Unmanned aerial vehicle route height adjusting method and device, electronic equipment, storage medium and program product

Abstract

The invention relates to an unmanned aerial vehicle route height adjusting method and device, electronic equipment, a storage medium and a program product, relates to the field of unmanned aerial vehicles, and solves the technical problem of flight danger caused by an unreasonable flight height value in an existing unmanned aerial vehicle route. The method for adjusting the height of the route of the unmanned aerial vehicle comprises the following steps: step S100, acquiring elevation values of one or more interpolation points on a leg according to longitude and latitude values of two end points of the leg in the route of the unmanned aerial vehicle; s200, determining a shielding height value of the interpolation point according to the initial height values of the two end points and the elevation value of the interpolation point; step S300, selecting the maximum shielding height value from the shielding height values of one or more interpolation points; and step S400, updating the initial height values of the two end points according to the maximum shielding height value.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicles, and in particular to a method and device for adjusting the altitude of an unmanned aerial vehicle route, as well as an electronic device, a storage medium, and a program product. Background Art

[0002] UAV route planning refers to deriving an optimal flight path based on the target characteristics of the mission under certain constraints. The most commonly used route planning method is to manually plan the UAV mission route on a two-dimensional digital map in the UAV ground control station software. This route planning method requires manually setting the latitude and longitude coordinates of multiple waypoints, and then the UAV ground control station software automatically connects the waypoints to draw the UAV flight route. The planned route is then uploaded to the UAV via a data link, and the UAV begins to fly according to the planned route.

[0003] The flight altitude value of the route drawn by the current route planning method is automatically generated, usually a fixed value (such as 3000 meters). The manually drawn route does not take into account the flight altitude constraint. The flight altitude of the UAV is crucial for safe flight. The appropriate flight altitude can help the UAV avoid collisions with other aircraft, avoid obstacles, maintain an appropriate field of view and communication range, and ensure the stability and efficiency of the UAV when performing tasks. However, due to the limitations of the operator's personal ability or facing some complex, dynamic, multi-constrained, and highly uncertain reconnaissance environments, the manually drawn routes usually do not fully consider the impact of ground elevation and ground obstacles. Some sections are too low, causing the route to pass through ground objects such as mountains, forests, high-rise buildings, etc., causing flight hazards. In addition, if the altitude of the route is uniformly adjusted to an extremely high value manually, the flexibility of the UAV will be reduced, and it will not be able to meet the diverse mission requirements, and it will also cause a waste of resources.

[0004] Some UAV ground control station software also supports automatic planning of UAV routes through built-in automatic route planning algorithms. However, automatic route planning algorithms have their pros and cons. In some complex and dynamic environments, the automatically planned UAV routes may have too low flight heights. In addition, the automatic route planning algorithm cannot use terrain data to accurately and efficiently generate UAV routes with flight heights within a reasonable range. Therefore, an efficient and reliable route detection technology is urgently needed to solve the above worries. Summary of the invention

[0005] In view of the above analysis, the embodiments of the present invention aim to provide a method and device for adjusting the altitude of a UAV route, as well as an electronic device, a storage medium, and a program product, so as to solve the technical problem of flight hazards caused by unreasonable flight altitude values ​​in existing UAV routes.

[0006] In a first aspect, an embodiment of the present invention provides a method for adjusting the altitude of a drone route, comprising the following steps:

[0007] Step S100: acquiring the elevation values ​​of one or more interpolation points on the flight segment according to the latitude and longitude values ​​of the two end points of the flight segment in the UAV route;

[0008] Step S200: determining the occlusion height value of the interpolation point according to the initial height values ​​of the two endpoints and the elevation value of the interpolation point;

[0009] Step S300: Selecting a maximum occlusion height value from the occlusion height values ​​of one or more interpolation points; and

[0010] Step S400: updating the initial height values ​​of the two endpoints according to the maximum occlusion height value.

[0011] Based on the further improvement of the above adjustment method, before executing step S100, the following steps are also included:

[0012] Conduct line-of-sight analysis on the flight segments of the drone route;

[0013] In response to the existence of a flight segment without line of sight, the process proceeds to step S100 .

[0014] Based on the further improvement of the above adjustment method, the method for selecting the interpolation points is:

[0015] Interpolation points are taken on the flight segment according to the resolution of the elevation map.

[0016] Based on the further improvement of the above adjustment method, step S200 includes:

[0017] Determine the initial height value of the interpolation point according to the initial height values ​​and the latitude and longitude values ​​of the two endpoints;

[0018] The initial height value of the interpolation point is subtracted from the elevation value of the interpolation point to obtain the occlusion height value of the interpolation point.

[0019] Based on the further improvement of the above adjustment method, determining the initial height value of the interpolation point according to the initial height values ​​and the latitude and longitude values ​​of the two endpoints includes:

[0020] The initial height value H of the interpolation point is calculated according to the following formula: B :

[0021] H B =H S +(H T –H S )*(L SB / LST )

[0022] Among them, H S , H T are the initial height values ​​of the starting point S and the target point T of the two endpoints, L SB , L ST are the plane distances between the starting point S and the interpolation point B and the target point T respectively.

[0023] Based on the further improvement of the above adjustment method, step S400 includes:

[0024] The maximum occlusion height value is increased to the initial height values ​​of the two endpoints respectively.

[0025] In a second aspect, an embodiment of the present invention provides a device for adjusting the altitude of a drone route, comprising:

[0026] An acquisition module is configured to acquire the elevation values ​​of one or more interpolation points on the flight segment according to the latitude and longitude values ​​of two end points of the flight segment in the UAV route;

[0027] A determination module is configured to determine the occlusion height value of the interpolation point according to the initial height values ​​of the two endpoints and the elevation value of the interpolation point;

[0028] A selection module configured to select a maximum occlusion height value from the occlusion height values ​​of one or more interpolation points; and

[0029] The updating module is configured to update the initial height values ​​of the two endpoints according to the maximum occlusion height value.

[0030] In a third aspect, an embodiment of the present invention provides an electronic device, including:

[0031] at least one processor; and

[0032] 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 adjusting the altitude of the UAV route as described in any one of the first aspects of the present invention.

[0033] In a fourth aspect, an embodiment of the present invention provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable the computer to execute the safety detection method for planning a route for a drone as described in any one of the first aspects of the present invention.

[0034] In a fifth aspect, an embodiment of the present invention provides a computer program product, comprising program code instructions. When the program product is executed by a computer, the program code instructions enable the computer to execute the safety detection method for planning a route for a drone as described in any one of the first aspects of the present invention.

[0035] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0036] 1. The solution of the present invention provides an efficient and reliable route altitude detection technology, which can accurately detect unreasonable flight altitude values ​​in the planned route of the UAV and automatically generate a new route, thereby improving the safety of the UAV flight.

[0037] 2. The route altitude detection technology provided by the solution of the present invention can cope with complex and dynamic environments and has good robustness.

[0038] 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

[0039] 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;

[0040] Figure 1 A schematic flow chart of a method for adjusting the altitude of a UAV route according to an embodiment of the present invention is shown.

[0041] Figure 2 A conceptual schematic diagram of a drone route in an embodiment of the present invention is shown.

[0042] Figure 3 A schematic diagram showing interpolation points on a flight segment according to an embodiment of the present invention is shown.

[0043] Figure 4 An example of calculating the occlusion height value of the interpolation point is shown.

[0044] Figure 5 A diagram showing a principle example of line of sight analysis according to an embodiment of the present invention is shown.

[0045] Figure 6 An exemplary block diagram of a device for adjusting the altitude of a drone route according to an embodiment of the present invention is shown.

[0046] Figure 7A schematic block diagram of an example electronic device 700 that may be used to implement embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0047] 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.

[0048] Figure 1 FIG. 2 is a flow chart showing a method for adjusting the altitude of a drone flight path according to an embodiment of the present invention. Figure 1 As shown, the method for adjusting the altitude of the UAV route includes the following steps:

[0049] Step S100: According to the latitude and longitude values ​​of the two end points of the flight segment in the UAV route, the elevation values ​​of one or more interpolation points on the flight segment are obtained.

[0050] 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.

[0051] 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.

[0052] In this embodiment, the elevation value of the area through which the drone route passes can be obtained through an 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. It should be noted that the data of DEM is also called an elevation map. In this article, the terms DEM and elevation map are used interchangeably.

[0053] In this embodiment, the interpolation point of the flight segment may be a point in the flight segment that is blocked by the terrain. Figure 3 FIG. 4 is a schematic diagram showing interpolation points of a flight segment according to an embodiment of the present invention. Figure 3 As shown in the figure, S and T are the two endpoints of the two segments [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 3 The interpolation point of the flight segment [S, T] can be one or more points on the flight segment [B1, B2].

[0054] In some embodiments, the method for selecting the interpolation points 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 an interpolation point of the flight segment. For example, Figure 3 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 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 interpolation point and waypoint S is 2L ST / Count, the distance between the third interpolation point and waypoint S is 3L ST / Count, and so on.

[0055] In this embodiment, the elevation value of the interpolation point can be obtained by indexing the imported DEM according to the latitude and longitude values ​​of the interpolation point on the flight segment.

[0056] Step S200: determining the occlusion height value of the interpolation point according to the initial height values ​​of the two endpoints and the elevation value of the interpolation point.

[0057] 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.

[0058] In this embodiment, the initial height value of the interpolation point can be determined according to the initial height values ​​and longitude and latitude values ​​of the two endpoints of the flight segment, and then the occlusion height value of the interpolation point can be obtained by subtracting the initial height value of the interpolation point from the elevation value of the interpolation point.

[0059] Figure 4 An example of calculating the occlusion height value of the interpolation point is shown below. Figure 4 Step S200 is described below. Figure 4 As shown, the two adjacent waypoints on the route are S and T, S is the starting point, T is the end point, and the initial height value of the interpolation point B blocked by the terrain is H B , the elevation value of interpolation point B is H B1 , according to the vector calculation formula:

[0060] H B =H S +(H T –H S )*(L SB / L ST );

[0061] 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 and the interpolation point B and the end point T, L SB It can be directly calculated from the latitude and longitude coordinates of the starting point S and the interpolation point B. 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. Interpolation point B's occlusion height D BB1 It is calculated by the following formula:

[0062] D BB1＝ H B1 –H B .

[0063] Step S300: Selecting a maximum occlusion height value from the occlusion height values ​​of one or more interpolation points.

[0064] Step S400: updating the initial height values ​​of the two endpoints according to the maximum occlusion height value.

[0065] exist Figure 4 In the example, we can compare the occlusion height values ​​of all interpolation points of the segment [S, T] and retain the maximum value, which is the maximum occlusion height value of the segment [S, T], denoted by D MAX .

[0066] In this embodiment, the maximum occlusion height value of the flight segment can be used to update the initial height values ​​of the two end points of the flight segment. In some embodiments, the maximum occlusion height value of the flight segment can be added to the initial height values ​​of the two end points of the flight segment. Figure 4 In the example, the maximum occlusion height value of the segment [S, T] is the occlusion height value D of point B. BB1 , so the occlusion height value D of point B can be BB1 Add to the starting point S to get the new starting point S1, and change the occlusion height value D of point B BB1 Add it to the end point T to get the new end point T1, and the flight segment [S1, T1] is the updated flight segment.

[0067] In some embodiments, before executing step S100, Figure 1 The method further includes the following steps: performing line of sight analysis on the flight segments in the UAV route; in response to the existence of a flight segment without line of sight, entering step S100. Figure 5 FIG. 2 shows an example diagram of the principle of line of sight analysis according to an embodiment of the present invention. Figure 5 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 5 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.

[0068] Figure 6 FIG. 2 shows an exemplary block diagram of a device for adjusting the altitude of a drone flight path according to an embodiment of the present invention. Figure 6As shown, the device 600 for adjusting the altitude of the UAV route includes: an acquisition module 601, configured to acquire the elevation values ​​of one or more interpolation points on the route segment according to the latitude and longitude values ​​of the two endpoints of the route segment in the UAV route; a determination module 602, configured to determine the occlusion height value of the interpolation point according to the initial altitude values ​​of the two endpoints and the elevation value of the interpolation point; a selection module 603, configured to select the maximum occlusion height value from the occlusion height values ​​of one or more interpolation points; and an update module 604, configured to update the initial altitude values ​​of the two endpoints according to the maximum occlusion height value.

[0069] It should be understood that Figure 6 The various modules of the apparatus 600 shown in FIG. 6 can be used in conjunction with the reference Figure 1 The 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 600 and the modules included therein. For the sake of brevity, some operations, features and advantages are not repeated here.

[0070] Figure 7 Schematic block diagram of an example electronic device 700 that can be used to implement embodiments of the present disclosure is shown. Figure 7 , a structural block diagram of an electronic device 700 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 can 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. Figure 7As shown, the electronic device 700 includes a computing unit 701, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 702 or a computer program loaded from a storage unit 708 into a random access memory (RAM) 703. In RAM 703, various programs and data required for the operation of the device 700 can also be stored. The computing unit 701, ROM 702, and RAM 703 are connected to each other through a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704. Multiple components in the device 700 are connected to the I / O interface 705, including: an input unit 706, such as a keyboard, a mouse, etc.; an output unit 707, such as various types of displays, speakers, etc.; a storage unit 708, such as a disk, an optical disk, etc.; and a communication unit 709, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 709 allows the device 700 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0071] The computing unit 701 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 701 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 701 performs the various methods and processes described above, such as a method for adjusting the altitude of a drone route. For example, in some embodiments, the method for adjusting the altitude of a drone route may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 708. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 700 via the ROM 702 and / or the communication unit 709. When the computer program is loaded into the RAM 703 and executed by the computing unit 701, one or more steps of the gift package recommendation method described above may be performed. Alternatively, in other embodiments, the computing unit 701 may be configured to perform a method for adjusting the altitude of a drone route by any other appropriate means (e.g., by means of firmware).

[0072] 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 methods for adjusting the altitude of a drone route described above. 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.

[0073] An embodiment of the present invention provides a computer program product, comprising 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 adjusting the altitude of a drone route described above.

[0074] Compared with the prior art, the embodiments of the present invention can achieve at least one of the following beneficial effects:

[0075] 1. The solution of the present invention provides an efficient and reliable route altitude detection technology, which can accurately detect unreasonable flight altitude values ​​in the planned route of the UAV and automatically generate a new route, thereby improving the safety of the UAV flight.

[0076] 2. The route altitude detection technology provided by the solution of the present invention can cope with complex and dynamic environments and has good robustness.

[0077] 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 adjusting the altitude of a drone route, characterized in that: The following steps are involved: Step S100: acquiring the elevation values ​​of one or more interpolation points on the flight segment according to the latitude and longitude values ​​of the two end points of the flight segment in the UAV route; Step S200: determining the occlusion height value of the interpolation point according to the initial height values ​​of the two endpoints and the elevation value of the interpolation point; Step S300: Selecting a maximum occlusion height value from the occlusion height values ​​of one or more interpolation points; as well as Step S400: updating the initial height values ​​of the two endpoints according to the maximum occlusion height value.

2. The adjustment method according to claim 1, characterized in that: Before executing step S100, the following steps are also included: Conduct line-of-sight analysis on the flight segments of the drone route; In response to the existence of a flight segment without line of sight, the process proceeds to step S100 .

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

4. The adjustment method according to claim 1, characterized in that: Step S200 includes: Determine the initial height value of the interpolation point according to the initial height values ​​and the latitude and longitude values ​​of the two endpoints; The initial height value of the interpolation point is subtracted from the elevation value of the interpolation point to obtain the occlusion height value of the interpolation point.

5. The adjustment method according to claim 4, characterized in that: Determining the initial height value of the interpolation point according to the initial height values ​​and the latitude and longitude values ​​of the two endpoints includes: The initial height value H of the interpolation point is calculated according to the following formula: B : H B =H S +(H T -H S )*(L SB / L ST ) Among them, H S , H T are the initial height values ​​of the starting point S and the target point T of the two endpoints, L SB , L ST are the plane distances between the starting point S and the interpolation point B and the target point T respectively.

6. The adjustment method according to claim 1, characterized in that: Step S400 includes: The maximum occlusion height value is increased to the initial height values ​​of the two endpoints respectively.

7. A device for adjusting the altitude of a drone route, characterized in that: include: An acquisition module is configured to acquire the elevation values ​​of one or more interpolation points on the flight segment according to the latitude and longitude values ​​of two end points of the flight segment in the UAV route; A determination module is configured to determine the occlusion height value of the interpolation point according to the initial height values ​​of the two endpoints and the elevation value of the interpolation point; A selection module is configured to select a maximum occlusion height value from the occlusion height values ​​of one or more interpolation points; as well as The updating module is configured to update the initial height values ​​of the two endpoints according to the maximum occlusion height value.

8. 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 adjusting the altitude of the drone route according to any one of claims 1-6.

9. A non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable the computer to execute the method for adjusting the altitude of a drone route according to any one of claims 1 to 6.

10. A computer program product comprising program code instructions which, when the program product is executed by a computer, cause the computer to perform the method of at least one of claims 1 to 6.

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