A method, device and medium for determining a safety level value of a UAV route

Abstract

The application provides a method and device for determining a safety level value of a flight route of a UAV, and a medium. The method comprises: obtaining a grid safety level corresponding to each target grid on each initial flight route of a target UAV according to a safety interval between each target grid and an obstacle on each initial flight route; determining a safety level change value corresponding to each target grid according to the grid safety levels corresponding to two adjacent target grids; and obtaining a safety level value of each target grid on each initial flight route according to the safety level change value corresponding to each target grid. The safety level value of each target grid is obtained by analyzing the gradual change order of the grid safety levels of the target grid on the flight route of the UAV, so that the safety planning of the flight route of the UAV is performed according to the safety level value, and the safety of the determined target flight route is improved, thereby ensuring the flight safety of the UAV.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicles (UAVs), and in particular to a method, device, and medium for determining a safety level cost value of an UAV route. Background Art

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

[0003] Traditional flight route planning methods, such as the A* algorithm, are based on heuristic search algorithms and are suitable for quickly searching for the shortest flight routes, but they lack consideration for flight safety. Low-altitude drones must fully consider the risk of ground obstacles throughout their flight. Operations in densely populated areas also require consideration of the risk of a drone crashing into people on the ground. However, traditional flight route planning methods do not prioritize ground obstacle risk analysis during drone flight planning, making it difficult to fully ensure drone flight safety. Summary of the Invention

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

[0005] According to one aspect of the present application, a method for determining a cost value of a UAV route safety level is provided, which is applied to a flight route planning system. The flight route planning system includes a target grid map corresponding to a target space, the target grid map includes a plurality of target grids, the target grid map corresponds to a grid coordinate system, each target grid corresponds to a grid coordinate in the grid coordinate system, each target grid corresponds to a grid safety level, and the grid safety level corresponding to the target grid is determined based on the safety interval between the target grid and an obstacle;

[0006] The method for determining the safety level cost of a drone route described in this application includes the following steps:

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

[0008] Step S200: Obtain the grid security levels corresponding to several target grids between the starting grid and the destination grid on each initial flight route, and obtain a grid security level list set V = (V1, V2, ..., Vi ,...,V n );V i =(V i1 ,V i2 ,...,V ig ,...,V if(i) ); where i = 1, 2, ..., n; n is the number of initial flight routes; V i is the grid safety level list corresponding to the i-th initial flight route; g = 1, 2, ..., f(i); f(i) is the number of target grids between the starting grid and the destination grid on the i-th initial flight route; V ig is the grid safety level corresponding to the gth target grid between the starting grid and the destination grid on the i-th initial flight route; the grid safety level is determined by the safety interval between the corresponding target grid and the obstacle;

[0009] Step S300: According to V ig and V i(g+1) , determine the safety level change O corresponding to the gth target grid between the starting grid and the destination grid on the i-th initial flight route ig ;

[0010] Step S400: Determine the safety level cost value corresponding to the gth target grid between the starting grid and the destination grid on the i-th initial flight route. Among them, e is a natural constant;

[0011] Step S500: Determine a target flight route from a plurality of initial flight routes according to the safety level cost values ​​of a plurality of target grids on each initial flight route.

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

[0013] Step S110: The grid coordinates are (x a ,y a )、(x a ,y b )、(x b ,y a ) and (x b ,y b The target flight area is determined as the target grid area; a is the horizontal coordinate of the starting grid coordinate; y a is the vertical coordinate of the starting grid coordinate; x b is the horizontal coordinate of the target grid coordinate; bA m is a starting grid corresponding to the starting grid coordinate; A h is a target grid corresponding to the target grid coordinate; the starting grid coordinate corresponds to a starting grid of the target UAV in the target grid map; the target grid coordinate corresponds to a target grid of the target position point of the target UAV in the target grid map;

[0014] Step S120, according to a preset flight route planning algorithm, starting from the starting grid, traversing each target grid in the target flight area, and ending at the target grid, to determine a plurality of initial flight routes.

[0015] In an exemplary embodiment of the present application, the grid safety level corresponding to the target grid is determined by the following steps:

[0016] Step S010, obtaining the distance between each target grid and each obstacle in the target space to obtain a distance list set A=(A1, A2,..., Ah), where h is the number of target grids; A m is a distance list corresponding to the mth target grid; j=1, 2,..., k; k is the number of obstacles in the target space; A h is the distance between the mth target grid and the jth obstacle in the target space; m m1 m2 mj mk m mj Step S020, determining the distance corresponding to MIN(A m ) as the safety interval D m corresponding to the mth target grid; wherein MIN() is a preset minimum value determination function;

[0018] Step S030, if 0<D m ≤d1, then determining that the grid safety level corresponding to the mth target grid is c1;

[0019] If d1<D m ≤d2, then determining that the grid safety level corresponding to the mth target grid is c2;

[0020] If D m >d2, then determining that the grid safety level corresponding to the mth target grid is c3;

[0021] Wherein, d1 and d2 are preset safety interval thresholds; c3>c2>c1>0.

[0022] ​​​​​In an exemplary embodiment of the present application, the distance between each target grid and each obstacle in the target space is determined by the following steps:

[0023] Step S011: Get the coordinates of the center of each target grid in the grid coordinate system, and obtain a grid center coordinate list I = (I1, I2, ..., I m ,...,I h );I m =(I m1 ,I m2 ); where I m is the coordinate of the center of the mth target grid in the grid coordinate system; I m1 For I m The horizontal axis, I m2 For I m The vertical coordinate of

[0024] Step S012: Obtain the coordinates of the center of each obstacle in the target space in the grid coordinate system, and obtain the obstacle center coordinate list L = (L1, L2, ..., L j ,...,L k );L j =(L j1 ,L j2 ); where L j is the coordinate of the center of the j-th obstacle in the target space in the grid coordinate system; L j1 For L j The horizontal axis, L j2 For L j The vertical coordinate of

[0025] Step S013: Determine the distance A between the mth target grid and the jth obstacle in the target space. mj =((I m1 -L j1 ) 2 +(I m2 -L j2 ) 2 ) 1 / 2 .

[0026] In an exemplary embodiment of the present application, step S300 includes:

[0027] Step S310: If V ig is c3, and V i(g+1) is c3, then

[0028] If V ig is c2, and V i(g+1) is c3, then

[0029] If V ig is c1, and V i(g+1) is c3, then

[0030] If V ig is c1, and V i(g+1) is c2, then

[0031] If V ig is c2, and V i(g+1) is c2, then

[0032] If V ig is c3, and V i(g+1) is c2, then

[0033] If V ig is c1, and V i(g+1) is c1, then

[0034] If V ig is c2, and V i(g+1) is c1, then

[0035] If V ig is c3, and V i(g+1) is c1, then O ig =c3.

[0036] In an exemplary embodiment of the present application, step S500 includes:

[0037] Step S510: determining an estimated cost value for each target grid on each initial flight route based on the starting grid coordinates, the destination grid coordinates, and each corresponding grid coordinate on each initial flight route;

[0038] Step S520: Determine a total cost corresponding to each initial flight route based on the estimated cost values ​​and safety level cost values ​​of a plurality of target grids on each initial flight route;

[0039] Step S530: Determine the initial flight route with the smallest total cost as the target flight route.

[0040] In an exemplary embodiment of the present application, step S510 includes:

[0041] Step S511: Obtain the grid coordinates corresponding to several target grids between the starting grid and the destination grid on each initial flight route, and obtain the initial flight route coordinate list set E = (E1, E2, ..., E i ,...,E n);E i =(E i1 ,E i2 ,...,E ig ,...,E if(i) );E ig =(E ig1 ,E ig2 ); where E i is the initial flight route coordinate list corresponding to the i-th initial flight route; E ig is the grid coordinate of the gth target grid between the starting grid and the destination grid on the i-th initial flight route; E ig1 For E ig The horizontal axis of E ig2 For E ig The vertical coordinate of

[0042] Step S512: Determine the route along the i-th initial flight path from the starting grid to E ig The corresponding cumulative cost value H at the target grid ig =|E ig1 -x a |+|E ig2 -y a |;

[0043] Step S513: Determine the route along the i-th initial flight path from E ig The corresponding key cost value M from the target grid to the destination grid ig =((E ig1 -x b ) 2 +(E ig2 -y b ) 2 ) 1 / 2 ;

[0044] Step S514: If H ig ≤M ig , then determine E ig The corresponding position coefficient T at the target grid ig =M ig / H ig Otherwise, determine E ig The corresponding position coefficient T at the target grid ig =H ig / M ig ;

[0045] Step S515: Determine E ig The cumulative cost coefficient of the corresponding target grid Among them, e is a natural constant;

[0046] Step S516: Determine Eig The corresponding key cost coefficient W of the target grid ig =1-U ig ;

[0047] Step S517: According to U ig and W ig , determine E ig The estimated cost value Z of the corresponding target grid ig =U ig ×H ig +W ig ×M ig .

[0048] In an exemplary embodiment of the present application, step S520 includes:

[0049] Step S521: According to Z ig and P ig , determine the total cost B corresponding to the i-th initial flight route i =∑ f(i) g＝1 (Z ig -P ig ).

[0050] According to one aspect of the present application, a non-transitory computer-readable storage medium is provided, wherein the storage medium stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the aforementioned method for determining the cost value of the drone route safety level.

[0051] According to one aspect of the present application, an electronic device is provided, including a processor and the aforementioned non-transitory computer-readable storage medium.

[0052] The present invention has at least the following beneficial effects:

[0053] The method for determining the safety level cost value of a UAV route of the present invention determines several initial flight routes corresponding to the target UAV based on the starting grid coordinates and the destination grid coordinates of the target UAV, obtains the grid safety level corresponding to each target grid on each initial flight route based on the safety interval between each target grid located between the starting grid and the destination grid and an obstacle, determines the change in the safety level corresponding to each target grid based on the grid safety levels corresponding to two adjacent target grids, and obtains the safety level cost value of each target grid on each initial flight route based on the change in the safety level corresponding to each target grid. By introducing the safety level proxy value and fully considering various low-altitude risk factors, the gradient order of the grid safety level of each target grid on the UAV's flight route is analyzed to obtain the safety level proxy value of each target grid, which provides an important basis for scientifically and rationally planning the UAV flight route, so as to facilitate the subsequent safety planning of the UAV route according to the safety level proxy value, thereby improving the safety of the determined target flight route, reducing the serious consequences of UAV damage caused by collisions with ground obstacles due to sudden accidents such as power outages or communication failures during flight, and ensuring the flight safety of the UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0055] Figure 1 This is a flowchart of a method for determining the safety level cost of a drone route provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0056] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of the present invention.

[0057] As the number of drones in flight increases, flight safety considerations require flight management, i.e., flight route planning for each drone, ensuring that each drone flies according to its own flight route. The ultra-low-altitude flight environment in which drones operate has become increasingly complex and dynamic with the development of the drone industry. Therefore, to ensure the safety of drones during flight, flight routes need to be planned rationally and safely. Therefore, this application proposes a method for determining a drone route safety level cost.

[0058] A method for determining a cost value of a UAV route safety level is applied to a flight route planning system. The flight route planning system includes a target grid map corresponding to a target space. The target grid map includes a plurality of target grids. The target grid map corresponds to a grid coordinate system. Each target grid has corresponding grid coordinates in the grid coordinate system. Each target grid has a corresponding grid safety level. The grid safety level corresponding to the target grid is determined according to the safety interval between the target grid and an obstacle.

[0059] The target space is the space where the target UAV flies.

[0060] The grid security level corresponding to the target grid is determined through steps S010 to S030:

[0061] Step S010: Obtain the distance between each target grid and each obstacle in the target space, and obtain a distance list set A = (A1, A2, ..., A m ,...,A h );A m =(A m1 ,A m2 ,...,A mj ,...,A mk ); where m = 1, 2, ..., h; h is the number of target grids; A m is the distance list corresponding to the mth target grid; j = 1, 2, ..., k; k is the number of obstacles in the target space; A mj is the distance between the mth target grid and the jth obstacle in the target space;

[0062] The distance between each target grid and each obstacle in the target space is determined through steps S011 to S013:

[0063] Step S011: Get the coordinates of the center of each target grid in the grid coordinate system, and obtain a grid center coordinate list I = (I1, I2, ..., I m ,...,I h );I m =(Im1 ,I m2 ); where I m is the coordinate of the center of the mth target grid in the grid coordinate system; I m1 For I m The horizontal axis, I m2 For I m The vertical coordinate of

[0064] Step S012: Obtain the coordinates of the center of each obstacle in the target space in the grid coordinate system, and obtain the obstacle center coordinate list L = (L1, L2, ..., L j ,...,L k );L j =(L j1 ,L j2 ); where L j is the coordinate of the center of the j-th obstacle in the target space in the grid coordinate system; L j1 For L j The horizontal axis, L j2 For L j The vertical coordinate of

[0065] The obstacles in the target space may be obstacles on the ground whose height is greater than a preset height threshold.

[0066] Step S013: Determine the distance A between the mth target grid and the jth obstacle in the target space. mj =((I m1 -L j1 ) 2 +(I m2 -L j2 ) 2 ) 1 / 2 .

[0067] Step S020: MIN(A m ) is determined as the safety interval D corresponding to the mth target grid m ; Wherein, MIN() is a preset minimum value determination function;

[0068] Step S030: If 0 < D m ≤d1, then the grid security level corresponding to the mth target grid is determined to be c1;

[0069] If d1<D m ≤d2, then the grid security level corresponding to the mth target grid is determined to be c2;

[0070] If D m >d2, then the grid security level corresponding to the mth target grid is determined to be c3;

[0071] Wherein, d1 and d2 are preset safety interval thresholds; c3>c2>c1>0.

[0072] c1, c2, and c3 can be determined by staff based on existing grid safety level determination methods, or they can be set by staff themselves based on civil aviation drone flight standards or rules.

[0073] like Figure 1 As shown, the method for determining the cost value of the drone route safety level described in this application includes the following steps:

[0074] Step S100: In response to receiving a flight route planning request from a target UAV, determining a plurality of initial flight routes from the starting grid to the destination grid according to the starting grid coordinates of the starting grid and the destination grid coordinates of the destination grid included in the flight route planning request;

[0075] Furthermore, step S100 includes steps S110 to S120:

[0076] Step S110: The grid coordinates are (x a ,y a )、(x a ,y b )、(x b ,y a ) and (x b ,y b The target flight area is determined as the target grid area; a is the horizontal coordinate of the starting grid coordinate; y a is the vertical coordinate of the starting grid coordinate; x b is the horizontal coordinate of the target grid coordinate; b is the ordinate of the destination grid coordinate;

[0077] The starting grid corresponding to the starting grid coordinates is the target grid of the starting position point of the target UAV in the target grid map; the destination grid corresponding to the destination grid coordinates is the target grid of the destination position point of the target UAV in the target grid map.

[0078] Step S120 , according to a preset flight route planning algorithm, starting from the starting grid, traversing each target grid in the target flight area, and ending at the destination grid, to determine a number of initial flight routes.

[0079] The preset flight route planning algorithm may adopt an existing path planning algorithm, such as a traditional A-star algorithm.

[0080] Step S200: Obtain the grid security levels corresponding to several target grids between the starting grid and the destination grid on each initial flight route, and obtain a grid security level list set V = (V1, V2, ..., V i ,...,V n );V i =(V i1 ,V i2 ,...,V ig ,...,V if(i) ); where i = 1, 2, ..., n; n is the number of initial flight routes; V i is the grid safety level list corresponding to the i-th initial flight route; g = 1, 2, ..., f(i); f(i) is the number of target grids between the starting grid and the destination grid on the i-th initial flight route; V ig is the grid safety level corresponding to the gth target grid between the starting grid and the destination grid on the i-th initial flight route;

[0081] Step S300: According to V ig and V i(g+1) , determine the safety level change O corresponding to the gth target grid between the starting grid and the destination grid on the i-th initial flight route ig ;

[0082] Among them, O ig The determination conditions are shown in step S310:

[0083] Step S310: If V ig is c3, and V i(g+1) is c3, then

[0084] If V ig is c2, and V i(g+1) is c3, then

[0085] If V ig is c1, and V i(g+1) is c3, then

[0086] If V ig is c1, and V i(g+1) is c2, then

[0087] If V ig is c2, and V i(g+1) is c2, then

[0088] If V ig is c3, and V i(g+1)For c2, then

[0089] If V ig is c1, and V i(g+1) is c2, then

[0090] If V ig is c2, and V i(g+1) is c1, then

[0091] If V ig is c3, and V i(g+1) is c1, then O ig =c3.

[0092] Step S400, determining the safety level generation value corresponding to the gth target grid located between the start grid and the destination grid on the ith initial flight route wherein e is a natural constant;

[0093] Step S500, determining the target flight route from the initial flight routes according to the safety level generation values of the target grids on each initial flight route;

[0094] Further, step S500 includes steps S510-S530:

[0095] Step S510, determining the estimated generation value of each target grid on each initial flight route according to the start grid coordinates, the destination grid coordinates and the coordinates of each grid corresponding to each initial flight route;

[0096] wherein step S510 includes steps S511-S517:

[0097] Step S511, obtaining the grid coordinates corresponding to the target grids located between the start grid and the destination grid on each initial flight route, to obtain the initial flight route coordinate list set E=(E1, E2,..., E i ,...,E n ); E i =(E i1 ,E i2 ,...,E ig ,...,E if(i) ); E ig =(E ig1 ,E ig2 ); wherein E i is the initial flight route coordinate list corresponding to the ith initial flight route; E ig is the grid coordinates corresponding to the gth target grid located between the start grid and the destination grid on the ith initial flight route;ig1 For E ig The horizontal axis of E ig2 For E ig The vertical coordinate of

[0098] Step S512: Determine the route along the i-th initial flight path from the starting grid to E ig The corresponding cumulative cost value H at the target grid ig =|E ig1 -x a |+|E ig2 -y a |;

[0099] Step S513: Determine the route along the i-th initial flight path from E ig The corresponding key cost value M from the target grid to the destination grid ig =((E ig1 -x b ) 2 +(E ig2 -y b ) 2 ) 1 / 2 ;

[0100] Step S514: If H ig ≤M ig , then determine E ig The corresponding position coefficient T at the target grid ig =M ig / H ig Otherwise, determine E ig The corresponding position coefficient T at the target grid ig =H ig / M ig ;

[0101] Step S515: Determine E ig The cumulative cost coefficient of the corresponding target grid Among them, e is a natural constant;

[0102] Step S516: Determine E ig The corresponding key cost coefficient W of the target grid ig =1-U ig ;

[0103] Step S517: According to U ig and W ig , determine E ig The estimated cost value Z of the corresponding target grid ig =U ig ×H ig +W ig ×M ig .

[0104] Step S520, determining the total value of each initial flight route according to the estimated value and the safety level value of each target grid on each initial flight route;

[0105] Specifically, step S520 includes step S521:

[0106] Step S521, determining the total value B ig of the i-th initial flight route according to Z ig and P i . f(i) g＝1 (Z ig -P ig ).

[0107] Step S530, determining the initial flight route with the minimum total value as the target flight route.

[0108] The method for determining the safety level value of the flight route of the unmanned aerial vehicle according to the present application determines the initial flight routes corresponding to the target unmanned aerial vehicle according to the starting grid coordinates and the destination grid coordinates of the target unmanned aerial vehicle, determines the safety level value corresponding to each target grid according to the grid safety level of each target grid on each initial flight route and the grid safety level of the key grid corresponding to the target grid, and determines the estimated value of each target grid on each initial flight route according to the starting grid coordinates, the destination grid coordinates and each grid coordinate corresponding to each initial flight route, thereby determining the total value of each initial flight route, and determining the initial flight route with the minimum total value as the target flight route of the target unmanned aerial vehicle. The safety of the target flight route determined through the analysis of the gradual order of the grid safety levels of each target grid on the flight route of the unmanned aerial vehicle is improved, the serious consequences caused by the sudden accidents of the unmanned aerial vehicle during the flight are avoided, and the flight safety of the unmanned aerial vehicle is ensured.

[0109] Embodiments of the present application also provide a computer program product comprising program code for causing an electronic device to perform the steps of the methods described above when the program product is run on the electronic device.

[0110] Further, although the various steps of the methods of the present disclosure are described in a particular order in the accompanying drawings, this does not require or imply that the steps must be performed in this particular order, or that all of the steps shown must be performed to achieve the desired result. Additionally or alternatively, certain steps can be omitted, multiple steps can be combined into one step, one step can be divided into multiple steps, and the like.

[0111] Through the description of the above embodiments, it is easy for those skilled in the art to understand that the example embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a mobile terminal, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

[0112] In an exemplary embodiment of the present disclosure, an electronic device capable of implementing the above method is also provided.

[0113] Those skilled in the art will appreciate that various aspects of the present invention may be implemented as systems, methods, or program products. Therefore, various aspects of the present invention may be implemented in the following forms: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software implementations, which may be collectively referred to herein as "circuits," "modules," or "systems."

[0114] The electronic device according to this embodiment of the present invention is merely an example and should not limit the functions and scope of use of the embodiments of the present invention.

[0115] The electronic device is implemented as a general-purpose computing device. Components of the electronic device may include, but are not limited to, the aforementioned at least one processor, the aforementioned at least one storage, and a bus connecting different system components (including the storage and the processor).

[0116] The storage stores program codes, which can be executed by the processor, so that the processor performs the steps according to various exemplary embodiments of the present invention described in the above “Exemplary Method” section of this specification.

[0117] The memory may include readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory, and may further include read only memory (ROM).

[0118] The storage may also include a program / utility having a set (at least one) of program modules, such program modules including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0119] The bus can be one or more of several types of bus structures including a memory bus or memory controller, a peripheral bus, a graphics bus, a processor or local bus using any of a variety of bus architectures.

[0120] The electronic device can also communicate with one or more external devices such as a keyboard or a pointing device, a Bluetooth device, etc.; other devices that enable a user to interact with the electronic device; and / or one or more devices that enable the electronic device to communicate with one or more other computing devices. Such communication can occur via an input / output (I / O) interface. Still yet, the electronic device can communicate with one or more networks such as a local area network (LAN), a general wide area network (WAN), and / or a public network (e.g., the Internet) via the network adapter.

[0121] Those skilled in the art will readily understand that the example embodiments described herein can be implemented by software and / or by hardware combined with software essential for the embodiments. Thus, the technical solutions according to the embodiments of the present disclosure can be embodied in the form of a software product. The software product can be stored in a non-volatile storage medium (e.g., a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or a network, and includes a number of instructions for causing a computing device (e.g., a personal computer, a server, a terminal device, or a network device, etc.) to perform the methods according to the embodiments of the present disclosure.

[0122] In the example embodiments of the present disclosure, a computer readable storage medium is also provided, which stores a program product capable of implementing the above-mentioned method of the present disclosure. In some possible embodiments, various aspects of the present disclosure can also be implemented in the form of a program product, which includes program codes for causing a terminal device to perform the steps according to various example embodiments of the present disclosure described in the above-mentioned “example method” section of the present disclosure when the program product is run on the terminal device.

[0123] The program product can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or apparatus, or any combination of the above. More specific examples (non-exhaustive list) of the readable storage medium include an electrical connection having one or more wires, a portable disc, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0124] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0125] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0126] The program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, and the like, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a stand-alone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving a remote computing device, the remote computing device may be connected to the user computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0127] Furthermore, the above-described figures are merely illustrative of the processes included in the method according to exemplary embodiments of the present invention and are not intended to be limiting. It is readily understood that the processes illustrated in the above-described figures do not indicate or limit the temporal order of these processes. Furthermore, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0128] It should be noted that although several modules or units of the device for action execution are mentioned in the detailed description above, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above can be concretized in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided into multiple modules or units to be concretized.

[0129] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A method for determining the safety level cost of an unmanned aerial vehicle route, characterized in that: Applied to flight route planning system; The method comprises the following steps: Step S100: In response to receiving a flight route planning request from a target UAV, determining a plurality of initial flight routes from the starting grid to the destination grid according to the starting grid coordinates of the starting grid and the destination grid coordinates of the destination grid included in the flight route planning request; Step S200: Obtain the grid security levels corresponding to several target grids between the starting grid and the destination grid on each of the initial flight routes, and obtain a grid security level list set V = (V1, V2, ..., V i ,...,V n );V i =(V i1 ,V i2 ,...,V ig ,...,V if(i) ); where i = 1, 2, ..., n; n is the number of the initial flight routes; V i is a grid safety level list corresponding to the i-th initial flight route; g = 1, 2, ..., f(i); f(i) is the number of target grids between the starting grid and the destination grid on the i-th initial flight route; V ig is the grid safety level corresponding to the gth target grid between the starting grid and the destination grid on the i-th initial flight route; the grid safety level is determined according to the safety interval between the corresponding target grid and an obstacle; Step S300: According to V ig and V i(g+1) , determine the safety level change O corresponding to the gth target grid between the starting grid and the destination grid on the i-th initial flight route ig ; Step S400: Determine the safety level cost value corresponding to the gth target grid between the starting grid and the destination grid on the i-th initial flight route. Among them, e is a natural constant.

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

3. The method according to claim 2, characterized in that The grid security level corresponding to the target grid is determined by the following steps: Step S010: Obtain the distance between each target grid and each obstacle in the target space, and obtain a distance list set A = (A1, A2, ..., A m ,...,A h );A m =(A m1 ,A m2 ,...,A mj ,...,A mk ); wherein, m=1, 2, ..., h; h is the number of the target grids; A m is the distance list corresponding to the mth target grid; j = 1, 2, ..., k; k is the number of obstacles in the target space; A mj is the distance between the mth target grid and the jth obstacle in the target space; Step S020: MIN(A m ) is determined as the safety interval D corresponding to the mth target grid m ; Wherein, MIN() is a preset minimum value determination function; Step S030: If 0 < D m ≤d1, then determine that the grid security level corresponding to the mth target grid is c1; If d1<D m ≤d2, then determine that the grid security level corresponding to the mth target grid is c2; If D m >d2, then determine that the grid security level corresponding to the m-th target grid is c3; Wherein, d1 and d2 are preset safety interval thresholds; c3>c2>c1>0.

4. The method according to claim 3, characterized in that The distance between each target grid and each obstacle in the target space is determined by the following steps: Step S011: Obtain the coordinates of the center of each target grid in the grid coordinate system, and obtain a grid center coordinate list I = (I1, I2, ..., I m ,...,I h );I m =(I m1 ,I m2 ); where I m is the coordinate of the center of the mth target grid in the grid coordinate system; m1 For I m The horizontal axis, I m2 For I m The vertical coordinate of Step S012: Obtain the coordinates of the center of each obstacle in the target space in the grid coordinate system, and obtain the obstacle center coordinate list L = (L1, L2, ..., L j ,...,L k );L j =(L j1 ,L j2 ); where L j is the coordinate of the center of the j-th obstacle in the target space in the grid coordinate system; L j1 For L j The horizontal axis, L j2 For L j The vertical coordinate of Step S013: Determine the distance A between the mth target grid and the jth obstacle in the target space. mj =((I m1 -L j1 ) 2 +(I m2 -L j2 ) 2 ) 1 / 2 .

5. The method according to claim 2, characterized in that The step S300 includes: Step S310: If V ig is c3, and V i(g+1) is c3, then If V ig is c2, and V i(g+1) is c3, then If V ig is c1, and V i(g+1) is c3, then If V ig is c1, and V i(g+1) is c2, then If V ig is c2, and V i(g+1) is c2, then If V ig is c3, and V i(g+1) is c2, then If V ig is c1, and V i(g+1) is c1, then If V ig is c2, and V i(g+1) is c1, then If V ig is c3, and V i(g+1) is c1, then O ig =c3.

6. The method according to claim 5, characterized in that After step S400, the method further includes: Step S500: determining a target flight route from a plurality of initial flight routes according to the safety level cost values ​​of the plurality of target grids on each of the initial flight routes; Wherein, the step S500 includes: Step S510: determining an estimated cost value of each target grid on each of the initial flight routes based on the starting grid coordinates, the destination grid coordinates, and each corresponding grid coordinate on each of the initial flight routes; Step S520: determining a total cost corresponding to each of the initial flight routes based on the estimated cost values ​​and safety level cost values ​​of the target grids on each of the initial flight routes; Step S530: Determine the initial flight route with the smallest total cost as the target flight route.

7. The method according to claim 6, characterized in that The step S510 includes: Step S511: Obtain the grid coordinates corresponding to several target grids between the starting grid and the destination grid on each of the initial flight routes, and obtain the initial flight route coordinate list set E = (E1, E2, ..., E i ,...,E n );E i =(E i1 ,E i2 ,...,E ig ,...,E if(i) );E ig =(E ig1 ,E ig2 ); where E i is the initial flight route coordinate list corresponding to the i-th initial flight route; E ig is the grid coordinate corresponding to the gth target grid between the starting grid and the destination grid on the i-th initial flight route; E ig1 For E ig The horizontal axis of E ig2 For E ig The vertical coordinate of Step S512: Determine the route along the initial flight path from the starting grid to E. ig The corresponding cumulative cost value H at the target grid ig =|E ig1 -x a |+|E ig2 -y a |; Step S513: Determine the route along the i-th initial flight path from E ig The key cost value M from the corresponding target grid to the destination grid ig =((E ig1 -x b ) 2 +(E ig2 -y b ) 2 ) 1 / 2 ; Step S514: If H ig ≤M ig , then determine E ig The corresponding position coefficient T at the target grid ig =M ig / H ig Otherwise, determine E ig The corresponding position coefficient T at the target grid ig =H ig / M ig ; Step S515: Determine E ig The cumulative cost coefficient of the corresponding target grid Among them, e is a natural constant; Step S516: Determine E ig The corresponding key cost coefficient W of the target grid ig =1-U ig ; Step S517: According to U ig and W ig , determine E ig The estimated cost value Z of the corresponding target grid ig =U ig ×H ig +W ig ×M ig .

8. The method according to claim 7, characterized in that The step S520 includes: Step S521: According to Z ig and P ig , determine the total cost B corresponding to the i-th initial flight route i =∑ f(i) g＝1 (Z ig -P ig ).

9. A non-transitory computer-readable storage medium, wherein at least one instruction or at least one program is stored in the storage medium, characterized in that: The at least one instruction or the at least one program is loaded and executed by the processor to implement the method for determining the cost value of the drone route safety level as described in any one of claims 1-8.

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

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