Method and device for detecting homing route of unmanned aerial vehicle and electronic equipment

Abstract

The invention relates to a method and device for detecting a homing route of an unmanned aerial vehicle and electronic equipment, relates to the field of unmanned aerial vehicles, and solves the technical problem that the existing route design of the unmanned aerial vehicle cannot meet the requirement of linear homing. The method comprises the following steps: step S100, sequentially detecting whether adjacent waypoints in an unmanned aerial vehicle route are intervisible or not, and if not, calculating height added values of the adjacent waypoints so as to enable the adjacent waypoints to be intervisible; step S200, sequentially detecting whether the initial waypoint and other waypoints in the route of the unmanned aerial vehicle are intervisible or not, and if not, calculating height added values of the other waypoints to enable the other waypoints to be intervisible with the initial waypoint; s300, sequentially detecting whether the initial waypoint and the first interpolation point on each leg are intervisible or not, and if not, calculating the height added value of the two waypoints of the leg where the first interpolation point is located so as to enable the first interpolation point and the initial waypoint to be intervisible; and S400, updating the initial height value of each waypoint according to the height added value of each waypoint.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicles, and in particular to a method, a device and an electronic device for detecting a homing route of an unmanned aerial vehicle. Background Art

[0002] The drone may experience link interruption or other emergencies at any time during flight, at which time the drone flight control system will trigger the link break homing operation. Compared with other homing modes, straight-line homing is the best choice. The benefits of straight-line homing are mainly reflected in improving return efficiency and safety. In this mode, the drone will return directly along the shortest path, avoiding detours or getting lost in complex environments, thereby greatly shortening the return time. This mode is particularly suitable for emergency situations, such as when the battery is low or an emergency requires a quick return to the base, and can ensure that the drone returns to the take-off point quickly and safely.

[0003] However, in general, due to route design reasons, we dare not rashly perform straight-line homing, and generally choose the relatively safe original route homing mode. Due to the uncertainty of the homing point location, the potential risk point of choosing straight-line homing is that the straight-line homing process may conflict with the terrain in the middle. How to avoid this potential risk point in the initial route planning has become a technical problem that needs to be solved in the UAV route design. Summary of the invention

[0004] In view of the above analysis, the embodiments of the present invention aim to provide a method, device and electronic device for detecting a homing route of a UAV, so as to solve the technical problem that the existing UAV route design cannot meet the requirement of straight-line homing.

[0005] In a first aspect, an embodiment of the present invention provides a method for detecting a homing route of a drone, comprising the following steps:

[0006] Step S100: sequentially detect whether there is line of sight between adjacent waypoints in the drone route. If all adjacent waypoints are line of sight, proceed to step S200; otherwise, calculate the height increase value required for line of sight;

[0007] Step S200: sequentially detect whether there is line of sight between the starting waypoint and other waypoints in the drone route. If there is line of sight between all other waypoints and the starting waypoint, proceed to step S300; otherwise, calculate the height increase value required for line of sight;

[0008] Step S300: sequentially detecting whether the starting waypoint in the drone route and one or more first interpolation points on each flight segment in the drone route are in line of sight, if the one or more first interpolation points on all the flight segments are in line of sight with the starting waypoint, then proceeding to step S400; otherwise, calculating the height increase value required for line of sight;

[0009] Step S400: updating the initial altitude value of each waypoint in the drone route according to the altitude increase value of each waypoint in the drone route.

[0010] Based on the further improvement of the above detection method, the height increase value required for calculating the visibility in step S100 includes:

[0011] Step C100: acquiring the elevation values ​​of one or more second interpolation points on the flight segment where the adjacent waypoints are located according to the latitude and longitude values ​​of each waypoint among the adjacent waypoints that are not in line of sight;

[0012] Step C200: determining the shielding height value of the second interpolation point according to the initial height value of each waypoint in the adjacent waypoints and the elevation value of the second interpolation point;

[0013] Step C300: selecting a maximum occlusion height value from one or more occlusion height values ​​of the second interpolation point; and

[0014] Step C400: updating the height increase value of each of the adjacent waypoints according to the maximum obstruction height value.

[0015] Based on the further improvement of the above detection method, the height increase value required for calculating the visibility in step S200 includes:

[0016] Step S201: acquiring, according to the latitude and longitude values ​​of the other waypoints that are not in line of sight with the starting waypoint and the starting waypoint, the elevation values ​​of one or more second interpolation points on the virtual segment determined by the other waypoints that are not in line of sight with the starting waypoint and the starting waypoint;

[0017] Step S202: determining the blocked height value of the second interpolation point on the virtual flight segment according to the other waypoints that are not in line of sight with the starting waypoint and the initial height value of the starting waypoint and the elevation value of the second interpolation point on the virtual flight segment;

[0018] Step S203: Selecting a maximum obstruction height value from the obstruction height values ​​of the second interpolation points on one or more of the virtual flight segments; and

[0019] Step S204: updating the height increase values ​​of the other waypoints that are not in line of sight with the starting waypoint and the starting waypoint according to the maximum obstruction height value.

[0020] Based on the further improvement of the above detection method, the height increase value required for calculating the visibility in step S300 includes:

[0021] Step S301: acquiring, according to the latitude and longitude values ​​of the first interpolation point that is not in line of sight with the starting waypoint and the starting waypoint, the elevation values ​​of one or more second interpolation points on a virtual flight segment determined by the first interpolation point that is not in line of sight with the starting waypoint and the starting waypoint;

[0022] Step S302: determining the blocked height value of the second interpolation point on the virtual flight segment according to the first interpolation point that is not in line of sight with the starting flight segment and the initial height value of the starting flight segment and the elevation value of the second interpolation point on the virtual flight segment;

[0023] Step S303: Selecting a maximum obstruction height value from the obstruction height values ​​of the second interpolation points on one or more of the virtual flight segments; and

[0024] Step S304: updating the height increase values ​​of two waypoints of the flight segment where the first interpolation point is located and which has no line of sight with the starting waypoint according to the maximum obstruction height value.

[0025] Based on the further improvement of the above detection method, step S400 includes:

[0026] The height increase value of each waypoint in the drone route is added to the initial height value of the waypoint to obtain the final height value of the waypoint.

[0027] Based on the further improvement of the above detection method, the method for selecting the first interpolation point on the flight segment is:

[0028] Interpolation points are taken on the flight segment according to the resolution of the elevation map.

[0029] Based on the further improvement of the above detection method, step S202 includes:

[0030] Determine the initial altitude value of the second interpolation point on the virtual flight segment according to the initial altitude value and longitude and latitude values ​​of the starting waypoint and the other waypoints that are not in line of sight with the starting waypoint;

[0031] The initial altitude value of the second interpolation point on the virtual flight segment is subtracted from the altitude value of the second interpolation point on the virtual flight segment to obtain the obstruction altitude value of the second interpolation point on the virtual flight segment.

[0032] Based on the further improvement of the above detection method, step S302 includes:

[0033] Determine the initial altitude value of the second interpolation point on the virtual flight segment according to the initial altitude value and the latitude and longitude values ​​of the first interpolation point that is not in line of sight with the starting waypoint and the starting waypoint;

[0034] The initial altitude value of the second interpolation point on the virtual flight segment is subtracted from the altitude value of the second interpolation point on the virtual flight segment to obtain the obstruction altitude value of the second interpolation point on the virtual flight segment.

[0035] In a second aspect, an embodiment of the present invention further provides a device for detecting a homing route of a drone, comprising:

[0036] The first detection module is configured to sequentially detect whether there is line of sight between adjacent waypoints in the UAV route, and if all adjacent waypoints are line of sight, the second detection module is called; otherwise, the height increase value required for line of sight is calculated;

[0037] The second detection module is configured to sequentially detect whether there is line of sight between the starting waypoint and other waypoints in the drone route, and if all other waypoints and the starting waypoint have line of sight, the third detection module is called; otherwise, the height increase value required for line of sight is calculated;

[0038] A third detection module is configured to sequentially detect whether the starting waypoint in the drone route and one or more first interpolation points on each flight segment in the drone route are in line of sight, and if the one or more first interpolation points on all the flight segments are in line of sight with the starting waypoint, then call the update module; otherwise, calculate the height increase value required for line of sight;

[0039] The updating module is configured to update the initial altitude value of each waypoint in the UAV route according to the altitude increase value of each waypoint in the UAV route.

[0040] In a third aspect, an embodiment of the present invention further provides an electronic device, including:

[0041] at least one processor; and

[0042] A memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method for detecting the homing route of the unmanned aerial vehicle as described in any one of the first aspects of the present invention.

[0043] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0044] 1. The scheme of the present invention detects conflicts between the route and the terrain through a variety of different line-of-sight analysis detection methods, thereby ensuring the absolute safety of the route relative to the terrain.

[0045] 2. The scheme of the present invention can greatly increase the detection efficiency by introducing the height increase value of the waypoint through line of sight analysis detection of the route at one time.

[0046] In the present invention, the above-mentioned technical solutions can also be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the subsequent description, and some advantages can become obvious from the description, or can be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the contents particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings are only used for the purpose of illustrating specific embodiments and are not to be considered as limiting the present invention. In the entire drawings, the same reference symbols represent the same components;

[0048] Figure 1 A schematic flow chart of a method for detecting a homing route of a UAV according to an embodiment of the present invention is shown.

[0049] Figure 2 A conceptual schematic diagram of a drone route in an embodiment of the present invention is shown.

[0050] Figure 3 A diagram showing a principle example of line of sight analysis according to an embodiment of the present invention is shown.

[0051] Figure 4 A schematic diagram showing a second interpolation point of a flight segment according to an embodiment of the present invention is shown.

[0052] Figure 5 An example of calculating the occlusion height value of the second interpolation point is shown.

[0053] Figure 6 An example of sequentially detecting whether there is line of sight between a starting waypoint and other waypoints in a drone route according to an embodiment of the present invention is shown.

[0054] Figure 7 An example of sequentially detecting whether there is line of sight between a starting waypoint in a drone route and one or more first interpolation points on each flight segment in the drone route according to an embodiment of the present invention is shown.

[0055] Figure 8 An exemplary block diagram of a device for detecting a homing route of a drone according to an embodiment of the present invention is shown.

[0056] Fig. 9 A schematic block diagram of an example electronic device 900 that may be used to implement embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0057] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0058] Figure 1 FIG. 2 is a flow chart showing a method for detecting a homing route of a drone according to an embodiment of the present invention. Figure 1 As shown, the method for detecting the homing route of the UAV includes the following steps:

[0059] Step S100: sequentially detect whether there is line of sight between adjacent waypoints in the drone route. If all adjacent waypoints are line of sight, proceed to step S200; otherwise, calculate the height increase value required for line of sight.

[0060] The drone route in this embodiment may be a manually drawn route. In this embodiment, the manually drawn route data may be obtained through an imported route file. The route data here includes the latitude and longitude data and altitude data of each waypoint in the route. Figure 2 FIG. 1 is a conceptual diagram of a drone route in an embodiment of the present invention. Figure 2 As shown in the left figure, four waypoints can be marked on the two-dimensional map first ( Figure 2 The waypoints are marked as A, B, C, and D in the figure), and then each waypoint is connected in sequence along the direction of flight by manual connection to form a route. The figure on the right shows the route, which includes three segments, each of which is interconnected in sequence, and each segment includes two waypoints. For example, the first segment includes waypoint A and waypoint B. The altitude of each waypoint on the drone route is usually a fixed altitude value generated by the system by default (for example, 3000 meters). It should be noted that, unless otherwise specified, in this article, the terms "waypoint" and "endpoint of the segment" have the same meaning.

[0061] The UAV route in this embodiment can also be automatically planned by the automatic route planning algorithm built into the UAV ground station software. The UAV ground station software can automatically generate a UAV route according to the terrain characteristics using the automatic route planning algorithm. The automatically planned route includes the latitude and longitude data and altitude data of each waypoint in the route.

[0062] In this embodiment, the elevation value of the area through which the drone route passes can be obtained through the imported digital elevation model (Digital Elevation Model, abbreviated as DEM). A digital elevation model is a data model used to represent the elevation of the terrain on the earth's surface. It is stored in digital form. The data of DEM is usually stored in the form of a raster or grid. Each cell contains an elevation value, which represents the elevation of the position on the ground. The position on the ground can be represented by longitude and latitude values. In this embodiment, according to the longitude and latitude values ​​of the waypoints on the route, the elevation value of the waypoint can be obtained by indexing in the imported DEM.

[0063] In this embodiment, it is possible to sequentially detect whether adjacent waypoints in the drone route are in line of sight. Figure 3 FIG. 2 shows an example diagram of the principle of line of sight analysis according to an embodiment of the present invention. Figure 3 As shown, point O is the observation point, points B and C are target points, OG is the observation height of point O from the ground, and BG1 and CG1 are the observation heights of points B and C from the ground respectively. Figure 3 It can be seen from the figure that there is no terrain obstruction between OC and they can see through, there is terrain obstruction between OB, point O can see point B1 at the farthest, although segment B2B is higher than the terrain, it is blocked by B1B2 and OB cannot see through. In this embodiment, a grid-based line-of-sight algorithm, R3 algorithm or PDERL algorithm can be used to perform line-of-sight analysis on the segments in the drone route.

[0064] In this embodiment, if there is no line of sight between certain adjacent waypoints, the height increase value required for line of sight can be calculated. After increasing the height of the adjacent waypoints that are not line of sight by using the "height increase value required for line of sight", the adjacent waypoints that are not line of sight can be made line of sight. In some embodiments, if there is no line of sight between certain adjacent waypoints, the height increase value of each of the adjacent waypoints can be updated to make the adjacent waypoints line of sight. In this embodiment, before performing a straight-line homing test on the drone route, an altitude increase value can be assigned to each waypoint in the drone route, and the altitude increase value is an updateable parameter. In some embodiments, the initial value of the altitude increase value of each waypoint is 0.

[0065] In some embodiments, the method for updating the height increase value of adjacent waypoints without line of sight includes the following steps:

[0066] Step C100: According to the latitude and longitude values ​​of each waypoint among the adjacent waypoints that are not in line of sight, the elevation values ​​of one or more second interpolation points on the flight segment where the adjacent waypoints are located are obtained.

[0067] In this embodiment, the second interpolation point on the flight segment may be a point in the flight segment that is blocked by the terrain. Figure 4 FIG. 4 is a schematic diagram showing a second interpolation point of a flight segment according to an embodiment of the present invention. Figure 4 As shown in the figure, S and T are two adjacent waypoints in the drone route that are not in line of sight. S and T are the two endpoints of the segment [S, T]. The elevation value at the location of waypoint S is G, and the elevation value at the location of waypoint T is G1. The segment [S, T] has an area [B1, B2] blocked by terrain. Figure 4 The second interpolation point of the flight segment [S, T] may be one or more points on the flight segment [B1, B2]. Preferably, the second interpolation point of the flight segment [S, T] is the interpolation point with the highest elevation value on the flight segment [B1, B2]. Figure 3 In the example, the interpolation point with the highest elevation value on the segment [B1, B2] is B o, the corresponding elevation value is G o By selecting the interpolation point with the highest elevation value on the flight segment [B1, B2] as the second interpolation point, the altitude value of the flight segment [S, T] can be updated quickly.

[0068] In some embodiments, the method for selecting the second interpolation point of the flight segment can be to interpolate points on the flight segment according to the resolution of the elevation map. To ensure the absolute safety of the route altitude, in this embodiment, points can be interpolated on the flight segment according to the resolution of the DEM terrain data, and each interpolation point is the second interpolation point of the flight segment. For example, Figure 4 If the length of the flight segment [S, T] is L ST , the resolution of the DEM terrain data at the flight segment [S, T] is T res , then we can calculate L ST / T res And round it up, record it as Count, Count is the number of second interpolation points that need to be inserted in the middle of the flight segment [S, T], and the distance between the first second interpolation point and the waypoint S is L ST / Count, the distance between the second interpolation point and waypoint S is 2L ST / Count, the distance between the third second interpolation point and waypoint S is 3L ST / Count, and so on.

[0069] In this embodiment, the elevation value of the second interpolation point can be obtained by indexing the imported DEM according to the latitude and longitude values ​​of the second interpolation point on the flight segment.

[0070] Step C200: Determine the shielding height value of the second interpolation point according to the initial height value of each waypoint in the adjacent waypoints and the elevation value of the second interpolation point.

[0071] The initial altitude value of a manually drawn drone route refers to the altitude generated by the system by default, which is usually a fixed value (e.g. 3000 meters). The initial altitude value of each waypoint on the drone route is a fixed value. The initial altitude value of an automatically generated drone route refers to the altitude value generated by the system based on the terrain characteristics.

[0072] In this embodiment, the initial height value of the second interpolation point can be determined based on the initial height value and longitude and latitude values ​​of each waypoint in the adjacent waypoints, and then the occlusion height value of the second interpolation point can be obtained by subtracting the initial height value of the second interpolation point from the elevation value of the second interpolation point.

[0073] Figure 5 An example of calculating the occlusion height value of the second interpolation point is shown. Figure 5 Step C200 is described below. Figure 5As shown, the two adjacent waypoints on the route that are not visible to each other are S and T, S is the starting point, T is the end point, and the initial height value of the second interpolation point B blocked by the terrain is H B , the elevation value of the second interpolation point B is H B1 , according to the vector calculation formula:

[0074] H B =H S +(H T –H S )*(L SB / L ST );

[0075] Among them, H S , H T are the initial height values ​​of the starting point S and the end point T, L SB , L ST are the plane distances between the starting point S, the second interpolation point B, and the end point T, respectively. SB It can be directly calculated from the latitude and longitude coordinates of the starting point S and the second interpolation point B, L ST It can be directly calculated from the latitude and longitude coordinates of the starting point S and the end point T. B1 Can be directly read from DEM. The occlusion height D of the second interpolation point B BB1 It is calculated by the following formula:

[0076] D BB1＝ H B1 –H B .

[0077] Step C300: Selecting a maximum occlusion height value from the occlusion height values ​​of one or more second interpolation points.

[0078] Step C400: updating the height increase value of each adjacent waypoint according to the maximum obstruction height value.

[0079] exist Figure 5 In the example, we can compare the occlusion height values ​​of all the second interpolation points of the segment [S, T] and retain the maximum value, which is the maximum occlusion height value of the segment [S, T], recorded as D MAX .

[0080] In this embodiment, the maximum obstruction height value of the flight segment can be used to update the height increase value of the adjacent waypoints that are not in line of sight. In some embodiments, the maximum obstruction height value of the flight segment composed of adjacent waypoints that are not in line of sight can be compared with the height increase value of the adjacent waypoints that are not in line of sight. If the maximum obstruction height value is greater than the height increase value of the waypoint, the height increase value of the waypoint is updated to the maximum obstruction height value. Figure 5In the example, the maximum occlusion height value of the segment [S, T] composed of adjacent waypoints S and T without line of sight is the occlusion height value D of point B. BB1 (denoted as D MAX ), so you can:

[0081] 1. Compare the height increase D of waypoint S s and D MAX , if D s <D MAX , then update D s =D MAX ;

[0082] 2. Compare the height increase D of waypoint T T and D MAX , if D T <D MAX , then update D T =D MAX .

[0083] Step S200: sequentially detect whether there is line of sight between the starting waypoint and other waypoints in the drone route. If there is line of sight between all other waypoints and the starting waypoint, proceed to step S300; otherwise, calculate the height increase value required for line of sight.

[0084] In this embodiment, it is possible to sequentially detect whether the starting waypoint and other waypoints in the drone route have line of sight. If there is no line of sight between a certain waypoint and the starting waypoint, the height increase value required for line of sight can be calculated, and the other waypoints that are not line of sight with the starting waypoint can be increased in height by using the "height increase value required for line of sight" so that the other waypoints can have line of sight with the starting waypoint. In some embodiments, if there is no line of sight between a certain waypoint and the starting waypoint, the height increase value of the waypoint can be updated to make it have line of sight with the starting waypoint.

[0085] In some embodiments, a method for updating the height increase value of a waypoint that is not in line of sight with the starting waypoint includes the following steps:

[0086] Step S201: According to the latitude and longitude values ​​of the waypoints among the other waypoints that are not in line of sight with the starting waypoint and the starting waypoint, obtain the elevation values ​​of one or more second interpolation points on a virtual segment determined by the waypoints among the other waypoints that are not in line of sight with the starting waypoint and the starting waypoint.

[0087] Step S202: Determine the blocked height value of the second interpolation point on the virtual flight segment according to the other waypoints that are not in line of sight with the starting waypoint, the initial height value of the starting waypoint, and the elevation value of the second interpolation point on the virtual flight segment.

[0088] Step S203: Select a maximum obstruction height value from the obstruction height values ​​of the second interpolation points on one or more of the virtual flight segments.

[0089] Step S204: updating the height increase values ​​of the other waypoints that are not in line of sight with the starting waypoint and the starting waypoint according to the maximum obstruction height value.

[0090] Figure 6 An example of sequentially detecting whether there is line of sight between the starting waypoint and other waypoints in the drone route according to an embodiment of the present invention is shown. Figure 6 As shown, the UAV route is composed of 6 segments consisting of waypoint 1, waypoint 2, waypoint 3, waypoint 4, waypoint 5, waypoint 6, and waypoint 7. Waypoint 3, waypoint 4, waypoint 5, waypoint 6, and waypoint 7 respectively form 5 virtual segments (indicated by dotted lines) with waypoint 1 (starting waypoint). In this embodiment, the visibility of each virtual segment can be detected separately. If a certain virtual segment is not visible, the height increase value of the two waypoints of the virtual segment is synchronously updated to make the virtual segment visible. The method for updating the height increase value of the two waypoints of the virtual segment is the same as the method for updating the height increase value of the adjacent waypoints that are not visible described above, which will not be repeated here.

[0091] Step S300: sequentially detect whether the starting waypoint in the drone route and one or more first interpolation points on each flight segment in the drone route are in line of sight. If the one or more first interpolation points on all the flight segments are in line of sight with the starting waypoint, proceed to step S400; otherwise, calculate the height increase value required for line of sight.

[0092] In this embodiment, it is possible to sequentially detect whether there is line of sight between the starting waypoint in the drone route and one or more first interpolation points on each segment in the drone route. If there is no line of sight between one or more first interpolation points on a segment and the starting waypoint, the height increase value required for line of sight can be calculated, and after increasing the height of the two waypoints on the segment by the “height increase value required for line of sight”, the one or more first interpolation points on the segment can be made to have line of sight with the starting waypoint. In some embodiments, if there is no line of sight between one or more first interpolation points on a segment and the starting waypoint, the height increase value of the two waypoints on the segment can be updated to make the one or more first interpolation points on the segment have line of sight with the starting waypoint.

[0093] In some embodiments, a method for updating the height increase values ​​of two waypoints in a flight segment where a first interpolation point that is not in line of sight with a starting waypoint is located comprises the following steps:

[0094] Step S301: According to the latitude and longitude values ​​of the first interpolation point that is not in line of sight with the starting waypoint and the starting waypoint, obtain the elevation values ​​of one or more second interpolation points on a virtual flight segment determined by the first interpolation point that is not in line of sight with the starting waypoint and the starting waypoint.

[0095] Step S302: determining the blocked height value of the second interpolation point on the virtual flight segment according to the initial height values ​​of the first interpolation point and the starting flight segment that are not in line of sight with the starting flight segment and the elevation value of the second interpolation point on the virtual flight segment.

[0096] Step S303: Select a maximum obstruction height value from the obstruction height values ​​of the second interpolation points on one or more of the virtual flight segments.

[0097] Step S304: updating the height increase values ​​of two waypoints of the flight segment where the first interpolation point is located and which has no line of sight with the starting waypoint according to the maximum obstruction height value.

[0098] In this embodiment, the method for selecting the first interpolation point on the flight segment can be to interpolate points on the flight segment according to the resolution of the elevation map. To ensure the absolute safety of the route altitude, in this embodiment, points can be interpolated on the flight segment according to the resolution of the DEM terrain data, and each interpolation point is the first interpolation point of the flight segment. For example, Figure 4 If the length of the flight segment [S, T] is L ST , the resolution of the DEM terrain data at the flight segment [S, T] is T res , then we can calculate L ST / T res And round it up, record it as Count, Count is the number of first interpolation points that need to be inserted in the middle of the flight segment [S, T], and the distance between the first interpolation point and the waypoint S is L ST / Count, the distance between the second first interpolation point and waypoint S is 2L ST / Count, the distance between the third first interpolation point and waypoint S is 3L ST / Count, and so on.

[0099] Figure 7 An example of sequentially detecting whether there is line of sight between the starting waypoint in the drone route and one or more first interpolation points on each segment in the drone route according to an embodiment of the present invention is shown. Figure 7As shown, the UAV route consists of 6 segments consisting of waypoint 1, waypoint 2, waypoint 3, waypoint 4, waypoint 5, waypoint 6, and waypoint 7. There are 7 first interpolation points on segment [2,3], and 8 first interpolation points on segment [3,4]. The 7 first interpolation points on segment [2,3] respectively form 7 virtual segments (indicated by dotted lines) with waypoint 1 (starting waypoint), and the 8 first interpolation points on segment [3,4] respectively form 8 virtual segments (indicated by dotted lines) with waypoint 1 (starting waypoint). The method of forming virtual segments with the first interpolation points on other segments and waypoint 1 (starting waypoint) is similar. Figure 7 In this embodiment, the visibility of each virtual segment consisting of the first interpolation point and the starting waypoint can be detected respectively. If a virtual segment is not visible, the height increase values ​​of the two waypoints of the segment where the first interpolation point is located are synchronously updated to make the virtual segment visible. Figure 7 As shown in FIG. 1 , if the first interpolation point on the segment [2,3] and waypoint 1 (starting waypoint) form a virtual segment that is not visible, the height increase values ​​of waypoints 2 and 3 can be updated to make the virtual segment visible. The method for updating the two waypoints in the segment where the first interpolation point is located is similar to the method for updating the height increase values ​​of adjacent waypoints that are not visible as described above. Specifically, Figure 7 As shown, if the maximum occlusion height value of the first interpolation point P on the segment [2,3] and waypoint 1 (starting waypoint) is calculated to be D p , you can:

[0100] 1. Compare the height increase values ​​D2 and D p , if D s <D p , then update D2 = D p ;

[0101] 2. Compare the height increase values ​​D3 and D p , if D T <D p , then update D3 = D p .

[0102] Step S400: updating the initial altitude value of each waypoint in the drone route according to the altitude increase value of each waypoint in the drone route.

[0103] After the detection steps of step S100 to step S300, each waypoint in the drone route obtains the final value of the height increase value. In this embodiment, the final value of the height increase value of each waypoint in the drone route can be used to update the initial height value of each waypoint. In some embodiments, the final value of the height increase value of the waypoint can be added to its initial height value. In some embodiments, the following method can be used to update the initial height value of each waypoint in the drone route:

[0104] Update the initial altitude value of each waypoint according to the following formula to obtain the final altitude value H of each waypoint i new :

[0105] H i new =H i +D i +D G , i is any waypoint on the drone route, H i is the initial height value before point i is updated, D i is the final value of the height increase at point i, D G is the set minimum ground clearance.

[0106] Figure 8 FIG. 2 shows an exemplary block diagram of a detection device for a drone homing route according to an embodiment of the present invention. Figure 8 As shown, the detection device 800 of the homing route of the unmanned aerial vehicle includes: a first detection module 801, which is configured to sequentially detect whether there is line of sight between adjacent waypoints in the unmanned aerial vehicle route. If all adjacent waypoints are line of sight, the second detection module is called; otherwise, the height increase value required for line of sight is calculated; a second detection module 802, which is configured to sequentially detect whether there is line of sight between the starting waypoint and other waypoints in the unmanned aerial vehicle route. If all other waypoints and the starting waypoint are line of sight, the third detection module is called; otherwise, the height increase value required for line of sight is calculated; a third detection module 803, which is configured to sequentially detect whether there is line of sight between the starting waypoint in the unmanned aerial vehicle route and one or more first interpolation points on each segment in the unmanned aerial vehicle route. If all the one or more first interpolation points on the segments are line of sight with the starting waypoint, the update module is called; otherwise, the height increase value required for line of sight is calculated; an update module 804, which is configured to update the initial height value of each waypoint in the unmanned aerial vehicle route according to the height increase value of each waypoint in the unmanned aerial vehicle route.

[0107] It should be understood that Figure 8 The various modules of the apparatus 800 shown in FIG. 8 can be used in conjunction with the reference Figure 1The steps in the described method correspond to each other. Therefore, the operations, features and advantages described above for the method are also applicable to the device 800 and the modules included therein. For the sake of brevity, some operations, features and advantages are not repeated here.

[0108] Fig. 9 Schematic block diagram of an example electronic device 900 that can be used to implement embodiments of the present disclosure is shown. Fig. 9 , a structural block diagram of an electronic device 900 that can serve as a server or client of the present disclosure will now be described, which is an example of a hardware device that can be applied to various aspects of the present disclosure. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframes, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or claimed herein. Fig. 9 As shown, the electronic device 900 includes a computing unit 901, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 902 or a computer program loaded from a storage unit 908 into a random access memory (RAM) 903. In RAM 903, various programs and data required for the operation of the device 900 can also be stored. The computing unit 901, ROM 902, and RAM 903 are connected to each other through a bus 904. An input / output (I / O) interface 905 is also connected to the bus 904. Multiple components in the device 900 are connected to the I / O interface 905, including: an input unit 906, such as a keyboard, a mouse, etc.; an output unit 907, such as various types of displays, speakers, etc.; a storage unit 908, such as a disk, an optical disk, etc.; and a communication unit 909, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 909 allows the device 900 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0109] The computing unit 901 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 901 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 901 performs the various methods and processes described above, such as the detection method of the drone homing route. For example, in some embodiments, the detection method of the drone homing route may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 908. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 900 via the ROM 902 and / or the communication unit 909. When the computer program is loaded into the RAM 903 and executed by the computing unit 901, one or more steps of the detection method of the drone homing route described above may be performed. Alternatively, in other embodiments, the computing unit 901 may be configured to execute the method for detecting the drone's homing route in any other appropriate manner (e.g., by means of firmware).

[0110] An embodiment of the present invention provides a non-transient computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause the computer to execute any of the above-described methods for detecting the return route of a drone. In this article, one or more computer-readable non-transient storage media may include one or more semiconductor-based or other integrated circuits (ICs) (e.g., field programmable gate arrays (FPGAs) or application-specific ICs (ASICs)), hard disk drives (HDDs), hybrid hard disk drives (HHDs), optical disks, optical disk drives (ODDs), magneto-optical disks, magneto-optical disk drives, floppy disks, floppy disk drives (FDDs), magnetic tapes, solid-state drives (SSDs), RAM drives, and any other suitable computer-readable non-transient storage media. Computer-readable non-transient storage media may be volatile, non-volatile, or a combination of volatile and non-volatile.

[0111] An embodiment of the present invention provides a computer program product, including program code instructions. When the program product is executed by a computer, the program code instructions enable the computer to execute any of the methods for detecting a homing route of a drone described above.

[0112] Compared with the prior art, the embodiments of the present invention can achieve at least one of the following beneficial effects:

[0113] 1. The scheme of the present invention detects conflicts between the route and the terrain through a variety of different line-of-sight analysis detection methods, thereby ensuring the absolute safety of the route relative to the terrain.

[0114] 2. The scheme of the present invention can greatly increase the detection efficiency by introducing the height increase value of the waypoint through line of sight analysis detection of the route at one time.

[0115] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A method for detecting a homing route of a drone, characterized in that: The following steps are involved: Step S100: sequentially detect whether there is line of sight between adjacent waypoints in the drone route. If all adjacent waypoints are line of sight, proceed to step S200; otherwise, calculate the height increase value required for line of sight; Step S200: sequentially checking whether the starting waypoint and other waypoints in the drone route are in line of sight, and if all other waypoints are in line of sight with the starting waypoint, proceeding to step S300; Otherwise, calculate the height increase required for visibility; Step S300: sequentially detecting whether the starting waypoint in the drone route and one or more first interpolation points on each flight segment in the drone route are in line of sight, if the one or more first interpolation points on all the flight segments are in line of sight with the starting waypoint, then proceeding to step S400; otherwise, calculating the height increase value required for line of sight; Step S400: updating the initial altitude value of each waypoint in the drone route according to the altitude increase value of each waypoint in the drone route.

2. The detection method according to claim 1, characterized in that: The height increase value required for calculating the visibility in step S100 includes: Step C100: acquiring the elevation values ​​of one or more second interpolation points on the flight segment where the adjacent waypoints are located according to the latitude and longitude values ​​of each waypoint among the adjacent waypoints that are not in line of sight; Step C200: determining the shielding height value of the second interpolation point according to the initial height value of each waypoint in the adjacent waypoints and the elevation value of the second interpolation point; Step C300: selecting a maximum occlusion height value from one or more occlusion height values ​​of the second interpolation point; and Step C400: updating the height increase value of each of the adjacent waypoints according to the maximum obstruction height value.

3. The detection method according to claim 1, characterized in that: The height increase value required for calculating the visibility in step S200 includes: Step S201: acquiring, according to the latitude and longitude values ​​of the other waypoints that are not in line of sight with the starting waypoint and the starting waypoint, the elevation values ​​of one or more second interpolation points on the virtual segment determined by the other waypoints that are not in line of sight with the starting waypoint and the starting waypoint; Step S202: determining the blocked height value of the second interpolation point on the virtual flight segment according to the other waypoints that are not in line of sight with the starting waypoint and the initial height value of the starting waypoint and the elevation value of the second interpolation point on the virtual flight segment; Step S203: Selecting a maximum obstruction height value from the obstruction height values ​​of the second interpolation points on one or more of the virtual flight segments; and Step S204: updating the height increase values ​​of the other waypoints that are not in line of sight with the starting waypoint and the starting waypoint according to the maximum obstruction height value.

4. The detection method according to claim 1, characterized in that: The height increase value required for calculating the visibility in step S300 includes: Step S301: acquiring, according to the latitude and longitude values ​​of the first interpolation point that is not in line of sight with the starting waypoint and the starting waypoint, the elevation values ​​of one or more second interpolation points on a virtual flight segment determined by the first interpolation point that is not in line of sight with the starting waypoint and the starting waypoint; Step S302: determining the blocked height value of the second interpolation point on the virtual flight segment according to the first interpolation point that is not in line of sight with the starting flight segment and the initial height value of the starting flight segment and the elevation value of the second interpolation point on the virtual flight segment; Step S303: Selecting a maximum obstruction height value from the obstruction height values ​​of the second interpolation points on one or more of the virtual flight segments; and Step S304: updating the height increase values ​​of two waypoints of the flight segment where the first interpolation point is located and which has no line of sight with the starting waypoint according to the maximum obstruction height value.

5. The detection method according to claim 1, characterized in that: Step S400 includes: The height increase value of each waypoint in the drone route is added to the initial height value of the waypoint to obtain the final height value of the waypoint.

6. The detection method according to claim 1, characterized in that: The method for selecting the first interpolation point on the flight segment is: Interpolation points are taken on the flight segment according to the resolution of the elevation map.

7. The detection method according to claim 3, characterized in that: Step S202 includes: Determine the initial altitude value of the second interpolation point on the virtual flight segment according to the initial altitude value and longitude and latitude values ​​of the starting waypoint and the other waypoints that are not in line of sight with the starting waypoint; The initial altitude value of the second interpolation point on the virtual flight segment is subtracted from the altitude value of the second interpolation point on the virtual flight segment to obtain the obstruction altitude value of the second interpolation point on the virtual flight segment.

8. The detection method according to claim 4, characterized in that: Step S302 includes: Determine the initial altitude value of the second interpolation point on the virtual flight segment according to the initial altitude value and the latitude and longitude values ​​of the first interpolation point that is not in line of sight with the starting waypoint and the starting waypoint; The initial altitude value of the second interpolation point on the virtual flight segment is subtracted from the altitude value of the second interpolation point on the virtual flight segment to obtain the obstruction altitude value of the second interpolation point on the virtual flight segment.

9. A detection device for a drone homing route, characterized in that: include: The first detection module is configured to sequentially detect whether there is line of sight between adjacent waypoints in the UAV route, and if all adjacent waypoints are line of sight, the second detection module is called; Otherwise, calculate the height increase required for visibility; The second detection module is configured to sequentially detect whether there is line of sight between the starting waypoint and other waypoints in the drone route, and if all other waypoints and the starting waypoint have line of sight, the third detection module is called; otherwise, the height increase value required for line of sight is calculated; A third detection module is configured to sequentially detect whether the starting waypoint in the drone route and one or more first interpolation points on each flight segment in the drone route are in line of sight, and if the one or more first interpolation points on all the flight segments are in line of sight with the starting waypoint, then call the update module; otherwise, calculate the height increase value required for line of sight; The updating module is configured to update the initial altitude value of each waypoint in the UAV route according to the altitude increase value of each waypoint in the UAV route.

10. An electronic device comprising: at least one processor; A memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method for detecting the homing route of the unmanned aerial vehicle according to any one of claims 1-8.

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