Path planning method for unmanned aerial vehicle cruise and electronic equipment
The drone flight mission planning report elements are generated through the spatio-time graph algorithm, and the cruise path elements are analyzed to determine the overlap of cruise paths, which solves the problem of low accuracy and credibility of the drone flight mission planning report, and improves the accuracy and credibility of path planning.
Patent Information
- Application Number
- CN202411943434.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-27
- Publication Date
- 2025-03-28
AI Technical Summary
In the prior art, the cruise path determination accuracy and credibility of the UAV flight mission planning report are low, making it difficult to effectively solve this problem.
The space-time graph algorithm is used to generate the UAV flight mission planning report elements, and by obtaining and analyzing the cruise path elements, the cruise path overlap between the target UAV flight mission planning report and each cruise path is determined, thereby determining the cruise path information.
The cruise path determination accuracy and credibility of the drone flight mission planning report has been improved, and the reliability of path planning has been enhanced by introducing the drone flight scheduling characteristics and mission acceptance relationship.
Smart Images
Figure CN119714292A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a path planning method and electronic equipment for unmanned aerial vehicle cruising. Background Art
[0002] In the process of path planning for UAV flight mission planning reports, how to improve the accuracy and credibility of the cruise path determination of UAV flight mission planning reports is one of the technical challenges that need to be overcome. Summary of the invention
[0003] In order to improve the technical problems existing in the related technologies, the present application provides a path planning method and electronic equipment for unmanned aerial vehicle cruising.
[0004] In a first aspect, an embodiment of the present application provides a path planning method for drone cruising, which is applied to an electronic device, and the method includes: Obtain a flight mission planning report for the target UAV whose cruise path is to be determined; Generate a UAV flight mission planning report element for the target UAV flight mission planning report using a spatiotemporal graph algorithm, wherein the UAV flight mission planning report element is used to reflect the task undertaking relationship of the target UAV flight mission planning report; Acquire at least two cruise path elements, where the cruise path elements are used to reflect the task acceptance relationship of the cruise path nodes under the corresponding cruise path, and the cruise path of the cruise path node is determined by using the UAV flight scheduling characteristics of the cruise path node; Based on the UAV flight mission planning report elements and each cruise path element, the cruise path overlap between the target UAV flight mission planning report and the cruise path nodes corresponding to each cruise path is determined, and the cruise path overlap is used to determine the cruise path information of the target UAV flight mission planning report.
[0005] Preferably, the obtaining of at least two cruise path elements includes: Obtaining a past UAV flight mission planning report set, wherein the past UAV flight mission planning report set includes a past UAV flight mission planning report for which a cruise path is to be determined; Extracting the drone flight scheduling features of each past drone flight mission planning report in the past drone flight mission planning report set, wherein the drone flight scheduling features are used to reflect changes in the drone flight scheduling instructions in the past drone flight mission planning reports; Determining cruise path nodes corresponding to at least two cruise paths in the past UAV flight mission planning report set based on the UAV flight scheduling characteristics of each past UAV flight mission planning report in the past UAV flight mission planning report set; The elements of the cruise path nodes corresponding to each cruise path are generated by using a space-time graph algorithm to obtain at least two cruise path elements.
[0006] Preferably, the determining of the cruise path nodes corresponding to at least two cruise paths in the past UAV flight mission planning report set based on the UAV flight scheduling features of each past UAV flight mission planning report in the past UAV flight mission planning report set includes: Based on the UAV flight scheduling characteristics of each past UAV flight mission planning report, a cruise path processing model is used to determine the cruise path characteristic value set of each past UAV flight mission planning report; Based on the cruise path feature value set of each past UAV flight mission planning report, cruise path nodes corresponding to at least two cruise paths are determined in the past UAV flight mission planning report set.
[0007] Preferably, the past UAV flight mission planning report includes categories, and the UAV flight scheduling features based on each past UAV flight mission planning report are determined by using a cruise path processing model to determine a cruise path feature value set of each past UAV flight mission planning report, including: Based on the UAV flight scheduling characteristics of each past UAV flight mission planning report and the category of each past UAV flight mission planning report, a labeled cruise path processing model is used to determine the cruise path feature value set of each past UAV flight mission planning report.
[0008] Preferably, the cruise path feature value set based on each past UAV flight mission planning report, determining the cruise path nodes corresponding to at least two cruise paths in the past UAV flight mission planning report set, includes: Determine the cruise path characteristic value of each past UAV flight mission planning report as a target cruise path by using the cruise path characteristic value set of each past UAV flight mission planning report, wherein the target cruise path is any one of the at least two cruise paths; According to the descending rule, the cruise path characteristic values of the target cruise path reported by each past UAV flight mission planning report are sorted; The cruise path characteristic values are selected to sort out past UAV flight mission planning reports within a first set number interval, and are determined as cruise path nodes corresponding to the target cruise path.
[0009] Preferably, the element of the cruise path node corresponding to each cruise path is generated by using the space-time graph algorithm to obtain at least two cruise path elements, including: For each target cruise path of the at least two cruise paths, generating elements of a first set number of cruise path nodes corresponding to the target cruise path using a spatiotemporal graph algorithm; A feature operation is performed on the elements of the first set number of cruise path nodes to obtain cruise path elements corresponding to the target cruise path.
[0010] Preferably, determining the cruise path overlap between the target UAV flight mission planning report and the cruise path nodes corresponding to each cruise path based on the UAV flight mission planning report elements and each cruise path element includes: Determining differences between the UAV flight mission planning report elements and each cruise path element; Based on the difference, the cruise path overlap between the target UAV flight mission planning report and the cruise path nodes corresponding to each cruise path is determined, and the cruise path overlap is related to the difference.
[0011] Preferably, after determining the cruise path overlap between the target UAV flight mission planning report and the cruise path nodes corresponding to each cruise path, the method further includes: Determine, among the cruise path nodes corresponding to each cruise path, a cruise path node having the greatest overlap with the cruise path reported by the flight mission planning of the target UAV; The cruise path corresponding to the cruise path node with the largest cruise path overlap is determined as the cruise path of the target UAV flight mission planning report.
[0012] Preferably, after determining the cruise path overlap between the target UAV flight mission planning report and the cruise path nodes corresponding to each cruise path, the method further includes: Based on the cruise path overlap between the target UAV flight mission planning report and the cruise path nodes corresponding to each cruise path, a cruise path feature value set of the target UAV flight mission planning report is determined.
[0013] In a second aspect, the present application also provides an electronic device, comprising a processor and a memory; the processor and the memory are communicatively connected, and the processor is used to read a computer program from the memory and execute it to implement the above method.
[0014] In a third aspect, the present application also provides a computer-readable storage medium on which a program is stored, and the program implements the above method when executed by a processor.
[0015] Applied to the present application, in view of the fact that the cruise path of the cruise path node is determined by using the corresponding UAV flight scheduling characteristics, therefore, the cruise path of the cruise path node introduces the characteristic changes in the UAV flight mission planning report. In view of the fact that both the UAV flight mission planning report element and the cruise path element are used to reflect the task undertaking relationship of the UAV flight mission planning report, therefore, the UAV flight mission planning report element and the cruise path element introduce the characteristic connection in the UAV flight mission planning report, so that in the cruise path analysis process of the UAV flight mission planning report, not only the characteristic changes can be used for analysis, but also the characteristic connection can be used for analysis, thereby improving the accuracy and credibility of determining the cruise path of the UAV flight mission planning report. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] The accompanying drawings herein are incorporated in and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the description, are used to explain the principles of the present application.
[0017] Figure 1 It is a flow chart of a path planning method for UAV cruising provided in an embodiment of the present application. DETAILED DESCRIPTION
[0018] The method embodiments provided in the embodiments of the present application can be executed in an electronic device, an electronic device or a similar computing device. Taking running on an electronic device as an example, the electronic device may include one or more processors and a memory for storing data. Optionally, the electronic device may also include a transmission device for communication functions. It can be understood by those of ordinary skill in the art that the above structure is only for illustration and does not limit the structure of the above electronic device. For example, the electronic device may also include more or fewer components than shown above, or have a configuration different from that shown above. The memory may be used to store computer programs, for example, software programs and modules of application software, such as a computer program corresponding to one of the above methods in the embodiments of the present application, and the processor executes various functional applications and data processing by running the computer program stored in the memory, that is, implementing the above method. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the electronic device via a network. Examples of the above network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The transmission device is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the electronic device.
[0019] Based on the above introduction of electronic equipment, please refer to Figure 1 , Figure 1 This is an exemplary implementation scheme of a path planning method for drone cruising provided in an embodiment of the present application, and the scheme may further include steps 10 to 40.
[0020] Step 10: Obtain a flight mission planning report of the target UAV for which a cruise path is to be determined.
[0021] Step 20: Generate a UAV flight mission planning report element for the target UAV flight mission planning report using a spatiotemporal graph algorithm, wherein the UAV flight mission planning report element is used to reflect the task acceptance relationship of the target UAV flight mission planning report.
[0022] Step 30: Obtain at least two cruise path elements, where the cruise path elements are used to reflect the task acceptance relationship of the cruise path nodes under the corresponding cruise path, and the cruise path of the cruise path node is determined using the UAV flight scheduling characteristics of the cruise path node.
[0023] Step 40: Based on the UAV flight mission planning report elements and each cruise path element, determine the cruise path overlap between the target UAV flight mission planning report and the cruise path nodes corresponding to each cruise path, and the cruise path overlap is used to determine the cruise path information of the target UAV flight mission planning report.
[0024] In some exemplary embodiments, the obtaining of at least two cruise path elements includes: obtaining a set of past UAV flight mission planning reports, the set of past UAV flight mission planning reports including past UAV flight mission planning reports for which cruise paths are to be determined; extracting UAV flight scheduling features of each past UAV flight mission planning report in the set of past UAV flight mission planning reports, the UAV flight scheduling features being used to reflect changes in UAV flight scheduling instructions in past UAV flight mission planning reports; determining cruise path nodes corresponding to at least two cruise paths in the set of past UAV flight mission planning reports based on the UAV flight scheduling features of each past UAV flight mission planning report in the set of past UAV flight mission planning reports; and generating elements for cruise path nodes corresponding to each cruise path using a spatiotemporal graph algorithm to obtain at least two cruise path elements.
[0025] In some exemplary embodiments, the cruise path nodes corresponding to at least two cruise paths in the past UAV flight mission planning report set are determined based on the UAV flight scheduling characteristics of each past UAV flight mission planning report in the past UAV flight mission planning report set, including: based on the UAV flight scheduling characteristics of each past UAV flight mission planning report, using a cruise path processing model to determine the cruise path feature value set of each past UAV flight mission planning report; based on the cruise path feature value set of each past UAV flight mission planning report, determining the cruise path nodes corresponding to at least two cruise paths in the past UAV flight mission planning report set.
[0026] In some exemplary embodiments, the past UAV flight mission planning reports include categories, and the cruise path feature value set of each past UAV flight mission planning report is determined by using a cruise path processing model based on the UAV flight scheduling features of each past UAV flight mission planning report, including: based on the UAV flight scheduling features of each past UAV flight mission planning report and the categories of each past UAV flight mission planning report, the cruise path feature value set of each past UAV flight mission planning report is determined by using a labeled cruise path processing model.
[0027] In some exemplary embodiments, the cruise path feature value set based on each past UAV flight mission planning report, and determining the cruise path nodes corresponding to at least two cruise paths in the past UAV flight mission planning report set, include: using the cruise path feature value set of each past UAV flight mission planning report to determine the cruise path feature value of each past UAV flight mission planning report as a target cruise path, wherein the target cruise path is any one of the at least two cruise paths; according to a descending rule, sorting the cruise path feature values of the cruise path of each past UAV flight mission planning report as the target cruise path; selecting the past UAV flight mission planning reports whose cruise path feature values are sorted within a first set number interval, and determining them as the cruise path nodes corresponding to the target cruise path.
[0028] In some exemplary embodiments, the use of a space-time graph algorithm to generate elements of cruise path nodes corresponding to each cruise path to obtain at least two cruise path elements includes: for each target cruise path among the at least two cruise paths, using a space-time graph algorithm to generate elements of a first set number of cruise path nodes corresponding to the target cruise path; performing feature operations on the elements of the first set number of cruise path nodes to obtain the cruise path elements corresponding to the target cruise path.
[0029] In some exemplary embodiments, determining the cruise path overlap between the target UAV flight mission planning report and the cruise path nodes corresponding to each cruise path based on the UAV flight mission planning report elements and each cruise path element includes: determining the difference between the UAV flight mission planning report elements and each cruise path element; based on the difference, determining the cruise path overlap between the target UAV flight mission planning report and the cruise path nodes corresponding to each cruise path, and the cruise path overlap is related to the difference.
[0030] In some exemplary embodiments, after determining the cruise path overlap between the target UAV flight mission planning report and the cruise path nodes corresponding to each cruise path, the method further includes: determining, among the cruise path nodes corresponding to each cruise path, the cruise path node having the greatest overlap with the cruise path of the target UAV flight mission planning report; and determining the cruise path corresponding to the cruise path node having the greatest cruise path overlap as the cruise path of the target UAV flight mission planning report.
[0031] In some exemplary embodiments, after determining the cruise path overlap between the target UAV flight mission planning report and the cruise path nodes corresponding to each cruise path, the method further includes: determining the cruise path feature value set of the target UAV flight mission planning report based on the cruise path overlap between the target UAV flight mission planning report and the cruise path nodes corresponding to each cruise path.
[0032] It can be seen that, applied to steps 10-40, given that the cruise path of the cruise path node is determined using the corresponding UAV flight scheduling characteristics, the cruise path of the cruise path node introduces the characteristic changes in the UAV flight mission planning report. In addition, given that both the UAV flight mission planning report element and the cruise path element are used to reflect the task acceptance relationship of the UAV flight mission planning report, the UAV flight mission planning report element and the cruise path element introduce the characteristic connection in the UAV flight mission planning report. In this way, in the cruise path analysis process of the UAV flight mission planning report, not only can the characteristic changes be used for analysis, but also the characteristic connection can be used for analysis, thereby improving the accuracy and credibility of determining the cruise path of the UAV flight mission planning report.
[0033] Based on the same inventive concept, a computer-readable storage medium is also provided, on which a program is stored, and when the program is executed by a processor, the above method is implemented.
[0034] Based on the same inventive concept, an electronic device is also provided, comprising a processor and a memory; the processor and the memory are communicatively connected, and the processor is used to read a computer program from the memory and execute it to implement the above method.
[0035] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims
1. A path planning method for UAV cruising, characterized in that: Applied to electronic equipment, the method comprises: Obtain a flight mission planning report for the target UAV whose cruise path is to be determined; Generate a UAV flight mission planning report element for the target UAV flight mission planning report using a spatiotemporal graph algorithm, wherein the UAV flight mission planning report element is used to reflect the task undertaking relationship of the target UAV flight mission planning report; Acquire at least two cruise path elements, where the cruise path elements are used to reflect the task acceptance relationship of the cruise path nodes under the corresponding cruise path, and the cruise path of the cruise path node is determined by using the UAV flight scheduling characteristics of the cruise path node; Based on the UAV flight mission planning report elements and each cruise path element, the cruise path overlap between the target UAV flight mission planning report and the cruise path nodes corresponding to each cruise path is determined, and the cruise path overlap is used to determine the cruise path information of the target UAV flight mission planning report.
2. The method according to claim 1, characterized in that The obtaining of at least two cruise path elements comprises: Obtaining a past UAV flight mission planning report set, wherein the past UAV flight mission planning report set includes a past UAV flight mission planning report for which a cruise path is to be determined; Extracting the drone flight scheduling features of each past drone flight mission planning report in the past drone flight mission planning report set, wherein the drone flight scheduling features are used to reflect changes in the drone flight scheduling instructions in the past drone flight mission planning reports; Determining cruise path nodes corresponding to at least two cruise paths in the past UAV flight mission planning report set based on the UAV flight scheduling characteristics of each past UAV flight mission planning report in the past UAV flight mission planning report set; The elements of the cruise path nodes corresponding to each cruise path are generated by using a space-time graph algorithm to obtain at least two cruise path elements.
3. The method according to claim 2, characterized in that The determining of the cruise path nodes corresponding to at least two cruise paths in the past UAV flight mission planning report set based on the UAV flight scheduling features of each past UAV flight mission planning report in the past UAV flight mission planning report set includes: Based on the UAV flight scheduling characteristics of each past UAV flight mission planning report, a cruise path processing model is used to determine the cruise path characteristic value set of each past UAV flight mission planning report; Based on the cruise path feature value set of each past UAV flight mission planning report, cruise path nodes corresponding to at least two cruise paths are determined in the past UAV flight mission planning report set.
4. The method according to claim 3, characterized in that: The past UAV flight mission planning reports include categories, and the UAV flight scheduling features based on each past UAV flight mission planning report are determined by using a cruise path processing model to determine a cruise path feature value set of each past UAV flight mission planning report, including: Based on the UAV flight scheduling characteristics of each past UAV flight mission planning report and the category of each past UAV flight mission planning report, a labeled cruise path processing model is used to determine the cruise path feature value set of each past UAV flight mission planning report.
5. The method according to claim 3, characterized in that: The cruise path feature value set based on each past UAV flight mission planning report, and determining the cruise path nodes corresponding to at least two cruise paths in the past UAV flight mission planning report set, includes: Determine the cruise path characteristic value of each past UAV flight mission planning report as a target cruise path by using the cruise path characteristic value set of each past UAV flight mission planning report, wherein the target cruise path is any one of the at least two cruise paths; According to the descending rule, the cruise path characteristic values of the target cruise path reported by each past UAV flight mission planning report are sorted; Selecting cruise path feature values to sort out past UAV flight mission planning reports within a first set number interval, and determining them as cruise path nodes corresponding to the target cruise path; The method of using the space-time graph algorithm to generate elements of the cruise path nodes corresponding to each cruise path to obtain at least two cruise path elements includes: For each target cruise path of the at least two cruise paths, using a spatiotemporal graph algorithm to generate elements of a first set number of cruise path nodes corresponding to the target cruise path; A feature operation is performed on the elements of the first set number of cruise path nodes to obtain cruise path elements corresponding to the target cruise path.
6. The method according to claim 1, characterized in that The determining, based on the UAV flight mission planning report elements and each cruise path element, the cruise path overlap between the target UAV flight mission planning report and the cruise path nodes corresponding to each cruise path includes: Determining differences between the UAV flight mission planning report elements and each cruise path element; Based on the difference, the cruise path overlap between the target UAV flight mission planning report and the cruise path nodes corresponding to each cruise path is determined, and the cruise path overlap is related to the difference.
7. The method according to claim 1, characterized in that After determining the cruise path overlap between the target UAV flight mission planning report and the cruise path nodes corresponding to each cruise path, the method further includes: Determine, among the cruise path nodes corresponding to each cruise path, the cruise path node with the greatest overlap with the cruise path reported by the flight mission planning of the target UAV; The cruise path corresponding to the cruise path node with the largest cruise path overlap is determined as the cruise path of the target UAV flight mission planning report.
8. The method according to claim 1, characterized in that After determining the cruise path overlap between the target UAV flight mission planning report and the cruise path nodes corresponding to each cruise path, the method further includes: determining the cruise path feature value set of the target UAV flight mission planning report based on the cruise path overlap between the target UAV flight mission planning report and the cruise path nodes corresponding to each cruise path.
9. A computer-readable storage medium, characterized in that: A program is stored thereon, and when the program is executed by a processor, the method described in any one of claims 1 to 8 is implemented.
10. An electronic device, characterized in that: It comprises a processor and a memory; the processor and the memory are communicatively connected, and the processor is used to read a computer program from the memory and execute it to implement the method described in any one of claims 1 to 8.