a module that implements a certain function can also be implemented by combining multiple sub-modules or sub-units.

[0074] The methods, apparatus, or modules described in this application can be implemented in a computer-readable program code manner. The controller can be implemented in any suitable manner, such as a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicon Labs C8051F320. A memory controller can also be implemented as part of the control logic of a memory. Those skilled in the art will also recognize that, in addition to implementing the controller in purely computer-readable program code manner, the same functionality can be achieved by logically programming the method steps to make the controller take the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the means included within it for implementing various functions can also be considered as structures within the hardware component. Alternatively, the device used to implement various functions can be viewed as either a software module that implements the method or a structure within a hardware component.

[0075] This application also provides an apparatus, the apparatus comprising: a processor; a memory for storing processor-executable instructions; wherein, when the processor executes the executable instructions, it implements the method described in this application.

[0076] This application also provides a non-volatile computer-readable storage medium storing a computer program or instructions thereon, which, when executed, enables the method described in this application embodiment to be implemented.

[0077] Furthermore, in the various embodiments of the present invention, each functional module can be integrated into a processing module, or each module can exist independently, or two or more modules can be integrated into a single module.

[0078] The aforementioned storage media include, but are not limited to, Random Access Memory (RAM), Read-Only Memory (ROM), Cache, Hard Disk Drive (HDD), or Memory Card. The memory can be used to store computer program instructions.

[0079] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary hardware. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product, or it can be embodied in the process of data migration. The computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, mobile terminal, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0080] The various embodiments described in this specification are presented in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on its differences from other embodiments. All or part of this application can be used in numerous general-purpose or special-purpose computer system environments or configurations. Examples include: personal computers, server computers, handheld or portable devices, tablet devices, mobile communication terminals, multiprocessor systems, microprocessor-based systems, programmable electronic devices, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices, etc.

[0081] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of this application.

Claims

1. A method for planning unmanned aerial vehicle (UAV) missions for weather modification, characterized in that, include: The characteristic data of precipitation cloud systems are detected by cloud radar, and the current movement trend and current mission waypoint of the precipitation cloud systems are determined based on the characteristic data. Based on the current mission waypoint and the current movement trend, the estimated target waypoint is determined, and the route planning steps are executed until the UAV reaches the current mission waypoint; The route planning steps include: planning a mission route for the UAV from its current location to the estimated target waypoint; Execute the mission route, detect the feature data, and determine whether to update the estimated target waypoint based on the current mission waypoint and the current movement trend; If the estimated target waypoint is updated, then the route planning step is performed with the updated estimated target waypoint; If the estimated target waypoint is not updated, then the current mission waypoint is reached based on the mission route. The step of determining the current movement trend of the precipitation cloud system based on the feature data includes: the feature data includes the cloud type, cloud structure, and cloud physical quantities of the precipitation cloud system; wherein the cloud physical quantities include the movement speed, movement direction, and cloud height of the precipitation cloud system; and the current movement trend of the precipitation cloud system is determined based on the cloud physical quantities. The method for calculating the estimated target waypoints is as follows: ， ； in, , , ; In the formula, This indicates the estimated latitude and longitude coordinates of the target waypoint. This represents the latitude and longitude coordinates of the current location of the precipitation cloud system. Represents pi (π). and These represent the horizontal and vertical distances from the UAV's current position to the current mission waypoint, respectively. Represents the Earth's equatorial radius. This indicates the distance from the drone's current position to the current mission waypoint. This indicates the height of the precipitation cloud system. Indicates the drone's current altitude. Indicates the speed of movement of precipitation cloud systems. This indicates the vertical velocity of the drone. Indicates the direction of movement of precipitation cloud systems; The seeding operation area for precipitation clouds is determined based on the aforementioned characteristic data; Plan the drone's operational route according to the spraying area, and spray flame strips accordingly.

2. The method according to claim 1, characterized in that, The characteristic data of precipitation cloud systems detected by cloud radar also includes: The type and number of flames carried by the UAV are determined based on the characteristic data of the precipitation cloud system.

3. The method according to claim 1, characterized in that, The step of determining whether to update the estimated target waypoint based on the current mission waypoint and the current movement trend includes: Determine the current target waypoint based on the current mission waypoint and the current movement trend; Determine whether the distance between the current target waypoint and the estimated target waypoint is greater than a preset distance; If the distance between the current target waypoint and the estimated target waypoint is greater than a preset distance, then the current target waypoint is updated to the estimated target waypoint; Otherwise, the estimated target waypoints will not be updated.

4. The method according to claim 1, characterized in that, Before planning the drone's operational route based on the seeding operation area, the method further includes: Determine whether the drone's remaining flight time is sufficient to complete the operational route; If the remaining flight time of the UAV is sufficient to complete the operational route, then the operational route shall be executed; If the remaining flight time of the UAV is insufficient to complete the operational route, a localized spraying area is determined based on meteorological data within the spraying operation area, and the operational route of the UAV is planned based on the localized spraying area.

5. The method according to claim 1, characterized in that, The step of planning the drone's operational route based on the seeding operation area includes: The operation mode of the UAV is determined, and the operation segment is determined based on the seeding operation area and the operation mode; wherein, the operation mode of the UAV includes single-point seeding and multi-point seeding; The operation route is planned based on the operation segment, the remaining flight time of the UAV and its flight speed, and the operation route is corrected in real time according to the current movement trend of the precipitation cloud system.

6. The method according to claim 1, characterized in that, The process of arriving at the current mission waypoint based on the mission route also includes: The determination of whether operational conditions are met is based on meteorological data detected by the UAV's onboard detection system; wherein, the operational conditions include the timing of the operation and the risk of thunderstorms; If the airborne detection system determines that the above operating conditions are met, the flame spraying procedure will be initiated. If the airborne detection system determines that the operational conditions are not met, the operational route will be replanned.

7. The method according to claim 1, characterized in that, The method based on its flare spraying also includes: Assess the suitability of current weather modification operations using meteorological data; If the shadowing operation is successful, the drone will return to base and be retrieved. If the artificial rainmaking operation fails, the current movement trend of the precipitation cloud system is re-determined, and the flight path planning step is executed to determine the seeding operation area and the operation flight path for seeding flame strips.

8. A drone mission planning device for artificial weather modification, characterized in that, include: The detection module is used to detect the characteristic data of precipitation cloud systems using cloud radar, and to determine the current movement trend and current mission waypoint of the precipitation cloud system based on the characteristic data. The prediction module is used to determine the predicted target waypoint based on the current mission waypoint and the current movement trend, and to execute the route planning steps until the UAV reaches the current mission waypoint; The mission route planning module is used to plan the mission route for the UAV from its current position to the estimated target waypoint; An update judgment module is used to execute the task route, detect the feature data, and determine whether to update the estimated target waypoint based on the current task waypoint and the current movement trend. If the estimated target waypoint is updated, then the route planning step is performed with the updated estimated target waypoint; If the estimated target waypoint is not updated, then the current mission waypoint is reached based on the mission route. The step of determining the current movement trend of the precipitation cloud system based on the feature data includes: the feature data includes the cloud type, cloud structure, and cloud physical quantities of the precipitation cloud system; wherein the cloud physical quantities include the movement speed, movement direction, and cloud height of the precipitation cloud system; and the current movement trend of the precipitation cloud system is determined based on the cloud physical quantities. The method for calculating the estimated target waypoints is as follows: ， ； in, , , ; In the formula, This indicates the estimated latitude and longitude coordinates of the target waypoint. This represents the latitude and longitude coordinates of the current location of the precipitation cloud system. Represents pi (π). and These represent the horizontal and vertical distances from the UAV's current position to the current mission waypoint, respectively. Represents the Earth's equatorial radius. This indicates the distance from the drone's current position to the current mission waypoint. This indicates the height of the precipitation cloud system. Indicates the drone's current altitude. Indicates the speed of movement of precipitation cloud systems. This indicates the vertical velocity of the drone. Indicates the direction of movement of precipitation cloud systems; The determination module is used to determine the seeding operation area of ​​the precipitation cloud system based on the feature data; The planning and dispersing module is used to plan the operation route of the UAV according to the dispersing operation area and to spread flame strips based on it.

9. An apparatus for performing a method for planning unmanned aerial vehicle (UAV) missions for weather modification, characterized in that, include: processor; Memory used to store processor-executable instructions; When the processor executes the executable instructions, it implements the method as described in any one of claims 1 to 7.

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