Unmanned aerial vehicle flight control method and device, electronic equipment and storage medium

Abstract

The invention provides an unmanned aerial vehicle flight control method and apparatus, an electronic device and a storage medium. The method comprises the steps of obtaining forward point cloud data collected by a first radar, ground height information collected by a second radar and pose information of an unmanned aerial vehicle; according to the point cloud data, the to-ground height information and the pose information, generating an elevation map of an area where the unmanned aerial vehicle is currently located; and according to the elevation map of the area where the unmanned aerial vehicle is currently located, updating the current planning track of the unmanned aerial vehicle to obtain a target planning track, and controlling the unmanned aerial vehicle to fly based on the target planning track. The operation effect and the operation safety of the unmanned aerial vehicle can be improved, and the problem that in the prior art, the operation effect is poor when global operation is carried out through a high-precision map which is drawn in advance is solved.

Description

Technical Field

[0001] The present application relates to the field of drone technology, and more specifically, to a drone flight control method, device, electronic device, and storage medium. Background Art

[0002] Terrain-following flight refers to the process of setting a fixed height with known three-dimensional terrain during the operation of the drone to maintain a constant height difference between the drone and the target object. Terrain-following flight can enable the drone to adapt to different terrains, automatically generate variable altitude routes according to the terrain of the survey area, maintain consistent ground resolution and obtain better operation results. Therefore, how to perform terrain-following flight is an important issue that needs to be solved.

[0003] At present, the commonly used terrain-simulating flight scheme is to use high-precision map data that has been mapped in advance to plan the global operation route altitude, and then optimize the local trajectory during the actual flight of the UAV, so as to achieve the terrain-simulating flight operation effect.

[0004] However, this solution may cause aircraft collision and threaten operational safety. Summary of the invention

[0005] The purpose of this application is to provide a UAV flight control method, device, electronic device and storage medium to improve the safety of UAV operations in response to the above-mentioned deficiencies in the prior art.

[0006] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0007] In a first aspect, an embodiment of the present application provides a method for controlling flight of a drone, the method comprising:

[0008] Obtain forward point cloud data collected by the first radar, ground height information collected by the second radar, and position information of the UAV;

[0009] Generate an elevation map of the area where the drone is currently located according to the point cloud data, the height above the ground information, and the posture information;

[0010] According to the elevation map of the area where the drone is currently located, the current planned trajectory of the drone is updated to obtain a target planned trajectory, and the flight of the drone is controlled based on the target planned trajectory.

[0011] Optionally, generating an elevation map of the area where the drone is currently located according to the point cloud data, the height above the ground information, and the posture information includes:

[0012] Generate a target occupancy grid map according to the point cloud data, the height above the ground information and the posture information, wherein the target occupancy grid map includes a plurality of target occupancy grids, each target occupancy grid corresponds to a sub-area in the area where the drone is located, and each target occupancy grid includes a plurality of point cloud data;

[0013] An elevation map of the area where the drone is currently located is generated based on the point cloud data of each target occupied grid in the target occupied grid map.

[0014] Optionally, generating a target occupancy grid map according to the point cloud data, the height above the ground information, and the posture information includes:

[0015] Determine, according to the point cloud data and the position and posture information, a plurality of first target point cloud data within the coverage range of the first radar;

[0016] Determine a plurality of second target point cloud data within the coverage range of the second radar according to the current height information of the UAV over the ground;

[0017] A target occupancy grid map is generated according to the plurality of first target point cloud data, the plurality of second target point cloud data and the current three-dimensional grid map.

[0018] Optionally, determining a plurality of first target point cloud data within the coverage range of the first radar according to the point cloud data and the posture information includes:

[0019] Obtaining a timestamp difference according to the point cloud time information in the point cloud data and the posture time information in the posture information of the drone;

[0020] If the timestamp difference is less than or equal to a preset threshold, the point cloud data is used as the first target point cloud data.

[0021] Optionally, determining a plurality of second target point cloud data within the coverage of the second radar according to the current height information of the drone over the ground includes:

[0022] Determining a coverage range of the second radar according to the detection angle range of the second radar and the height above the ground information;

[0023] Determine the altitude of the coverage range of the second radar according to the altitude information of the current position of the UAV relative to the take-off point and the altitude information above the ground;

[0024] The plurality of second target point cloud data are determined according to the coverage range of the second radar and the altitude of the coverage range of the second radar.

[0025] Optionally, determining the coverage range of the second radar according to the detection angle range of the second radar and the height above the ground information includes:

[0026] Determining a short diameter value of a coverage range of the second radar according to the first detection angle of the UAV and the height above the ground;

[0027] Determining a long diameter value of a coverage range of the second radar according to the second detection angle of the UAV and the height above the ground;

[0028] The coverage range of the second radar is obtained according to the short diameter value and the long diameter value.

[0029] Optionally, determining the second target point cloud data according to the coverage range of the second radar and the altitude of the coverage range of the second radar includes:

[0030] Using the altitude as the height value of each grid within the coverage of the second radar;

[0031] The three-dimensional coordinates of each grid are obtained according to the two-dimensional coordinates of each grid within the coverage range of the second radar and the height value of each grid, and the three-dimensional coordinates of each grid are respectively used as the second target point cloud data.

[0032] Optionally, generating a target occupancy grid map according to the plurality of first target point cloud data, the plurality of second target point cloud data and the current three-dimensional grid map includes:

[0033] Inserting the first target point cloud data and the second target point cloud data into each three-dimensional grid in the current three-dimensional grid map according to the position information of each of the first target point cloud data and the position information of the second target point cloud data;

[0034] According to the number of point clouds in each three-dimensional grid, a plurality of target-occupied grids are selected from the three-dimensional grids;

[0035] The target occupancy grid map is generated according to each target occupancy grid.

[0036] Optionally, generating an elevation map of the area where the drone is currently located according to the point cloud data of each target occupied grid in the target occupied grid map includes:

[0037] Determine the target elevation value corresponding to each of the two-dimensional coordinates according to the point cloud data in each target occupied grid in the target occupied grid map and a plurality of preset continuous integer two-dimensional coordinates;

[0038] An elevation map of the area where the drone is currently located is generated according to each of the two-dimensional coordinates and the target elevation value corresponding to each of the two-dimensional coordinates.

[0039] Optionally, determining the target elevation value corresponding to the two-dimensional coordinate according to the point cloud data in each target occupied grid in the target occupied grid map and a plurality of preset continuous integer two-dimensional coordinates includes:

[0040] Determine at least one candidate occupied grid contained in the target occupied grid map for each of the two-dimensional coordinates and target point cloud data in the candidate occupied grid;

[0041] The maximum height value of the target point cloud data is selected from the at least one selected occupied grid as the target elevation value corresponding to the two-dimensional coordinate.

[0042] Optionally, also include:

[0043] Obtaining a storage address corresponding to the two-dimensional coordinate according to a linear mapping function;

[0044] The target elevation value corresponding to the two-dimensional coordinate is stored in the storage address.

[0045] In a second aspect, an embodiment of the present application further provides a UAV flight control device, the device comprising:

[0046] An acquisition module, used to acquire point cloud data collected by a first radar, height-to-ground information of the current UAV collected by a second radar, and position information of the UAV, wherein the first radar is a radar arranged on the UAV and facing the flight direction of the UAV, and the second radar is a radar arranged on the UAV and facing the ground;

[0047] A generating module, configured to generate an elevation map of the area where the drone is currently located according to the point cloud data, the height above the ground information, and the posture information;

[0048] The updating module is used to update the current planned trajectory of the UAV according to the elevation map of the area where the UAV is currently located, obtain the target planned trajectory, and control the flight of the UAV based on the target planned trajectory.

[0049] Optionally, the generating module is specifically used for:

[0050] Generate a target occupancy grid map according to the point cloud data, the height above the ground information and the posture information, wherein the target occupancy grid map includes a plurality of target occupancy grids, each target occupancy grid corresponds to a sub-area in the area where the drone is located, and each target occupancy grid includes a plurality of point cloud data;

[0051] An elevation map of the area where the drone is currently located is generated based on the point cloud data of each target occupied grid in the target occupied grid map.

[0052] Optionally, the generating module is specifically used for:

[0053] Determine, according to the point cloud data and the position and posture information, a plurality of first target point cloud data within the coverage range of the first radar;

[0054] Determine a plurality of second target point cloud data within the coverage range of the second radar according to the current height information of the UAV over the ground;

[0055] A target occupancy grid map is generated according to the plurality of first target point cloud data, the plurality of second target point cloud data and the current three-dimensional grid map.

[0056] Optionally, the generating module is specifically used for:

[0057] Obtaining a timestamp difference according to the point cloud time information in the point cloud data and the posture time information in the posture information of the drone;

[0058] If the timestamp difference is less than or equal to a preset threshold, the point cloud data is used as the first target point cloud data.

[0059] Optionally, the generating module is specifically used for:

[0060] Determining a coverage range of the second radar according to the detection angle range of the second radar and the height above the ground information;

[0061] Determine the altitude of the coverage range of the second radar according to the altitude information of the current position of the UAV relative to the take-off point and the altitude information above the ground;

[0062] The plurality of second target point cloud data are determined according to the coverage range of the second radar and the altitude of the coverage range of the second radar.

[0063] Optionally, the generating module is specifically used for:

[0064] Determining a short diameter value of a coverage range of the second radar according to the first detection angle of the UAV and the height above the ground;

[0065] Determining a long diameter value of a coverage range of the second radar according to the second detection angle of the UAV and the height above the ground;

[0066] The coverage range of the second radar is obtained according to the short diameter value and the long diameter value.

[0067] Optionally, the generating module is specifically used for:

[0068] Using the altitude as the height value of each grid within the coverage of the second radar;

[0069] The three-dimensional coordinates of each grid are obtained according to the two-dimensional coordinates of each grid within the coverage range of the second radar and the height value of each grid, and the three-dimensional coordinates of each grid are respectively used as the second target point cloud data.

[0070] Optionally, the generating module is specifically used for:

[0071] Inserting the first target point cloud data and the second target point cloud data into each three-dimensional grid in the current three-dimensional grid map according to the position information of each of the first target point cloud data and the position information of the second target point cloud data;

[0072] According to the number of point clouds in each three-dimensional grid, a plurality of target-occupied grids are selected from the three-dimensional grids;

[0073] The target occupancy grid map is generated according to each target occupancy grid.

[0074] Optionally, the generating module is specifically used for:

[0075] Determine the target elevation value corresponding to each of the two-dimensional coordinates according to the point cloud data in each target occupied grid in the target occupied grid map and a plurality of preset continuous integer two-dimensional coordinates;

[0076] An elevation map of the area where the drone is currently located is generated according to each of the two-dimensional coordinates and the target elevation value corresponding to each of the two-dimensional coordinates.

[0077] Optionally, the generating module is specifically used for:

[0078] Determine at least one candidate occupied grid contained in the target occupied grid map for each of the two-dimensional coordinates and target point cloud data in the candidate occupied grid;

[0079] The maximum height value of the target point cloud data is selected from the at least one selected occupied grid as the target elevation value corresponding to the two-dimensional coordinate.

[0080] Optionally, the device further comprises:

[0081] The storage module is used to obtain the storage address corresponding to the two-dimensional coordinate according to the linear mapping function, and store the target elevation value corresponding to the two-dimensional coordinate in the storage address.

[0082] In a third aspect, an embodiment of the present application further provides an electronic device, comprising: a processor, a storage medium and a bus, wherein the storage medium stores program instructions executable by the processor, and when an application is running, the processor communicates with the storage medium via the bus, and the processor executes the program instructions to execute the steps of the drone flight control method described in the first aspect above.

[0083] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and the computer program is read and executes the steps of the drone flight control method described in the first aspect above.

[0084] The beneficial effects of this application are:

[0085] The present application provides a method, device, electronic device and storage medium for controlling the flight of a drone. The method generates an elevation map of the current area of ​​the drone through forward point cloud data collected by a first radar, ground height information collected by a second type of radar and the posture information of the drone. The drone's current planned trajectory is updated based on the generated elevation map of the current area of ​​the drone, the target planned trajectory is obtained, and the drone flight is controlled based on the target planned trajectory. The elevation map of the drone in the current area is obtained through data information collected in real time by two types of radars, which can improve the operation effect and safety of the drone, and avoid the problem of poor operation effect caused by global operation through high-precision maps drawn in advance in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0086] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0087] Figure 1 A schematic diagram of a flow chart of a drone flight control method provided in an embodiment of the present application;

[0088] Figure 2 A schematic diagram of an occupation grid provided in an embodiment of the present application;

[0089] Figure 3 A schematic diagram of a process for generating a target occupancy grid map provided in an embodiment of the present application;

[0090] Figure 4 A schematic diagram of a process for determining first target point cloud data provided in an embodiment of the present application;

[0091] Figure 5 A schematic diagram of a process for determining second target point cloud data provided in an embodiment of the present application;

[0092] Figure 6 A schematic diagram of a flow chart for determining the coverage range of a second radar provided in an embodiment of the present application;

[0093] Figure 7 A schematic diagram of a second radar coverage range provided in an embodiment of the present application;

[0094] Figure 8 A schematic diagram of a process for generating a target occupancy grid map provided in an embodiment of the present application;

[0095] Fig. 9 A schematic diagram of a process for generating an elevation map of the current area provided in an embodiment of the present application;

[0096] Fig.10 A schematic diagram of a process for determining a target elevation value corresponding to a two-dimensional coordinate provided in an embodiment of the present application;

[0097] Fig.11 A schematic diagram of a device for a drone flight control method provided in an embodiment of the present application;

[0098] Fig.12 A structural block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0099] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0100] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0101] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0102] In the prior art, a high-precision map data machine that has been mapped in advance is used to plan the global operation route altitude. This method only requires a one-time loading of the global map before the drone takes off. However, it has many disadvantages and is likely to lead to poor operation results and even the risk of crashing the drone. The specific reasons are as follows:

[0103] First, high-precision mapping is mainly carried out by high-precision imaging cameras. Under poor lighting conditions, the restoration effect of relatively small obstacles or terrain is not particularly ideal, which can easily lead to incomplete recovery of high-precision point clouds of obstacles such as wires and branches. If such high-precision maps are used during altitude planning of drones, the risk of collision will increase.

[0104] Second, the results of high-precision mapping have a relatively obvious timeliness. In agricultural scenarios, the crop growth cycle is short. If high-precision mapping is not updated for a period of time after mapping, the terrain information it reflects will be very different from the actual operation scene, which can easily threaten the safety of the operation.

[0105] Third, when calculating the high-precision image, the overall height is greatly affected by the altitude positioning accuracy of the drone. If there is an error in the altitude positioning, the overall height of the high-precision image will also be accompanied by a large altitude deviation, causing the actual altitude of the drone to be too low or too high above the ground. If it is too low, it is easy to cause the drone to crash, and if it is too high, it will greatly reduce the operation effect.

[0106] Based on the above problems, an embodiment of the present application proposes a UAV flight control method, which uses the forward point cloud and ground height collected in real time by the radar on the UAV to generate an accurate elevation map in real time, and then uses the elevation map to control the flight trajectory in real time, thereby avoiding many problems existing in the prior art and ensuring the safety of the UAV's flight operations.

[0107] Optionally, the UAV flight control method provided in the embodiment of the present application is applied to a UAV, and can also be applied to a control device of a UAV. When applied to a UAV, the UAV executes the method of the embodiment of the present application and controls the flight of the UAV itself. When applied to a control device, the control device can remotely communicate with the UAV in real time, obtain the collected data of the radar on the UAV in real time based on the real-time communication connection, and execute the method of the embodiment of the present application to remotely control the flight of the UAV.

[0108] The specific implementation process of the drone flight control provided in the embodiments of the present application is explained in detail below.

[0109] Figure 1 A flowchart of a method for controlling a drone flight is provided in an embodiment of the present application, such as Figure 1 As shown, the method includes:

[0110] S101, obtaining forward point cloud data collected by a first radar, ground height information collected by a second radar, and position information of the UAV.

[0111] Among them, the first radar may refer to a radar installed on the drone and facing the flight direction of the drone, such as a millimeter-wave swing radar; the second radar may refer to a radar installed on the drone and facing the ground, such as a millimeter-wave ground-following radar.

[0112] Optionally, while the UAV is flying along the currently planned trajectory, the first radar can be used to scan in real time the terrain in front of the current UAV on the currently planned trajectory. Specifically, the millimeter-wave radar can be driven up and down in the horizontal direction to scan the terrain in front, and point cloud data of the terrain in front of the current UAV location can be collected. Each point cloud data may refer to three-dimensional radar point cloud data in a spherical coordinate system. Each point cloud data may include four information: horizontal angle, vertical angle, straight-line distance and timestamp. It may also refer to the coordinate information of each point cloud in the spherical coordinate system and the timestamp information of scanning the point cloud data.

[0113] Optionally, the second radar can scan the terrain below the drone on the current planned trajectory in real time to collect the height information of the current drone's position relative to the ground. The height relative to the ground refers to the height information of the drone relative to the highest point within the detection range at the current position. For example, if a certain point is the highest within the current detection range of the drone, the height information collected by the drone is the height information of the drone relative to this point.

[0114] Optionally, the position information refers to the position coordinate information and timestamp information of the drone when the drone scans at the current position. The position coordinate information may refer to the longitude and latitude coordinate information of the drone and the timestamp information of the drone.

[0115] Optionally, by adaptively adjusting the swing radar to scan the forward terrain, the swing radar can adjust the swing scanning frequency of the forward millimeter-wave radar motor according to the current operating speed of the UAV, thereby reducing the lag in forward terrain recovery.

[0116] S102: Generate an elevation map of the area where the drone is currently located based on the point cloud data, the height above the ground information, and the posture information.

[0117] Optionally, the elevation map of the area where the drone is currently located can be determined using a preset method based on the point cloud data of the terrain ahead scanned by the drone at the current location, the ground height information of the drone's current location, and the drone's current posture information. The area where the drone is currently located refers to the elevation map of the area within the detection range that the drone can scan at the current location.

[0118] The elevation map may include positions of multiple two-dimensional coordinates and heights corresponding to the positions of the two-dimensional coordinates, that is, a radar three-dimensional elevation map.

[0119] S103: Update the current planned trajectory of the drone according to the elevation map of the area where the drone is currently located, obtain the target planned trajectory, and control the flight of the drone based on the target planned trajectory.

[0120] Optionally, the current planned trajectory of the drone can be updated based on the height information in the elevation map of the current area obtained by scanning the drone. Specifically, the altitude of the drone flight can be updated based on the altitude information of the current area to obtain the target planned trajectory, and the drone flight can be controlled based on the target planned trajectory.

[0121] Optionally, the elevation map of the current area of ​​the drone is generated by the data obtained by scanning the current area by the drone, and the current planned trajectory of the drone is updated according to the generated elevation map of the current area, so that the target planned trajectory of the drone can be continuously updated according to the update of the data of the current area scanned by the drone, and the online elevation map can be updated in real time. Specifically, the point cloud data of the forward terrain of the drone collected by the swing radar and the ground height information collected in real time by the ground-simulating radar can make the data information collected by the drone more comprehensive, so that the target trajectory planning obtained by the drone based on the data information collected by the two radars is more accurate, and the safety of the drone during flight is improved; and the flight trajectory planning of the drone is planned according to the elevation map of the current area, which can avoid the timeliness of planning through high-precision maps drawn in advance in the prior art, and further improve the operation safety of the drone; in addition, it can also avoid the problem that the actual height of the drone is too high or too low due to the influence of the height positioning of the drone when solving the high-precision map.

[0122] In this embodiment, an elevation map of the current area where the drone is located is generated through the point cloud data collected by the first radar, the ground height information collected by the second type of radar, and the posture information of the drone, and the current planned trajectory of the drone is updated according to the generated elevation map of the current area where the drone is located, to obtain the target planned trajectory, and the flight of the drone is controlled based on the target planned trajectory. By obtaining the elevation map of the current area where the drone is located through the data information collected in real time by the two radars, the operation effect of the drone can be improved, the operation safety of the drone can be improved, and the problem of poor operation effect caused by global operation through high-precision maps drawn in advance in the prior art can be avoided.

[0123] Optionally, in the above S102, generating an elevation map of the area where the drone is currently located according to the point cloud data, the height above the ground information, and the posture information may include:

[0124] According to the point cloud data, the height information above the ground and the posture information, a target occupancy grid map is generated. Among them, the target occupancy grid map may include multiple target occupancy grids, each target occupancy grid corresponds to a sub-area of ​​the area where the drone is located, and each target occupancy grid may include multiple point cloud data. On this basis, an elevation map of the area where the drone is currently located can be generated according to the point cloud data of each target occupancy grid in the target occupancy grid map. The specific process of generating the elevation map can be described in detail through the following steps S701-S702.

[0125] For example, the relationship between the target occupancy grid map and the current area of ​​the drone can be obtained by attaching Figure 2 To indicate, Figure 2As shown, for a sub-area 1 of the area where the drone is currently located, it can correspond to the target occupation grid A in the target occupation grid map. The target occupation grid A can include multiple point cloud data. The elevation value of the position can be determined based on the multiple point cloud data in the target grid A, and then an elevation map of the drone in the current sub-area 1 can be generated.

[0126] In this embodiment, the elevation map of the current area where the drone is located is generated by using multiple target occupation grids in the generated target occupation grid map, so that the obtained elevation map of the current area can be more accurate and comprehensive.

[0127] Figure 3 A schematic diagram of a process for generating a target occupancy grid map provided in an embodiment of the present application is shown in FIG. Figure 3 As shown, the above-mentioned generation of the target occupancy grid map based on the point cloud data, the height information above the ground and the posture information may include:

[0128] S201. Determine a plurality of first target point cloud data within the coverage of a first radar according to the point cloud data and the position and posture information.

[0129] Among them, the coverage range of the first radar may refer to the coverage range of the forward terrain scanned by the drone at the current position. The first radar may send point cloud data once at a certain time interval, and the point cloud data sent each time may be used as a frame of point cloud data. Each frame of point cloud data may include multiple point cloud data, and each point cloud data includes a timestamp. For example, the first radar may send the collected point cloud data of the forward terrain once every 30ms, then, for the current area of ​​the drone, multiple frames of point cloud data of the forward terrain of the current area may be scanned; wherein, the posture information refers to the posture information of the first radar when scanning each frame of point cloud data, and may also include the posture timestamp of the drone.

[0130] Optionally, the point cloud data collected by the first radar is coordinate data in a spherical coordinate system, and the collected point cloud data can be converted into coordinates in a world coordinate system by the following formula, wherein the world coordinate system refers to Cartesian rectangular coordinates.

[0131]

[0132]

[0133]

[0134] Among them, r refers to the straight-line distance of each point cloud data. It refers to the horizontal angle of each point cloud data, and θ refers to the vertical angle of each point cloud data.

[0135] S202: Determine a plurality of second target point cloud data within the coverage of a second radar according to the current UAV height-to-ground information.

[0136] Optionally, the second target point cloud data within the coverage of the second radar can be obtained based on the current drone's altitude information obtained by scanning the second radar of the current drone and the scanning coverage of the second radar of the current drone. The second target point cloud data can refer to the two-dimensional coordinate information and elevation information of the horizontal plane of each sub-area within the coverage of the second radar.

[0137] S203: Generate a target occupation grid map according to the plurality of first target point cloud data, the plurality of second target point cloud data and the current three-dimensional grid map.

[0138] The horizontal plane of the current three-dimensional grid map may include positions of multiple consecutive integer two-dimensional coordinates.

[0139] Optionally, a target occupancy grid map can be generated using a preset method based on multiple first target point cloud data, multiple second target point cloud data and the current three-dimensional grid map, wherein the target occupancy grid map may refer to the target occupancy grid map occupied by the first target point cloud data and / or the second target point cloud data.

[0140] Figure 4 A schematic diagram of a process for determining first target point cloud data provided by an embodiment of the present application, such as Figure 4 As shown, in the above S201, determining a plurality of first target point cloud data within the coverage range of the first radar according to the point cloud data and the position and posture information may include:

[0141] S301. Obtain a timestamp difference according to the point cloud time information in the point cloud data and the posture time information in the posture information of the drone.

[0142] Among them, the point cloud time information may refer to the timestamp of each frame of point cloud data scanned by the drone in the above S201, and the posture time information refers to the timestamp of the drone posture information when the drone scans each frame of point cloud data in the above S201. Then, when the drone scans the front terrain of the current area, the difference between the point cloud timestamp of each frame of point cloud data scanned and the posture timestamp in the drone posture information when scanning the frame of point cloud data is calculated to obtain the timestamp difference.

[0143] S302: If the timestamp difference is less than or equal to a preset threshold, the point cloud data is used as the first target point cloud data.

[0144] Optionally, if the timestamp difference between the point cloud timestamp of each frame of point cloud data and the pose timestamp in the drone pose information when scanning the frame of point cloud data is less than or equal to a preset threshold, the scanned point cloud data of the frame can be used as the first target point cloud data. If the timestamp difference is greater than the preset threshold, the point cloud data of the frame can be discarded, which means that there is a problem with the scanned point cloud data of the frame.

[0145] The preset threshold value may be, for example, 50 ms, or other values, which are not limited.

[0146] Optionally, for the current area where the drone is located, multiple frames of point cloud data can be scanned and obtained, and each frame of point cloud data can include multiple point cloud data. According to the above steps S301 and S302, multiple first target point cloud data of the scanned current area can be obtained, that is, multiple frames of first target point cloud data can be obtained, and the obtained multiple first point cloud data can be used for the following generation of the target occupancy grid map.

[0147] In this embodiment, by filtering the scanned point cloud data, the noisy point cloud data in the real-time radar point cloud can be effectively filtered out, so that the generated elevation map of the area where the drone is currently located is closer to the actual working environment.

[0148] Figure 5 A schematic diagram of a process for determining second target point cloud data provided by an embodiment of the present application, such as Figure 5 As shown, in the above S202, determining a plurality of second target point cloud data within the coverage range of the second radar according to the current UAV height-to-ground information may include:

[0149] S401. Determine the coverage range of the second radar according to the detection angle and ground height information of the second radar.

[0150] Among them, the coverage range of the second radar refers to the terrain area range below the current drone that can be scanned by the second radar when the drone is at its current location.

[0151] S402: Determine the altitude of the coverage range of the second radar according to the altitude information of the current position of the UAV relative to the take-off point and the altitude information above the ground.

[0152] Among them, the height information relative to the ground refers to the height information of the current UAV's position relative to the ground obtained by the second radar in the above S101, for example, it can be represented by Hg. The height information of the current UAV's position relative to the take-off point can be obtained by collecting the measuring device on the UAV, then the longitude and latitude coordinate information of the current UAV can be collected and converted into the world coordinate system, then the x-coordinate, y-coordinate and z-coordinate of the current UAV can be obtained, thereby, the height information of the current UAV can be obtained, for example, it can be represented by Hcurrent.

[0153] Optionally, the altitude may be the height of the current position of the drone relative to the take-off point minus the current altitude of the drone above the ground, then elevation = Hcurrent - Hg, where elevation is the altitude of the coverage range of the second radar.

[0154] S403: Determine a plurality of second target point cloud data according to the coverage range of the second radar and the altitude of the coverage range of the second radar.

[0155] Optionally, the process of determining the second target point cloud data based on the coverage of the second radar and the altitude of the coverage of the second radar is described in detail through the following specific embodiment of determining the second target point cloud data.

[0156] Figure 6 A schematic diagram of a flow chart for determining the coverage range of a second radar provided in an embodiment of the present application, such as Figure 6 As shown, in the above S401, determining the coverage range of the second radar according to the detection angle and ground height information of the second radar may include:

[0157] S501. Determine a short diameter value of a coverage range of a second radar according to a first detection angle and a ground height of the UAV.

[0158] Optionally, the detection angle range of the UAV is related to the attributes of the UAV. The detection angle range of the UAV can be obtained based on the attribute information of the UAV. The detection angle range of the UAV can be expressed by (α1, α2). For example, the detection angle range of a certain UAV is (26°, 44°), where α1 may refer to the first detection angle of the UAV.

[0159] Optionally, the ground altitude refers to the current UAV ground altitude collected by the second radar. Then, the short diameter value of the coverage range of the second radar is specifically: Among them, H g is the height above the ground, α1 is the first detection angle, and R1 is the short diameter value.

[0160] S502: Determine the long-diameter value of the coverage range of the second radar according to the second detection angle and the height above the ground of the UAV.

[0161] Optionally, the second detection angle is α2 as mentioned above, and the long diameter value of the blocking range of the second radar is specifically

[0162] S503: Obtain the coverage range of the second radar according to the short diameter value and the long diameter value.

[0163] Optionally, the coverage of the second radar may be an ellipse with a short diameter of R1 and a long diameter of R2.

[0164] Specifically, by attaching Figure 7 To represent the coverage of the second radar, the elevation value of the highest point in the coverage can be used as the current UAV ground height information collected by the second radar, such as Figure 7 H g .

[0165] Optionally, in S403, determining a plurality of second target point cloud data according to the coverage range of the second radar and the altitude of the coverage range of the second radar may include:

[0166] Optionally, the altitude is used as the height value of each grid within the coverage range of the second radar. The coverage range of the second radar may include multiple grids, such as Figure 7 The second radar coverage range shown in is a two-dimensional grid on the horizontal plane, and the altitude elevation calculated in the above S402 is used as the height value of each grid in the second radar coverage range.

[0167] Optionally, the three-dimensional coordinates of each grid are obtained according to the two-dimensional coordinates of each grid within the coverage range of the second radar and the height value of each grid, and the three-dimensional coordinates of each grid are respectively used as a second target point cloud data. Among them, the two-dimensional coordinates of each grid can refer to the position coordinates of the sub-area of ​​the coverage range of the second radar in the world coordinate system on the horizontal plane. After assigning the two-dimensional coordinates of each grid, the three-dimensional coordinates of each grid can be obtained. The three-dimensional coordinates refer to Cartesian coordinates, which belong to the same coordinate system as the coordinates of the first target point cloud data.

[0168] In this embodiment, the coverage range of the second radar is obtained based on the current drone height above the ground collected by the second radar, and multiple second point cloud target data in the world coordinate system within the coverage range of the second radar are sparsely obtained, so that a target occupancy grid map can be subsequently generated based on the second target point cloud data.

[0169] Figure 8A schematic diagram of a process for generating a target occupancy grid map provided in an embodiment of the present application is shown in FIG. Figure 8 As shown, in the above S203, generating a target occupation grid map according to the plurality of first target point cloud data, the plurality of second target point cloud data and the current three-dimensional grid map may include:

[0170] S601. Insert the first target point cloud data and the second target point cloud data into each three-dimensional grid in the current three-dimensional grid map according to the position information of the first target point cloud data and the position information of the second target point cloud data.

[0171] Specifically, according to the position information of the first target point cloud data, that is, the world coordinate information of the first target point cloud data, the first target point cloud data is inserted into a three-dimensional grid consistent with the position coordinates of the first target point cloud data, and the second target point cloud data is inserted into a three-dimensional grid consistent with the position coordinates of the second target point cloud data. Then, for some three-dimensional grids in the current three-dimensional grid map, one or more first target point cloud data and / or second target point cloud data may be included.

[0172] S602: Filter out multiple target-occupied grids from the three-dimensional grids according to the number of point clouds in each three-dimensional grid.

[0173] Specifically, a three-dimensional grid containing a number of point cloud data greater than or equal to a preset number may be used as a target occupied grid; and a three-dimensional grid containing a number of point cloud data less than a preset number may not be used as a target occupied grid.

[0174] Exemplarily, if each point cloud data is assigned a value, for example, the occupancy value of each point cloud data is assigned to 0.35, when the occupancy value of each three-dimensional grid reaches 1, the three-dimensional grid is the target occupied grid, that is, when the three-dimensional grid includes three or more point cloud data, the three-dimensional grid is an occupied grid, that is, the target occupied grid.

[0175] S603: Generate a target occupation grid map according to each target occupation grid.

[0176] Optionally, each target occupancy grid in the target occupancy grid map may include point cloud data greater than or equal to a preset amount.

[0177] Fig. 9 A schematic diagram of a process for generating an elevation map of the current area provided in an embodiment of the present application is shown in FIG. Fig. 9 As shown, the above-mentioned generation of the elevation map of the current area of ​​the drone based on the point cloud data of each target occupying grid in the target occupying grid map may include:

[0178] S701, determining a target elevation value corresponding to each two-dimensional coordinate according to point cloud data in each target occupied grid in the target occupied grid map and a plurality of preset continuous integer two-dimensional coordinates.

[0179] Optionally, the target occupancy grid map may include multiple consecutive integer two-dimensional coordinates, each integer two-dimensional coordinate may refer to a position of the target occupancy grid map on the entire horizontal plane, for example, each two-dimensional coordinate may be (1,1), (1,2), (1,3)...

[0180] Optionally, each two-dimensional coordinate may include at least one three-dimensional grid, and the target elevation value of the two-dimensional coordinate may be determined based on the target occupied grids contained in each two-dimensional coordinate and the point cloud data in each target occupied grid.

[0181] S702: Generate an elevation map of the area where the drone is currently located according to each two-dimensional coordinate and the target elevation value corresponding to each two-dimensional coordinate.

[0182] Specifically, the target elevation value corresponding to the two-dimensional coordinate can be used as the elevation value of the two-dimensional coordinate, then, the elevation value of the area where the drone is currently located can be generated according to each two-dimensional coordinate and the target elevation value corresponding to each two-dimensional coordinate.

[0183] Fig.10 A schematic diagram of a process for determining a target elevation value corresponding to a two-dimensional coordinate provided in an embodiment of the present application is shown in FIG. Fig.10 As shown, the above S701, determining the target elevation value corresponding to each two-dimensional coordinate according to the point cloud data in each target occupied grid in the target occupied grid map and a plurality of preset continuous integer two-dimensional coordinates, may include:

[0184] S801: Determine at least one candidate occupied grid and target point cloud data in the candidate occupied grid contained in the target occupied grid map for each two-dimensional coordinate.

[0185] The to-be-selected occupied grid may refer to any one of all the target occupied grids included in the two-dimensional coordinates. Then at least one to-be-selected occupied grid refers to all the target occupied grids included in the two-dimensional coordinates.

[0186] S802: Select a maximum height value of target point cloud data from at least one selected occupied grid as a target elevation value corresponding to the two-dimensional coordinate.

[0187] Optionally, a maximum height value is selected from all target point cloud data in all the to-be-selected occupied grids contained in the two-dimensional coordinates as the target elevation value corresponding to the two-dimensional group.

[0188] Exemplarily, for the two-dimensional coordinate (1, 2), if the maximum height value among all the point cloud data at the position of this two-dimensional coordinate in the target occupancy grid map is selected as 5, then the target elevation value at this two-dimensional coordinate position is 5, and 5 can be assigned to the position of this two-dimensional coordinate (1, 1).

[0189] Optionally, the method may further include:

[0190] Optionally, obtain the storage address corresponding to the two-dimensional coordinate according to the linear mapping function. Specifically, a storage address can be obtained through mapping by the linear function addr = x + y << n, where n can refer to the number of all two-dimensional coordinates with elevation information. Each two-dimensional coordinate can be stored in the obtained storage address, thereby avoiding frequently reallocating a whole block of continuous storage space each time new point cloud data is inserted into the three-dimensional grid map, reducing the overhead on the processor, and improving the efficiency of the algorithm.

[0191] Optionally, the target elevation value corresponding to the two-dimensional coordinate can be stored in the storage address. Optionally, after determining the target elevation values of each two-dimensional coordinate in the above S802 step, each two-dimensional coordinate can be obtained through the storage address of each two-dimensional coordinate and the target elevation value of each two-dimensional coordinate can be stored in this storage address. Then, the storage address may include {a: (1, 2), b: 5}. For the position of the two-dimensional coordinate (1, 2), the highest height at this position in the current three-dimensional grid map is 5.

[0192] Optionally, a corresponding hash table can be established to store each two-dimensional coordinate and the target elevation value of each two-dimensional coordinate. Then, when constructing the elevation map of the current area, the elevation map of the area where the UAV is currently located can be constructed according to each two-dimensional coordinate and the target elevation value of each two-dimensional coordinate in the hash table.

[0193] In the embodiments of the present application, in the absence of a high-precision map, the elevation map of the area where the UAV is currently located can also be generated through real-time sensors to guide the UAV to perform three-dimensional digital terrain-following operations, greatly improving agricultural production efficiency.

[0194] Fig.11 It is a schematic diagram of a device for a UAV flight control method provided by an embodiment of the present application, as Fig.11 shown. The device includes:

[0195] An acquisition module 901, configured to acquire the point cloud data collected by the first radar, the ground height information of the current UAV collected by the second radar, and the pose information of the UAV, where the first radar is a radar disposed on the UAV and facing the flight direction of the UAV, and the second radar is a radar disposed on the UAV and facing the ground;

[0196] A generating module 902 is used to generate an elevation map of the area where the drone is currently located according to the point cloud data, the height above the ground information and the posture information;

[0197] The updating module 903 is used to update the current planned trajectory of the drone according to the elevation map of the area where the drone is currently located, obtain the target planned trajectory, and control the flight of the drone based on the target planned trajectory.

[0198] Optionally, the generating module 902 is specifically used for:

[0199] Generate a target occupancy grid map according to the point cloud data, the height above the ground information and the posture information, wherein the target occupancy grid map includes a plurality of target occupancy grids, each target occupancy grid corresponds to a sub-area in the area where the drone is located, and each target occupancy grid includes a plurality of point cloud data;

[0200] An elevation map of the area where the drone is currently located is generated based on the point cloud data of each target occupied grid in the target occupied grid map.

[0201] Optionally, the generating module 902 is specifically used for:

[0202] Determine, according to the point cloud data and the position and posture information, a plurality of first target point cloud data within the coverage range of the first radar;

[0203] Determine a plurality of second target point cloud data within the coverage range of the second radar according to the current height information of the UAV over the ground;

[0204] A target occupancy grid map is generated according to the plurality of first target point cloud data, the plurality of second target point cloud data and the current three-dimensional grid map.

[0205] Optionally, the generating module 902 is specifically used for:

[0206] Obtaining a timestamp difference according to the point cloud time information in the point cloud data and the posture time information in the posture information of the drone;

[0207] If the timestamp difference is less than or equal to a preset threshold, the point cloud data is used as the first target point cloud data.

[0208] Optionally, the generating module 902 is specifically used for:

[0209] Determining a coverage range of the second radar according to the detection angle range of the second radar and the height above the ground information;

[0210] Determine the altitude of the coverage range of the second radar according to the altitude information of the current position of the UAV relative to the take-off point and the altitude information above the ground;

[0211] The plurality of second target point cloud data are determined according to the coverage range of the second radar and the altitude of the coverage range of the second radar.

[0212] Optionally, the generating module 902 is specifically used for:

[0213] Determining a short diameter value of a coverage range of the second radar according to the first detection angle of the UAV and the height above the ground;

[0214] Determining a long diameter value of a coverage range of the second radar according to the second detection angle of the UAV and the height above the ground;

[0215] The coverage range of the second radar is obtained according to the short diameter value and the long diameter value.

[0216] Optionally, the generating module 902 is specifically used for:

[0217] Using the altitude as the height value of each grid within the coverage of the second radar;

[0218] The three-dimensional coordinates of each grid are obtained according to the two-dimensional coordinates of each grid within the coverage range of the second radar and the height value of each grid, and the three-dimensional coordinates of each grid are respectively used as the second target point cloud data.

[0219] Optionally, the generating module 902 is specifically used for:

[0220] Inserting the first target point cloud data and the second target point cloud data into each three-dimensional grid in the current three-dimensional grid map according to the position information of each of the first target point cloud data and the position information of the second target point cloud data;

[0221] According to the number of point clouds in each three-dimensional grid, a plurality of target-occupied grids are selected from the three-dimensional grids;

[0222] The target occupancy grid map is generated according to each target occupancy grid.

[0223] Optionally, the generating module 902 is specifically used for:

[0224] Determine the target elevation value corresponding to each of the two-dimensional coordinates according to the point cloud data in each target occupied grid in the target occupied grid map and a plurality of preset continuous integer two-dimensional coordinates;

[0225] An elevation map of the area where the drone is currently located is generated according to each of the two-dimensional coordinates and the target elevation value corresponding to each of the two-dimensional coordinates.

[0226] Optionally, the generating module 902 is specifically used for:

[0227] Determine at least one candidate occupied grid contained in the target occupied grid map for each of the two-dimensional coordinates and target point cloud data in the candidate occupied grid;

[0228] The maximum height value of the target point cloud data is selected from the at least one selected occupied grid as the target elevation value corresponding to the two-dimensional coordinate.

[0229] Optionally, the device further comprises:

[0230] The storage module 904 is used to obtain the storage address corresponding to the two-dimensional coordinate according to the linear mapping function, and store the target elevation value corresponding to the two-dimensional coordinate in the storage address.

[0231] Fig.12 A structural block diagram of an electronic device 1000 provided in an embodiment of the present application is shown in FIG. Fig.12 As shown, the electronic device may include: a processor 1001 and a memory 1002 .

[0232] Optionally, a bus 1003 may also be included, wherein the memory 1002 is used to store machine-readable instructions executable by the processor 1001 (for example, Fig. 9 The device acquires the execution instructions corresponding to the module, generates the module, and updates the module in the device, etc.), when the electronic device 1000 is running, the processor 1001 communicates with the memory 1002 through the bus 1003, and the method steps in the above method embodiment are executed by the processor 1001.

[0233] An embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method steps in the above-mentioned UAV flight control method embodiment are executed.

[0234] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0235] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), disk or optical disk and other media that can store program code.

[0236] The above are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.

Claims

1. A UAV flight control method, characterized in that: The method comprises: Obtain forward point cloud data collected by the first radar, ground height information collected by the second radar, and position information of the UAV; Generate an elevation map of the area where the drone is currently located according to the point cloud data, the height above the ground information, and the posture information; According to the elevation map of the area where the drone is currently located, the current planned trajectory of the drone is updated to obtain a target planned trajectory, and the flight of the drone is controlled based on the target planned trajectory.

2. The UAV flight control method according to claim 1, characterized in that: The step of generating an elevation map of the area where the drone is currently located according to the point cloud data, the height above the ground information, and the posture information includes: Generate a target occupancy grid map according to the point cloud data, the height above the ground information and the posture information, wherein the target occupancy grid map includes a plurality of target occupancy grids, each target occupancy grid corresponds to a sub-area in the area where the drone is located, and each target occupancy grid includes a plurality of point cloud data; An elevation map of the area where the drone is currently located is generated based on the point cloud data of each target occupied grid in the target occupied grid map.

3. The UAV flight control method according to claim 2, characterized in that: The generating a target occupancy grid map according to the point cloud data, the height above the ground information and the posture information comprises: Determine, according to the point cloud data and the position and posture information, a plurality of first target point cloud data within the coverage range of the first radar; Determine a plurality of second target point cloud data within the coverage range of the second radar according to the current height information of the UAV over the ground; A target occupancy grid map is generated according to the plurality of first target point cloud data, the plurality of second target point cloud data and the current three-dimensional grid map.

4. The UAV flight control method according to claim 3, characterized in that: The step of determining a plurality of first target point cloud data within the coverage range of the first radar according to the point cloud data and the position information includes: Obtaining a timestamp difference according to the point cloud time information in the point cloud data and the posture time information in the posture information of the drone; If the timestamp difference is less than or equal to a preset threshold, the point cloud data is used as the first target point cloud data.

5. The UAV flight control method according to claim 3, characterized in that: The step of determining a plurality of second target point cloud data within the coverage range of the second radar according to the current height information of the UAV over the ground includes: Determining a coverage range of the second radar according to the detection angle range of the second radar and the height above the ground information; Determine the altitude of the coverage range of the second radar according to the altitude information of the current position of the UAV relative to the take-off point and the altitude information above the ground; The plurality of second target point cloud data are determined according to the coverage range of the second radar and the altitude of the coverage range of the second radar.

6. The UAV flight control method according to claim 5, characterized in that: The determining, according to the detection angle range of the second radar and the height above the ground information, a coverage range of the second radar includes: Determining a short diameter value of a coverage range of the second radar according to the first detection angle of the UAV and the height above the ground; Determining a long diameter value of a coverage range of the second radar according to the second detection angle of the UAV and the height above the ground; The coverage range of the second radar is obtained according to the short diameter value and the long diameter value.

7. The UAV flight control method according to claim 5, characterized in that: The determining the second target point cloud data according to the coverage range of the second radar and the altitude of the coverage range of the second radar includes: Using the altitude as the height value of each grid within the coverage of the second radar; The three-dimensional coordinates of each grid are obtained according to the two-dimensional coordinates of each grid within the coverage range of the second radar and the height value of each grid, and the three-dimensional coordinates of each grid are respectively used as the second target point cloud data.

8. The UAV flight control method according to claim 3, characterized in that: The generating a target occupancy grid map according to the plurality of first target point cloud data, the plurality of second target point cloud data and the current three-dimensional grid map comprises: Inserting the first target point cloud data and the second target point cloud data into each three-dimensional grid in the current three-dimensional grid map according to the position information of each of the first target point cloud data and the position information of the second target point cloud data; According to the number of point clouds in each three-dimensional grid, a plurality of target-occupied grids are selected from the three-dimensional grids; The target occupancy grid map is generated according to each target occupancy grid.

9. The UAV flight control method according to claim 2, characterized in that: The step of generating an elevation map of the area where the drone is currently located according to the point cloud data of each target occupied grid in the target occupied grid map comprises: Determine the target elevation value corresponding to each of the two-dimensional coordinates according to the point cloud data in each target occupied grid in the target occupied grid map and a plurality of preset continuous integer two-dimensional coordinates; An elevation map of the area where the drone is currently located is generated according to each of the two-dimensional coordinates and the target elevation value corresponding to each of the two-dimensional coordinates.

10. The UAV flight control method according to claim 9, characterized in that: The step of determining the target elevation value corresponding to the two-dimensional coordinates according to the point cloud data in each target occupied grid in the target occupied grid map and a plurality of preset continuous integer two-dimensional coordinates includes: Determine at least one candidate occupied grid contained in the target occupied grid map for each of the two-dimensional coordinates and target point cloud data in the candidate occupied grid; The maximum height value of the target point cloud data is selected from the at least one selected occupied grid as the target elevation value corresponding to the two-dimensional coordinate.

11. The UAV flight control method according to claim 9, characterized in that: Also includes: Obtaining a storage address corresponding to the two-dimensional coordinate according to a linear mapping function; The target elevation value corresponding to the two-dimensional coordinate is stored in the storage address.

12. A UAV flight control device, characterized in that: include: An acquisition module, used to acquire point cloud data collected by a first radar, height-to-ground information of the current UAV collected by a second radar, and position information of the UAV, wherein the first radar is a radar arranged on the UAV and facing the flight direction of the UAV, and the second radar is a radar arranged on the UAV and facing the ground; A generating module, configured to generate an elevation map of the area where the drone is currently located according to the point cloud data, the height above the ground information, and the posture information; The updating module is used to update the current planned trajectory of the UAV according to the elevation map of the area where the UAV is currently located, obtain the target planned trajectory, and control the flight of the UAV based on the target planned trajectory.

13. An electronic device, characterized in that: It comprises a memory and a processor, wherein the memory stores a computer program executable by the processor, and when the processor executes the computer program, the steps of the UAV flight control method described in any one of claims 1 to 11 are implemented.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor, executes the steps of the UAV flight control method as described in any one of claims 1 to 11.

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