Unmanned aerial vehicle route convex space generation method and electronic equipment
By generating the two-dimensional convex hull of the drone route and the extended convex space, combined with the determination of buffer boundaries, route conflicts and safety issues in the drone route planning are solved, and efficient and reliable route planning and safe flight are achieved.
Patent Information
- Application Number
- CN202411732754.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-28
- Publication Date
- 2025-04-22
AI Technical Summary
The lack of efficient and reliable route convex space generation methods in existing drone route planning technologies has led to the inability to effectively solve the conflict risks and safety issues between drone routes.
By determining the waypoint latitude and longitude coordinate values in the drone route, a two-dimensional convex hull is generated, and convex space is generated based on the waypoint height value, and the buffer boundary is determined using the center of gravity and boundary relationship of the convex hull to achieve the purpose of flexibly adjusting the coverage range of convex space.
It effectively solves the conflict risks and safety issues between drone routes and provides broad application prospects. It is not only suitable for intersecting judgments between multiple drone routes, but also for route design for drone straight-line return to ensure flight safety.
Smart Images
Figure CN119861728A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of unmanned aerial vehicles, and in particular to a method for generating a convex space of an unmanned aerial vehicle route and electronic equipment. Background Art
[0002] Convex hull is a concept in computational geometry. It refers to a minimum convex polygon that contains a given set of points and ensures that these points are either on the polygon or inside the polygon. In two-dimensional space, the convex hull can be imagined as a rubber band that just surrounds all points. In computational geometry, convex hull is an important concept that involves how to effectively process and analyze the boundaries of a point set. The application of convex hull is very wide, including graphics, computer vision, geographic information systems and other fields. The calculation of convex hull can be implemented through different algorithms, such as Graham scanning method. These algorithms can effectively find the minimum convex polygon that contains a given set of points, thus playing an important role in practical applications. For example, in image processing, convex hull can be used to identify the outline of an object; in geographic information systems, convex hull can help analyze the shape and boundaries of an area, etc.
[0003] UAV route planning refers to planning a safe and efficient movement path for a UAV from a starting point to a target point in a given environment. The concept of convex hull has great application potential in UAV route planning. For example, by judging whether there is a possibility of intersection between two convex hulls, it can be judged whether there is a risk of conflict between any UAV routes within the two convex hulls, thereby greatly reducing the possibility of conflict between UAV routes and ensuring the safety of routes. For another example, when a UAV triggers a link break and homing operation due to link interruption or other emergencies, by determining a convex hull with flight safety, any straight return route of the UAV within the convex hull will not fly out of the convex hull range, thereby ensuring that the UAV can return quickly and safely in the shortest straight line path in the event of a link interruption or other emergencies.
[0004] However, the concept of convex hull is rarely used in existing UAV route planning technologies, and the existing technology also lacks a relevant efficient and reliable method for generating route convex space. Therefore, how to efficiently generate a reliable convex space based on the UAV route is a technical problem that needs to be solved urgently. Summary of the invention
[0005] In view of the above analysis, an embodiment of the present invention aims to provide a method for generating a convex space of a UAV route and an electronic device, so as to solve the technical problem of how to apply the convex hull tool to the field of UAV route planning.
[0006] In a first aspect, an embodiment of the present invention provides a method for generating a convex space of a drone route, comprising the following steps:
[0007] Step S100: according to the latitude and longitude coordinate values of the waypoints in the route of the UAV, determine a first target point from the waypoints and set the first target point as the current target point;
[0008] Step S200: determining a next target point from the remaining waypoints according to the azimuths of the current target point and the remaining waypoints, wherein the starting direction of the azimuth of the current target point is the vector direction from the previous target point to the current target point, and the starting direction of the azimuth of the first target point is the vector direction from the first target point to the target direction, and the target direction has a preset vector direction;
[0009] Step S300: determine whether the next target point coincides with the first target point, if so, proceed to step S400, otherwise, set the next target point as the current target point and return to step S200;
[0010] Step S400: sequentially connect all target points and generate a convex space according to the altitude values of the waypoints in the drone route.
[0011] Further improvement based on the above generation method also includes the following steps:
[0012] The boundary of the buffer zone of the convex space is determined according to the positional relationship between the centroid of the convex hull formed by sequentially connecting all target points and the edge of the convex hull.
[0013] Based on the further improvement of the above generation method, according to the positional relationship between the centroid of the convex hull and the edge of the convex hull, determining the boundary of the buffer zone of the convex space includes:
[0014] If the center of gravity of the convex hull is on one side of the edge of the convex hull, a parallel line parallel to the edge of the convex hull is drawn to the opposite side; wherein the distance between the parallel line and the edge of the convex hull is a preset safety threshold;
[0015] Fitting the gaps between adjacent parallel lines with a curve; and
[0016] The parallel lines and the curves are sequentially connected to obtain a boundary of a buffer zone of the convex space.
[0017] Based on the further improvement of the above generation method, fitting the gaps between the adjacent parallel lines with a curve includes:
[0018] The gaps between the adjacent parallel lines are fitted with circular arcs, wherein the radius of the circular arc is the preset safety threshold.
[0019] A further improvement based on the above generation method further includes the following steps:
[0020] The height interval of the buffer zone of the convex space is expanded upward and downward respectively along the height direction, wherein the height distance expanded upward or downward is a preset height threshold.
[0021] Based on the further improvement of the above generation method, according to the latitude and longitude coordinate values of the waypoints in the route of the UAV, determining the first target point from the waypoints includes:
[0022] According to the latitude and longitude coordinate values of the waypoints in the UAV route, find the waypoint with the largest latitude coordinate value or longitude coordinate value from the waypoints as the first target point.
[0023] Based on a further improvement of the above generation method, according to the azimuth between the current target point and the waypoints that are not the target point among the waypoints, determining the next target point from the waypoints that are not the target point includes:
[0024] Calculate the azimuths of the current target point and the waypoints that are not the target point among the waypoints respectively;
[0025] A waypoint having the smallest azimuth angle with the current target point is found from the waypoints not belonging to the target point as the next target point.
[0026] Based on the further improvement of the above generation method, finding the waypoint with the smallest azimuth angle to the current target point from the waypoints not belonging to the target point as the next target point also includes:
[0027] In response to the existence of multiple waypoints with the smallest azimuth angles to the current target point, a waypoint with the farthest distance from the current target point is selected from the multiple waypoints with the smallest azimuth angles to the current target point as the next target point.
[0028] Based on the further improvement of the above generation method, according to the latitude and longitude coordinate values of the waypoints in the drone route, finding the waypoint with the largest latitude coordinate value or longitude coordinate value from the waypoints as the first target point also includes:
[0029] In response to the existence of multiple waypoints with the largest latitude coordinate values or longitude coordinate values, the waypoint with the largest longitude coordinate value is found as the first target point from the multiple waypoints with the largest latitude coordinate values, or the waypoint with the largest latitude coordinate value is found as the first target point from the multiple waypoints with the largest longitude coordinate values.
[0030] In a second 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 generating a convex space of a drone route as described in any one of the first aspects of the present invention.
[0033] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:
[0034] 1. The convex space provided by the present invention has broad application prospects in the field of UAV route planning. It can not only be applied to the intersection judgment between multiple UAV routes, but also to the route design of the UAV's straight return. It well solves the safety problems that may be caused by the uncertainty of time and position when the UAV triggers a straight return during the flight process.
[0035] 2. The convex space provided by the present invention can achieve the purpose of flexibly adjusting the coverage of the convex space by utilizing the concept of the buffer zone, thereby ensuring the flight safety of the UAV.
[0036] 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
[0037] 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;
[0038] Figure 1 A schematic flow chart of a method for generating a convex space of a UAV route according to an embodiment of the present invention is shown.
[0039] Figure 2 A conceptual schematic diagram of a drone route in an embodiment of the present invention is shown.
[0040] Figure 3 An example of a two-dimensional convex hull generated by a method according to an embodiment of the present invention is shown.
[0041] Figure 4 A schematic flow chart of a method for generating a convex space of a UAV route according to another embodiment of the present invention is shown.
[0042] Figure 5 An example of a buffer zone of a convex space formed according to steps S10 to S30 is shown.
[0043] Figure 6 A schematic block diagram of an example electronic device 600 that may be used to implement embodiments of the present disclosure is shown. DETAILED DESCRIPTION
[0044] 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.
[0045] Figure 1 FIG. 2 is a flow chart showing a method for generating a convex space of a drone route according to an embodiment of the present invention. Figure 1 As shown, the method for generating the convex space of the UAV route includes the following steps:
[0046] Step S100: According to the latitude and longitude coordinate values of waypoints in the drone route, a first target point is determined from the waypoints and the first target point is set as the current target point.
[0047] 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.
[0048] 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.
[0049] In this embodiment, a two-dimensional convex hull can be generated based on the latitude and longitude data of each waypoint in the drone route. Specifically, in step S100, the first target point can be selected from all the waypoints of the drone route as the starting point of the two-dimensional convex hull based on the latitude and longitude data of each waypoint in the drone route. In some embodiments, the waypoint with the largest latitude value can be found from all the waypoints of the drone route as the first target point; if there are multiple waypoints with the largest latitude values, the waypoint with the largest longitude value can be selected from them as the first target point. The first target point here is the first target point in this embodiment. After obtaining the first target point, it can be set as the current target point and participate in the calculation of the following steps.
[0050] In some embodiments, the waypoint with the largest longitude value can be found from all the waypoints on the drone route as the first target point; if there are multiple waypoints with the largest longitude values, the waypoint with the largest latitude value can be selected as the first target point. The first target point here is the first target point in this embodiment. After obtaining the first target point, it can be set as the current target point and participate in the calculation of the following steps. It should be noted that the current target point is a dynamically updated variable, and the current target point will be updated each time step S300 (described in detail below) is executed. For example, if the current target point is the first target point, after executing step S300 once, the current target point is updated to the second target point; if the current target point is the second target point, after executing step S300 once, the current target point is updated to the third target point, and so on.
[0051] Step S200: Determine the next target point from the remaining waypoints based on the azimuths of the current target point and the remaining waypoints, wherein the starting direction of the azimuth of the current target point is the vector direction from the previous target point to the current target point, and the starting direction of the azimuth of the first target point is the vector direction from the first target point to the target direction.
[0052] In this embodiment, the azimuth between the current target point and all other waypoints can be calculated respectively, and then the waypoint with the smallest azimuth angle can be selected as the next target point. For example, if the current target point is the first target point (i.e., the starting point of the convex hull), the azimuth between the first target point and all other waypoints can be calculated respectively, and then the waypoint with the smallest azimuth angle can be selected as the second target point, and the second target point is the next target point in this embodiment. The starting direction of the azimuth angle of the first target point can be a vector direction pointing from the first target point to the target direction. The target direction here has a preset vector direction. For example, in order to make the search process of the target point proceed in a counterclockwise direction, the preset vector direction can be determined according to the characteristics of the position information of the first target point. For example, if the first target point is the waypoint with the largest latitude value, the target direction is due north; if the first target point is the waypoint with the largest longitude value, the target direction is due east. For another example, if the current target point is the second target point (i.e., the second point of the convex hull), the azimuth between the second target point and all other waypoints (including the first target point) can be calculated respectively, and then the waypoint with the smallest azimuth is selected as the third target point. The third target point is the next target point in this embodiment, and the starting direction of the azimuth of the second target point is the vector direction from the first target point to the second target point. For another example, if the current target point is the third target point (i.e., the third point of the convex hull), the azimuth between the third target point and all other waypoints (including the first target point and the second target point) can be calculated respectively, and then the waypoint with the smallest azimuth is selected as the fourth target point. The fourth target point is the next target point in this embodiment, and the starting direction of the azimuth of the third target point is the vector direction from the second target point to the third target point, and so on.
[0053] Step S300: Determine whether the next target point coincides with the first target point. If so, proceed to step S400. Otherwise, set the next target point as the current target point and return to step S200.
[0054] In this embodiment, it can be determined whether the next target point returns to the first target point. If so, enter step S400. Otherwise, after setting the next target point as the current target point, return to step S200 to continue calculation until the next target point in step S300 coincides with the first target point.
[0055] Step S400: sequentially connect all target points and generate a convex space according to the altitude values of the waypoints in the drone route.
[0056] In this embodiment, the two-dimensional convex hull can be obtained by sequentially connecting all target points. Figure 3 An example of a two-dimensional convex hull generated by a method according to an embodiment of the present invention is shown. Figure 3 Steps S100 to S400 are described below. Figure 3 As shown, the drone route has a total of 7 waypoints, which are recorded as waypoint 1, waypoint 2, waypoint 3, waypoint 4, waypoint 5, waypoint 6, and waypoint 7. The algorithm for generating the two-dimensional convex hull includes:
[0057] 1. According to the latitude and longitude coordinates of all waypoints, find the waypoint with the largest latitude value, which is waypoint 2, and record it as point A. Point A is the starting point of the convex hull, and point A is retained.
[0058] 2. Calculate the azimuth between point A and all other waypoints. The result is that the azimuth between waypoint 7 and waypoint 2 is the smallest. Record waypoint 7 as point B and keep point B. The starting direction of the azimuth of point A is that point A points to the due north.
[0059] 3. Next, calculate the azimuth between point B and all other waypoints. The starting direction of the azimuth is the vector direction from point A to point B. The result is that the azimuth between waypoint 5 and waypoint 7 is the smallest. Record waypoint 5 as point C and retain point C.
[0060] 3. Perform similar processing starting from waypoint 5. The original waypoint number corresponding to the obtained convex hull polygon (ABCDEA) is (2,7,5,4,1,2).
[0061] After obtaining the two-dimensional convex hull, the two-dimensional convex hull can be converted into a convex space according to the height data of each waypoint in the UAV route. Figure 3 In the example, we can compare the altitude values of waypoints 1 to 7, and then take the minimum and maximum altitude values. The resulting altitude interval is the altitude range of the convex space.
[0062] Figure 4 FIG. 2 is a flow chart showing a method for generating a convex space of a drone route according to another embodiment of the present invention. Figure 4 As shown, the method for generating the convex space of the UAV route includes the following steps:
[0063] Step S101: According to the latitude and longitude coordinate values of waypoints in the drone route, a first target point is determined from the waypoints and the first target point is set as the current target point.
[0064] Step S102: Determine the next target point from the remaining waypoints based on the azimuths of the current target point and the remaining waypoints, wherein the starting direction of the azimuth of the current target point is the vector direction from the previous target point to the current target point, and the starting direction of the azimuth of the first target point is the vector direction from the first target point to the target direction.
[0065] Step S103: Determine whether the next target point coincides with the first target point. If so, proceed to step S104; otherwise, set the next target point as the current target point and return to step S102.
[0066] Step S104: sequentially connect all target points and generate a convex space according to the altitude values of the waypoints in the UAV route.
[0067] Step S105: determining the boundary of the buffer zone of the convex space according to the positional relationship between the centroid of the convex hull formed by sequentially connecting all target points and the edge of the convex hull.
[0068] Steps S101 to S104 are basically the same as steps S100 to S400, and are not described in detail here. Step S105 is described in detail below.
[0069] In this embodiment, the boundary of the buffer zone of the convex space can be determined according to the positional relationship between the centroid of the convex hull and the edge of the convex hull formed in steps S101 to S104. Specifically, the following steps can be included:
[0070] Step S10: If the center of gravity of the convex hull is on one side of the edge of the convex hull, draw a parallel line to the opposite side that is parallel to the edge of the convex hull; wherein the distance between the parallel line and the edge of the convex hull is a preset safety threshold.
[0071] Step S20: Fitting the gaps between adjacent parallel lines with a curve.
[0072] Step S30: sequentially connect parallel lines and curves to obtain the boundary of the buffer zone of the convex space.
[0073] Figure 5 An example of a buffer zone of a convex space formed according to steps S10 to S30 is shown below. Figure 5 Steps S10 to S30 are described.
[0074] like Figure 5 As shown, first calculate the centroid of the convex hull polygon, denoted as point O, which can be obtained by calculating the weighted average of the coordinates of all vertices of the convex hull polygon.
[0075] Next, take any side AB of the convex hull polygon and determine the positional relationship between point O and AB. If point O is on one side of AB, draw parallel lines to the opposite side of AB. The distance between the parallel lines is the preset safety threshold. After that, traverse all the sides of the convex hull polygon and repeat the above steps until all the sides of the convex hull polygon are drawn parallel to the opposite side. The distance between the parallel lines and the sides of the convex hull polygon is the preset safety threshold.
[0076] In some embodiments, one side AB of the convex hull polygon can be randomly selected to determine the positional relationship between point O and AB. If point O is on the right side of AB, parallel lines are drawn uniformly along all sides of the convex hull polygon to the left, and the distance between the parallel lines is the preset safety threshold; otherwise, parallel lines are drawn uniformly to the right, and the distance between the parallel lines is also the preset safety threshold. In this embodiment, only one side needs to be determined to determine the positional relationship between point O and all other sides of the convex hull polygon, thereby improving the efficiency of the algorithm.
[0077] Afterwards, the gaps between adjacent parallel lines are fitted with arcs, and the arc radius is also the preset safety threshold.
[0078] Finally, parallel lines and arcs are sequentially connected at intervals to form a closed polygon, that is, the buffer zone of the convex space is obtained.
[0079] exist Figure 5 In the figure, the center of gravity O of the convex hull polygon (ABCDEA) is on the right side of the boundary lines AB, BC, CD, DE, and EA. Parallel lines are drawn on the left side of each boundary line, namely A1B1, B2C1, C2D1, D2E1, and E2A2. The distances between the parallel lines A1B1, B2C1, C2D1, D2E1, and E2A2 and the boundary lines AB, BC, CD, DE, and EA are all preset safety thresholds. Afterwards, the gaps between the adjacent parallel lines A1B1 and B2C1, the adjacent parallel lines B2C1 and C2D1, the adjacent parallel lines C2D1 and D2E1, and the adjacent parallel lines D2E1 and E2A2 are fitted with arcs, and the arc radius is also the preset safety threshold. The convex hull buffer zone formed at the end is: A1B1B2C1C2D1D2E1E2A2A1, where B1B2, C1C2, D1D2, E1E2, and A2A1 are all arc segments.
[0080] The convex space buffer in the embodiment of the present invention can solve the safety risks that may be caused by multiple routes being too close to each other. By expanding an area of a threshold value for each convex hull polygon, as long as the convex spaces corresponding to the routes do not intersect, the distance between the two drones must be within a safety threshold.
[0081] Figure 6 Schematic block diagram of an example electronic device 600 that can be used to implement embodiments of the present disclosure is shown. Figure 6, a structural block diagram of an electronic device 600 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 6 As shown, the electronic device 600 includes a computing unit 601, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 602 or a computer program loaded from a storage unit 608 into a random access memory (RAM) 603. In RAM 603, various programs and data required for the operation of the device 600 can also be stored. The computing unit 601, ROM 602, and RAM 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604. Multiple components in the device 600 are connected to the I / O interface 605, including: an input unit 606, such as a keyboard, a mouse, etc.; an output unit 607, such as various types of displays, speakers, etc.; a storage unit 608, such as a disk, an optical disk, etc.; and a communication unit 609, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 609 allows the device 600 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.
[0082] The computing unit 601 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 601 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 601 performs the various methods and processes described above, such as the generation method of the convex space of the drone route. For example, in some embodiments, the generation method of the convex space of the drone route may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 608. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 600 via ROM 602 and / or communication unit 609. When the computer program is loaded into RAM 603 and executed by the computing unit 601, one or more steps of the gift package recommendation method described above may be performed. Alternatively, in other embodiments, the computing unit 601 may be configured to perform the generation method of the convex space of the drone route by any other appropriate means (e.g., by means of firmware).
[0083] 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 generating a drone route convex space. 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.
[0084] 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 generating a convex space of a drone route described above.
[0085] Compared with the prior art, the embodiments of the present invention can achieve at least one of the following beneficial effects:
[0086] 1. The convex space provided by the present invention has broad application prospects in the field of UAV route planning. It can not only be applied to the intersection judgment between multiple UAV routes, but also to the route design of the UAV's straight return. It well solves the safety problems that may be caused by the uncertainty of time and position when the UAV triggers a straight return during the flight process.
[0087] 2. The convex space provided by the present invention can achieve the purpose of flexibly adjusting the coverage of the convex space by utilizing the concept of the buffer zone, thereby ensuring the flight safety of the UAV.
[0088] 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 generating a convex space of UAV routes, characterized in that: The following steps are involved: Step S100: according to the latitude and longitude coordinate values of the waypoints in the route of the UAV, determine a first target point from the waypoints and set the first target point as the current target point; Step S200: determining a next target point from the remaining waypoints according to the azimuths of the current target point and the remaining waypoints, wherein the starting direction of the azimuth of the current target point is the vector direction from the previous target point to the current target point, and the starting direction of the azimuth of the first target point is the vector direction from the first target point to the target direction, and the target direction has a preset vector direction; Step S300: determine whether the next target point coincides with the first target point, if so, proceed to step S400, otherwise, set the next target point as the current target point and return to step S200; Step S400: sequentially connect all target points and generate a convex space according to the altitude values of the waypoints in the drone route.
2. The generation method according to claim 1, characterized in that: The following steps are also included: The boundary of the buffer zone of the convex space is determined according to the positional relationship between the centroid of the convex hull formed by sequentially connecting all target points and the edge of the convex hull.
3. The generation method according to claim 2, characterized in that: Determining the boundary of the buffer zone of the convex space according to the positional relationship between the centroid of the convex hull and the edge of the convex hull includes: If the center of gravity of the convex hull is on one side of the edge of the convex hull, a parallel line parallel to the edge of the convex hull is drawn to the opposite side; wherein the distance between the parallel line and the edge of the convex hull is a preset safety threshold; Fitting the gaps between adjacent parallel lines with a curve; and The parallel lines and the curves are sequentially connected to obtain a boundary of a buffer zone of the convex space.
4. The generation method according to claim 3, characterized in that: Fitting the gaps between adjacent parallel lines with a curve comprises: The gaps between the adjacent parallel lines are fitted with circular arcs, wherein the radius of the circular arc is the preset safety threshold.
5. The generation method according to claim 3, characterized in that: The following steps are also included: The height interval of the buffer zone of the convex space is expanded upward and downward respectively along the height direction, wherein the height distance expanded upward or downward is a preset height threshold.
6. The generation method according to claim 1, characterized in that According to the latitude and longitude coordinate values of waypoints in the route of the UAV, determining the first target point from the waypoints includes: According to the latitude and longitude coordinate values of the waypoints in the UAV route, find the waypoint with the largest latitude coordinate value or longitude coordinate value from the waypoints as the first target point.
7. The generation method according to claim 1, characterized in that According to the azimuth of the current target point and the waypoints that are not the target point among the waypoints, determining the next target point from the waypoints that are not the target point comprises: Calculate the azimuths of the current target point and the waypoints that are not the target point among the waypoints respectively; A waypoint having the smallest azimuth angle with the current target point is found from the waypoints not belonging to the target point as the next target point.
8. The generation method according to claim 7, characterized in that: Finding the waypoint with the smallest azimuth angle to the current target point from the waypoints not belonging to the target point as the next target point also includes: In response to the existence of multiple waypoints with the smallest azimuth angles to the current target point, a waypoint with the farthest distance from the current target point is selected from the multiple waypoints with the smallest azimuth angles to the current target point as the next target point.
9. The generation method according to claim 6, characterized in that: According to the latitude and longitude coordinate values of the waypoints in the route of the drone, finding the waypoint with the largest latitude coordinate value or longitude coordinate value from the waypoints as the first target point also includes: In response to the existence of multiple waypoints with the largest latitude coordinate values or longitude coordinate values, the waypoint with the largest longitude coordinate value is found as the first target point from the multiple waypoints with the largest latitude coordinate values, or the waypoint with the largest latitude coordinate value is found as the first target point from the multiple waypoints with the largest longitude coordinate values.
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 generating a convex space of a drone route according to any one of claims 1-9.