Airline planning method, adaptive flight method and device
By obtaining the current and target position information of the drone, determining the overlapping area between the elevation surface and the elevation map, and generating accurate routes, solving the problem of insufficiently accurate route planning of the drone and improving flight safety and adaptability.
Patent Information
- Application Number
- CN202411850635.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-16
- Publication Date
- 2025-04-18
AI Technical Summary
The current drone route planning mainly relies on the experience of technicians, resulting in the inaccurate route and the inability to complete the operation tasks smoothly.
A route planning method is proposed. By obtaining the current position information and target position information of the drone, determining the overlapping process of the elevation throwing surface with the preset elevation map, the target throwing line is obtained, and a more accurate target route is generated based on this and sent to the drone end.
It improves the accuracy of drone routes and improves the safety and adaptability of drones flying in unfamiliar areas.
Smart Images
Figure CN119847173A_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of data processing, and in particular to a route planning method, an adaptive flight method and a device. Background Art
[0002] With the rapid development of my country's drone manufacturing industry, drones are developing rapidly in the fields of aerial survey, agriculture, power line inspection, pipeline inspection, forest fire prevention, and disaster relief. Drones can perform aerial survey, inspection and other operational tasks according to planned flight routes.
[0003] Currently, the planning of drone routes mainly relies on the experience of technicians, and there is a problem of inaccurate routes, which results in the drones being unable to successfully complete their missions. Summary of the invention
[0004] In view of this, the purpose of the present disclosure is to propose a route planning method, an adaptive flight method and a device to solve or partially solve the above problems.
[0005] Based on the above purpose, the first aspect of the present disclosure provides a route planning method, which is applied to a ground command and control station, and the method includes:
[0006] Acquire current position information and target position information of the drone, wherein the current position information includes first elevation information, and the target position information includes second elevation information;
[0007] Determine an elevation plane according to the first elevation information and the second elevation information, and overlap the elevation plane with a preset elevation map to obtain a target projection line;
[0008] At least one target waypoint between the current position and the target position is determined based on the target casting line, a target route is generated according to the at least one target waypoint, and the target route is sent to the drone end.
[0009] Based on the above purpose, the second aspect of the present disclosure provides an adaptive flight method, which is applied to a drone, and the method includes:
[0010] Receive target route and target position information sent by the ground command and control station;
[0011] The drone is controlled to fly according to the target route until the drone reaches the target location information.
[0012] Based on the same inventive concept, the third aspect of the present disclosure proposes a route planning device, which is arranged at a ground command station, comprising:
[0013] A data acquisition module is configured to acquire current position information and target position information of the drone, wherein the current position information includes first elevation information, and the target position information includes second elevation information;
[0014] A casting line determination module is configured to determine an elevation casting surface according to the first elevation information and the second elevation information, and overlap the elevation casting surface with a preset elevation map to obtain a target casting line;
[0015] The route generation module is configured to determine at least one target waypoint between the current position and the target position based on the target casting line, generate a target route according to the at least one target waypoint, and send the target route to the drone end.
[0016] Based on the same inventive concept, the fourth aspect of the present disclosure proposes an adaptive flight device, which is arranged on a drone end, comprising:
[0017] A data receiving module is configured to receive target route and target position information sent by a ground command station;
[0018] The flight control module is configured to control the flight of the UAV according to the target route until the UAV reaches the target location information.
[0019] Based on the same inventive concept, the fifth aspect of the present disclosure proposes an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the route planning method as described above when executing the computer program.
[0020] Based on the same inventive concept, the sixth aspect of the present disclosure proposes a non-transitory computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable a computer to execute the route planning method as described above.
[0021] As can be seen from the above, the present disclosure proposes a route planning method, an adaptive flight method and a device, which obtain the current position information and target position information of the drone, wherein the current position information includes the first elevation information, and the target position information includes the second elevation information, so as to determine the corresponding route according to the current position and the target position of the drone. The elevation parabola is determined according to the first elevation information and the second elevation information, and the elevation parabola is overlapped with the preset elevation map to obtain the target parabola line, which is the parabola line including the current position and the target position. Based on the target parabola line, at least one target waypoint between the current position and the target position is determined, and the waypoint is the position point that the drone needs to pass when flying. The target route is generated according to the determined target waypoint, and the preset elevation map is combined when determining the target route. The elevation map is a three-dimensional data map, which improves the accuracy of the target route. The target route is subsequently sent to the drone end, so that after the drone end receives the target route, it flies to the target position according to the target route, thereby improving the safety and adaptability of the drone flying in unfamiliar areas. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] In order to more clearly illustrate the technical solutions in the present disclosure or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.
[0023] Figure 1 A flowchart of a route planning method according to an embodiment of the present disclosure;
[0024] Figure 2 is a flow chart of an adaptive flight method according to an embodiment of the present disclosure;
[0025] Figure 3 is a structural block diagram of a route planning device according to an embodiment of the present disclosure;
[0026] Figure 4 is a structural block diagram of an adaptive flight device according to an embodiment of the present disclosure;
[0027] Figure 5 It is a schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION
[0028] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.
[0029] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should be understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the embodiments of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.
[0030] With the rapid development of my country's drone manufacturing industry, drones are developing rapidly in the fields of aerial survey, agriculture, power line inspection, pipeline inspection, forest fire prevention, and disaster relief. Drones can perform aerial survey, inspection and other operational tasks according to planned flight routes.
[0031] Currently, the planning of drone routes mainly relies on the experience of technicians, and there is a problem of inaccurate routes, which results in the drones being unable to successfully complete their missions.
[0032] Based on the above description, this embodiment proposes a route planning method, such as Figure 1 As shown, applied to a ground command station, the method includes:
[0033] Step 101, obtaining current position information and target position information of the drone, wherein the current position information includes first elevation information, and the target position information includes second elevation information.
[0034] In a specific implementation, the current position information and target position information of the drone are obtained, the current position is the current position of the drone, the current position information includes the first elevation information and the current longitude and latitude, the target position information is the target position to be reached by the drone, and the target position information includes the second elevation information and the second longitude and latitude. In this embodiment, the elevation information refers to the distance from a point to the absolute base surface along the plumb line direction.
[0035] Step 102, determining an elevation plane according to the first elevation information and the second elevation information, and overlapping the elevation plane with a preset elevation map to obtain a target projection line.
[0036] In specific implementation, the elevation parametric surface is determined according to the first elevation information, the first longitude and latitude, the second elevation information and the second longitude and latitude. The elevation parametric surface is a three-dimensional voxel, and a voxel is a volume element. The solid containing voxels can be expressed by stereo rendering or by extracting a polygonal isosurface with a given threshold contour.
[0037] A preset elevation map is obtained, wherein the elevation map is a three-dimensional map, and the elevation plane is overlapped with the preset elevation map. The intersection line between the elevation plane and the elevation map, i.e., the overlap line, is the target parabolic line.
[0038] Step 103, determining at least one target waypoint between the current position and the target position based on the target casting line, generating a target route according to the at least one target waypoint, and sending the target route to the drone end.
[0039] In a specific implementation, at least one target waypoint between the current position and the target position is determined according to the determined target casting line, and the waypoint is a position point that the drone needs to pass through during flight, and a target route is generated according to the determined target waypoint. After the target route is generated, the target route is sent to the drone end, so that the drone end can fly to the target location according to the target route.
[0040] Through the above scheme, the current position information and target position information of the drone are obtained, wherein the current position information includes the first elevation information, and the target position information includes the second elevation information, so as to determine the corresponding route according to the current position and the target position of the drone. The elevation plane is determined according to the first elevation information and the second elevation information, and the elevation plane is overlapped with the preset elevation map to obtain the target throwing line, which is the throwing line including the current position and the target position. Based on the target throwing line, at least one target waypoint between the current position and the target position is determined, and the waypoint is the position point that the drone needs to pass when flying. The target route is generated according to the determined target waypoint, and the preset elevation map is combined when determining the target route. The elevation map is a three-dimensional data map, which improves the accuracy of the target route. The target route is subsequently sent to the drone end, so that after the drone end receives the target route, it flies to the target position according to the target route, thereby improving the safety and adaptability of the drone flying in unfamiliar areas.
[0041] In some embodiments, step 103 specifically includes:
[0042] Step 1031, sampling the target casting line based on a preset distance to obtain at least one sampling point;
[0043] Step 1032, for each sampling point, determining the longitude and latitude information of the sampling point;
[0044] Step 1033, determining the elevation information of each sampling point from a preset elevation file according to the latitude and longitude information;
[0045] Step 1034, taking each sampling point as a target waypoint, connecting all target waypoints in sequence to obtain a target route.
[0046] In specific implementation, the target casting line is sampled based on a preset distance to obtain at least one sampling point. For example, the target casting line is 40 km in total, and sampling is performed every 10 km to obtain 3 sampling points.
[0047] For each sampling point, the longitude and latitude information of the sampling point is obtained, and the elevation information of each sampling point is determined from a preset elevation file according to the longitude and latitude information. The preset elevation file pre-stores a correspondence between the longitude and latitude information and the elevation information, and the form of the correspondence may include at least one of the following: a relationship table, a function relationship, a curve relationship, a key-value pair relationship, and a bar graph relationship.
[0048] Each sampling point is taken as a target waypoint, and the location point where the current location information is located, all target waypoints and the target location point where the target location information is located are sequentially connected to obtain the target route.
[0049] In some embodiments, step 103 specifically includes:
[0050] Step 103A, obtaining elevation information and terrain data corresponding to the target waypoint;
[0051] Step 103B, acquiring a preset height extension value corresponding to the terrain data from a database according to the terrain data, wherein the database includes a corresponding relationship between the terrain data and the preset height extension value;
[0052] Step 103C, summing the elevation data corresponding to the target waypoint and the preset height extension value corresponding to the terrain data to obtain a target flight altitude;
[0053] Step 103D, generating a target route based on the target waypoint and the target flight altitude.
[0054] In specific implementation, the elevation information and terrain data corresponding to the target waypoint are obtained. The specific method for determining the terrain data can be:
[0055] The latitude and longitude information of the target waypoint is obtained, and the terrain data corresponding to the latitude and longitude information is searched according to the latitude and longitude information, wherein the correspondence between the latitude and longitude information and the terrain data is pre-stored, and the form of the correspondence may include at least one of the following: a relationship table, a function relationship, a curve relationship, a key-value pair relationship, and a bar chart relationship.
[0056] A preset height extension value corresponding to the terrain data is obtained from a database according to the terrain data, wherein the database includes a correspondence between the terrain data and the preset height extension value. In this embodiment, the terrain data includes at least one of the following: city, mountainous area, plain or flat land.
[0057] Exemplarily, the preset height extension value corresponding to the city is 120m, the preset height extension value corresponding to the mountainous area is 90m, the preset height extension value corresponding to the plain is 60m, and the preset height extension value corresponding to the flat land is 30m.
[0058] The elevation data corresponding to the target waypoint and the preset height extension value corresponding to the terrain data are summed to obtain a target flight altitude, which is the altitude that the drone needs to reach when flying to the target waypoint. A target route is generated based on the target waypoint and the target flight altitude.
[0059] In some embodiments, before step 101, the method further includes:
[0060] Step A, in response to receiving a route planning instruction, obtaining current weather information;
[0061] Step B, in response to the current weather information satisfying the preset weather conditions, obtaining the current location information and target location information of the drone.
[0062] In specific implementation, after receiving the route planning instruction, it means that the user wants to plan the route, obtain the current weather information, and determine whether the current weather information meets the preset weather conditions, where the preset weather conditions are pre-set weather suitable for drone flight.
[0063] If the current weather information meets the preset weather conditions, obtain the current location information and target location information of the drone.
[0064] In some embodiments, step A further includes:
[0065] Step C: in response to the current weather information not meeting the preset weather condition, sending a first prompt message, wherein the first prompt message is information to prompt the user that the drone cannot perform the flight mission in the current weather.
[0066] In specific implementation, if the current weather information does not meet the preset weather conditions, it means that the current weather is not suitable for drone flight, and a first prompt message is sent, which is information that prompts the user that the drone cannot perform the flight mission in the current weather. The prompt method of the first prompt message includes at least one of the following: voice prompt, text prompt, etc.
[0067] Through the above solution, when encountering strong winds or rainy weather, the command and control software will prompt the user on the interface that the current weather conditions do not allow the drone to perform the mission.
[0068] Another embodiment of the present disclosure provides an adaptive flight method, which is applied to a drone, such as Figure 2 As shown, the method includes:
[0069] Step 201, receiving target route and target position information sent by a ground control station;
[0070] Step 202: Control the UAV to fly according to the target route until the UAV reaches the target location information.
[0071] In specific implementation, after the drone receives the target route and target position information sent by the ground command station, the target position information is the flight destination of the drone. The drone is controlled to fly according to the target route until the drone reaches the target position information.
[0072] Through the above solution, after receiving the target route, the drone flies to the target location according to the target route, thereby improving the safety and adaptability of the drone flying in unfamiliar areas.
[0073] In some embodiments, step 202 specifically includes:
[0074] Step 2021, receiving a landing instruction, determining a target landing position corresponding to the landing instruction, and obtaining a target terrain corresponding to the target landing position;
[0075] Step 2022, in response to the target terrain being flat, controlling the UAV to land at the target landing position; or,
[0076] Step 2023, in response to the target terrain being non-flat, detecting whether there is flat ground within a range of a first preset distance from the target landing position, and controlling the UAV according to the detection result.
[0077] In specific implementation, when the drone is flying to the target location, it receives a landing command, that is, the drone needs to perform a blind landing at a different location. That is, the drone only knows the coordinates of the landing location at this time, and does not know the terrain of the landing location.
[0078] Determine the target landing position corresponding to the landing instruction, and search for the target terrain corresponding to the target landing position. Specifically, according to the longitude and latitude coordinates of the target landing position, search for the terrain corresponding to the longitude and latitude coordinates. As the target terrain, a correspondence between the longitude and latitude information and the terrain data is pre-stored. The form of the correspondence may include at least one of the following: a relationship table, a function relationship, a curve relationship, a key-value pair relationship, and a bar graph relationship.
[0079] If the target terrain is flat, the drone is controlled to land directly at the target landing position. If the target terrain is not flat, it is detected whether there is flat within a range of a first preset distance from the target landing position, and the drone is controlled according to the detection result.
[0080] Specifically, if it is determined that there is a flat ground within the first preset distance range from the target landing position, the drone is controlled to fly to the flat ground and land. If it is determined that there is no flat ground within the first preset distance range from the target landing position, the drone is controlled to rise to a preset height, and then detect whether there is a flat ground within the second preset distance range from the target landing position, and the above process of detecting the flat ground is continued until the flat ground is detected.
[0081] In this embodiment, the UAV relies on a self-developed combined perception and navigation system in terms of flight safety to achieve perception of the environment and its own positioning, and provide navigation-related information to the flight control when the data link is interfered. The combined perception and navigation system is composed of different sensors and processing cores-with binocular as the main sensor, it uses binocular stereo vision technology to achieve perception of obstacles within a larger field of view, and at the same time adds another type of sensor (laser) as a functional auxiliary. The two work together to increase perception performance; in addition, the system also uses multi-view geometry and deep learning technology to achieve visual positioning, target recognition, guided landing and other intelligent functions. Specifically, the combined perception and navigation system consists of a forward binocular laser obstacle avoidance module + a downward binocular laser positioning module. The forward module realizes the obstacle perception function in the flight direction, while the downward module realizes the functions of obstacle perception, visual positioning, and landing guidance below.
[0082] It should be noted that the method of the embodiment of the present disclosure can be performed by a single device, such as a computer or a server. The method of the present embodiment can also be applied in a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present disclosure, and the multiple devices will interact with each other to complete the described method.
[0083] It should be noted that the above describes some embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
[0084] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present disclosure also provides a route planning device.
[0085] refer to Figure 3 , Figure 3 The route planning device of the embodiment is arranged at a ground control station, and includes:
[0086] The data acquisition module 301 is configured to acquire the current position information and the target position information of the drone, wherein the current position information includes the first elevation information, and the target position information includes the second elevation information;
[0087] The casting line determination module 302 is configured to determine an elevation casting surface according to the first elevation information and the second elevation information, and overlap the elevation casting surface with a preset elevation map to obtain a target casting line;
[0088] The route generation module 303 is configured to determine at least one target waypoint between the current position and the target position based on the target casting line, generate a target route according to the at least one target waypoint, and send the target route to the drone end.
[0089] In some embodiments, the route generation module 303 is specifically configured to:
[0090] Sampling the target casting line based on a preset distance to obtain at least one sampling point;
[0091] For each sampling point, determining the latitude and longitude information of the sampling point;
[0092] Determine the elevation information of each sampling point from a preset elevation file according to the latitude and longitude information;
[0093] Take each sampling point as the target waypoint, connect all the target waypoints in sequence, and get the target route.
[0094] In some embodiments, the route generation module 303 is specifically configured to:
[0095] Obtaining elevation information and terrain data corresponding to the target waypoint;
[0096] Acquiring a preset height extension value corresponding to the terrain data from a database according to the terrain data, wherein the database includes a corresponding relationship between the terrain data and the preset height extension value;
[0097] The elevation data corresponding to the target waypoint and the preset height extension value corresponding to the terrain data are summed to obtain a target flight altitude;
[0098] A target route is generated based on the target waypoint and the target flight altitude.
[0099] In some embodiments, the device further includes a weather determination module, and the weather determination module is specifically configured to:
[0100] In response to receiving the route planning instruction, obtaining current weather information;
[0101] In response to the current weather information satisfying a preset weather condition, the current position information and the target position information of the drone are acquired.
[0102] In response to the current weather information not meeting the preset weather condition, a first prompt message is sent, wherein the first prompt message is information that prompts the user that the drone cannot perform the flight mission in the current weather.
[0103] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present disclosure also provides an adaptive flying device.
[0104] refer to Figure 4 , Figure 4 The adaptive flight device of the embodiment is provided at the drone end, and includes:
[0105] The data receiving module 401 is configured to receive target route and target position information sent by the ground command station;
[0106] The flight control module 402 is configured to control the flight of the UAV according to the target route until the UAV reaches the target location information.
[0107] In some embodiments, the flight control module 402 is specifically configured to:
[0108] receiving a landing instruction, determining a target landing position corresponding to the landing instruction, and obtaining a target terrain corresponding to the target landing position;
[0109] In response to the target terrain being flat, controlling the UAV to land at the target landing position; or,
[0110] In response to the target terrain being non-flat, it is detected whether there is flat ground within a range of a first preset distance from the target landing position, and the UAV is controlled according to the detection result.
[0111] In some embodiments, the flight control module 402 is specifically configured to:
[0112] In response to determining that there is a flat ground within a first preset distance from the target landing position, controlling the drone to fly to the flat ground and land; or,
[0113] In response to determining that there is no flat ground within a range of a first preset distance from a target landing position, the drone is controlled to rise to a preset height, and then detects whether there is a flat ground within a range of a second preset distance from the target landing position, until a flat ground is detected, and then controls the drone to fly to the flat ground and land.
[0114] For the convenience of description, the above device is described by dividing it into various modules according to its functions. Of course, when implementing the present disclosure, the functions of each module can be implemented in the same or multiple software and / or hardware.
[0115] The device of the above embodiment is used to implement the corresponding route planning method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.
[0116] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present disclosure also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the route planning method described in any of the above embodiments is implemented.
[0117] Figure 5 A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 in the device.
[0118] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.
[0119] The memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.
[0120] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.
[0121] The communication interface 1040 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB, network cable, etc.) or a wireless mode (such as mobile network, WIFI, Bluetooth, etc.).
[0122] The bus 1050 includes a path that transmits information between the various components of the device (eg, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040).
[0123] It should be noted that, although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.
[0124] The electronic device of the above embodiment is used to implement the corresponding route planning method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.
[0125] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present disclosure also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the route planning method described in any of the above embodiments.
[0126] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.
[0127] The computer instructions stored in the storage medium of the above embodiments are used to enable the computer to execute the route planning method described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.
[0128] It is understandable that before using the technical solutions of each embodiment of the present disclosure, the type, scope of use, usage scenarios, etc. of the personal information involved will be informed to the user in an appropriate manner, and the user's authorization will be obtained.
[0129] For example, in response to receiving an active request from a user, a prompt message is sent to the user to clearly remind the user that the operation requested to be performed will require obtaining and using the user's personal information. Thus, the user can independently choose whether to provide personal information to software or hardware such as an electronic device, application, server, or storage medium that performs the operation of the technical solution of the present disclosure according to the prompt message.
[0130] As an optional but non-limiting implementation, in response to receiving the user's active request, the prompt information may be sent to the user in the form of a pop-up window, in which the prompt information may be presented in text form. In addition, the pop-up window may also carry a selection control for the user to choose "agree" or "disagree" to provide personal information to the electronic device.
[0131] It is understandable that the above notification and the process of obtaining user authorization are merely illustrative and do not constitute a limitation on the implementation of the present disclosure. Other methods that meet relevant laws and regulations may also be applied to the implementation of the present disclosure.
[0132] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present disclosure (including the claims) is limited to these examples. Based on the concept of the present disclosure, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present disclosure as described above, which are not provided in detail for the sake of simplicity.
[0133] In addition, to simplify the description and discussion, and in order not to make the embodiments of the present disclosure difficult to understand, the known power / ground connections to the integrated circuit (IC) chips and other components may or may not be shown in the provided figures. In addition, the device can be shown in the form of a block diagram to avoid making the embodiments of the present disclosure difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform on which the embodiments of the present disclosure will be implemented (that is, these details should be fully within the scope of understanding of those skilled in the art). Where specific details (e.g., circuits) are set forth to describe exemplary embodiments of the present disclosure, it is apparent to those skilled in the art that the embodiments of the present disclosure can be implemented without these specific details or with changes in these specific details. Therefore, these descriptions should be considered illustrative rather than restrictive.
[0134] Although the present disclosure has been described in conjunction with specific embodiments of the present disclosure, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.
[0135] The embodiments of the present disclosure are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present disclosure should be included in the scope of protection of the present disclosure.
Claims
1. A route planning method, characterized in that: Applied to ground command and control stations, including: Acquire current position information and target position information of the drone, wherein the current position information includes first elevation information, and the target position information includes second elevation information; Determine an elevation plane according to the first elevation information and the second elevation information, and overlap the elevation plane with a preset elevation map to obtain a target projection line; At least one target waypoint between the current position and the target position is determined based on the target casting line, a target route is generated according to the at least one target waypoint, and the target route is sent to the drone end.
2. The method according to claim 1, characterized in that The step of determining at least one target waypoint between the current position and the target position based on the target casting line, and generating a target route according to the at least one target waypoint, comprises: Sampling the target casting line based on a preset distance to obtain at least one sampling point; For each sampling point, determining the latitude and longitude information of the sampling point; Determine the elevation information of each sampling point from a preset elevation file according to the latitude and longitude information; Take each sampling point as the target waypoint, connect all the target waypoints in sequence, and get the target route.
3. The method according to claim 1, characterized in that Generating a target route according to the at least one target waypoint comprises: Obtaining elevation information and terrain data corresponding to the target waypoint; Acquiring a preset height extension value corresponding to the terrain data from a database according to the terrain data, wherein the database includes a corresponding relationship between the terrain data and the preset height extension value; The elevation data corresponding to the target waypoint and the preset height extension value corresponding to the terrain data are summed to obtain a target flight altitude; A target route is generated based on the target waypoint and the target flight altitude.
4. The method according to claim 1, characterized in that: Before obtaining the current location information and target location information of the drone, it also includes: In response to receiving the route planning instruction, obtaining current weather information; In response to the current weather information satisfying a preset weather condition, the current position information and the target position information of the drone are acquired.
5. The method according to claim 4, characterized in that Also includes: In response to the current weather information not meeting the preset weather condition, a first prompt message is sent, wherein the first prompt message is information that prompts the user that the drone cannot perform the flight mission in the current weather.
6. An adaptive flight method, characterized in that: Applied to drones, including: Receive target route and target position information sent by the ground command and control station; The drone is controlled to fly according to the target route until the drone reaches the target location information.
7. The method according to claim 6, characterized in that The controlling the flight of the UAV according to the target route includes: receiving a landing command, determining a target landing position corresponding to the landing command, and obtaining a target terrain corresponding to the target landing position; In response to the target terrain being flat, controlling the UAV to land at the target landing position; or, In response to the target terrain being non-flat, it is detected whether there is flat ground within a range of a first preset distance from the target landing position, and the UAV is controlled according to the detection result.
8. The method according to claim 7, characterized in that The controlling of the UAV according to the detection result includes: In response to determining that there is a flat ground within a first preset distance from the target landing position, controlling the drone to fly to the flat ground and land; or, In response to determining that there is no flat ground within a range of a first preset distance from a target landing position, the drone is controlled to rise to a preset height, and then detects whether there is a flat ground within a range of a second preset distance from the target landing position, until a flat ground is detected, and then controls the drone to fly to the flat ground and land.
9. A route planning device, characterized in that: Set up at the ground command and control station, including: A data acquisition module is configured to acquire current position information and target position information of the drone, wherein the current position information includes first elevation information, and the target position information includes second elevation information; A casting line determination module is configured to determine an elevation casting surface according to the first elevation information and the second elevation information, and overlap the elevation casting surface with a preset elevation map to obtain a target casting line; The route generation module is configured to determine at least one target waypoint between the current position and the target position based on the target casting line, generate a target route according to the at least one target waypoint, and send the target route to the drone end.
10. An adaptive flying device, characterized in that: Set on the drone side, including: A data receiving module is configured to receive target route and target position information sent by a ground command station; The flight control module is configured to control the flight of the UAV according to the target route until the UAV reaches the target location information.