Hybrid method and system for constructing unmanned aerial vehicle route based on multiple preset routes

Abstract

The invention provides a hybrid method and system for constructing an unmanned aerial vehicle route based on multiple preset routes, and the method comprises the steps: S1, obtaining all route files which need to be merged, extracting waypoint data in the routes, and arranging the waypoint data into a waypoint data set; s2, reading, analyzing and processing all the route files in sequence; s3, sequencing the route points in the route file in combination with a geographic layer; and S4, assembling the sorted waypoints and waypoint actions to generate a new route file. According to the method, unmanned aerial vehicle general flight route file analysis is realized by applying an intelligent route file analysis technology, waypoints in a plurality of flight files are decomposed, path planning of unmanned aerial vehicle multi-waypoint point locations is realized by applying a path planning technology in cooperation with a geographic layer, route merging is realized, and a mixed route is produced; and a plurality of routes can be completed according to the optimal path in one flight.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle flight control technology, and in particular to a mixed compilation method and system for constructing unmanned aerial vehicle routes based on multiple preset routes. Background Art

[0002] In the prior art, each route file is independent of the other. After one route is executed, the next route is executed. The drone must complete the first route flight plan before reading the second route flight plan. This is very complicated in flight operations and affects the flight efficiency of the drone. In addition, there are many overlapping routes in the flight routes, which leads to redundancy in the collected video data and point information, making subsequent business processing and data analysis inconvenient.

[0003] With the popularization of drone applications, there are different demands in various business scenarios, and route planning and waypoint actions have different requirements. Frequent design of different routes for different businesses has greatly increased the difficulty of drone flight mission planning. Excessive flight times and repeated flights also affect the service life of the drone.

[0004] In summary, the current situation of multiple drone flights on preset routes has the following problems: 1. Repeated flight path planning and route design within the region; 2. The routes need to be inspected one by one, and repeated takeoffs and landings of drones affect efficiency; 3. There are duplications in the route collection data and too much redundant data. Summary of the invention

[0005] In view of the above technical problems, the present invention discloses a mixed compilation method and system for constructing UAV routes based on multiple preset routes to avoid flight route and data redundancy. To achieve the above purpose, the technical solution adopted by the present invention is: A mixed method for constructing a UAV route based on multiple preset routes includes the following steps: S1, obtain the route file to be merged, extract the waypoint data in the route and organize it into a waypoint data set; the waypoint data set includes: waypoint sequence, action attributes, location information, and altitude data; S2, read and parse the route file, add the waypoints to the waypoint pre-stored table in the order of the waypoints, and add independent waypoint IDs; All route files are processed in sequence until all route files are read and parsed; S3, sorting the waypoints in the route file in combination with the geographic layer; S31, processing the waypoint pre-stored table, the earliest added waypoint is the initial waypoint, and the location of the drone is the starting point; S32, reading four geographic poles in the waypoint pre-stored table, and obtaining a geographic layer within the area where the four geographic poles are located; S33, based on the latitude and longitude, altitude and distance, obtain a point that is not selected in the waypoint pre-stored table and is closest to it, and determine whether there is a geographical layer obstacle. If there is no layer obstacle, it is determined as the optimal point; If there is a geographical layer obstruction, the shortest detour path is determined, and the distance of the shortest detour path is determined as the distance of the nearest point; Based on the comprehensive distance of latitude, longitude and altitude, obtain the next closest point that is not selected in the waypoint pre-stored table, and obtain the distance of the next closest point. If there is a geographical layer obstruction, determine the shortest detour path, and determine the shortest detour path distance as the distance of the next closest point; The distance of the second closest point is compared with the distance of the closest point, and the point corresponding to the shorter distance is determined as the optimal point; The optimal point position is kicked out of the waypoint pre-stored table, and step S33 is repeated until the waypoint pre-stored table data is cleared; S4, assemble the sorted waypoints and waypoint actions to generate a new route file.

[0006] Furthermore, the altitude data in step S1 includes relative altitude, take-off altitude and altitude, and the waypoint data set also includes elevation, which is used to determine which altitude data to use in the header file.

[0007] Furthermore, the waypoint pre-stored table is a bidirectional list, and each data node in the list has two pointers, one pointer points to the previous node, and when this node is the first node, it points to a null value; and the other pointer points to the next node, and when this node is the last node, it points to a null value. This has the advantage of being able to quickly find the upper and lower points, and faster data processing insertion and deletion.

[0008] Furthermore, in step S2, for waypoints with continuous actions, continuous id attributes are constructed and added to the waypoint pre-stored table; when the starting points in the waypoints of the continuous actions are merged, they are then merged in sequence according to the continuous id attributes until all the waypoints of the continuous actions are merged.

[0009] Furthermore, the method of determining the shortest detour path in step S33 specifically includes: S331, virtualizing the three-dimensional map, and constructing a grid road map in a manner of constructing a grid area per unit area in the three-dimensional space; S332, continuously searching for surrounding grids, and removing obstructing grids from the retrieved surrounding 26 grids, including 9 grids above, 9 grids below, and grids in 8 directions of the plane; S333, calculate the movement cost of each grid to the next flight point, the relevant formula is: C=D+H Among them, C represents the total cost of movement, D represents the cost of moving to the new point, and H represents the cost of moving from the new position to the target. S334, determining the grid with the lowest total movement consumption as the shortest detour path point.

[0010] The present invention also discloses a mixed system for constructing a UAV route based on multiple preset routes, comprising: The data sorting module is used to obtain all route files that need to be merged, extract the waypoint data in the route and sort them into a waypoint data set; The processing module is used to read and parse all route files in sequence; Sorting module, used to sort the waypoints in the route file in combination with the geographic layer; The assembly module is used to assemble the sorted waypoints and waypoint actions to generate a new route file.

[0011] The present invention also discloses a mixed device for constructing a UAV route based on multiple preset routes, comprising: Client, data server, cloud storage, waypoint pre-stored table, route stack; The client sends the identification information of the route file that needs to be mixed to the data server. The data server obtains the route data from the cloud storage end. Based on the above-mentioned mixing method for constructing drone routes based on multiple preset routes, all routes are first obtained, the route waypoints are parsed, and then the waypoint pre-stored table is called to merge the route files, and the waypoints are added to the route stack. Finally, the merged route file is sent to the client.

[0012] The present invention adopts the above technical scheme, realizes the analysis of general flight route files of unmanned aerial vehicles by using intelligent analysis technology of route files, decomposes the waypoints in multiple flight files, and uses path planning technology in conjunction with geographic layers to realize the path planning of multiple waypoints of unmanned aerial vehicles, realizes route merging, produces mixed routes, and realizes the completion of multiple routes in one flight according to the optimal path. It has the following beneficial effects: 1. Merge multiple route files into one route file, realize drone flight through one route, and solve the problem of multiple drone flights.

[0013] 2. Merge points according to the shortest path algorithm to shorten the flight distance and time.

[0014] 3. Isolate obstacles according to geographic layers and bypass them through path algorithms.

[0015] 4. Ensure the execution of continuous actions and the uniformity of data required for flight. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1The present invention is a flowchart of a method for constructing a mixed compilation method of a drone route based on multiple preset routes according to an embodiment of the present invention.

[0017] Figure 2 This is a topological diagram of a hybrid method for constructing drone routes based on multiple preset routes according to an embodiment of the present invention.

[0018] Figure 3 A schematic diagram of an initial route of a mixed method for constructing a UAV route based on multiple preset routes according to an embodiment of the present invention.

[0019] Figure 4 A schematic diagram of routes to be merged in a mixed compilation method for constructing drone routes based on multiple preset routes according to an embodiment of the present invention.

[0020] Figure 5 A schematic diagram of a merged route according to a mixed compilation method for constructing a drone route based on multiple preset routes according to an embodiment of the present invention. DETAILED DESCRIPTION

[0021] To facilitate understanding by those skilled in the art, the present invention is further described below in conjunction with embodiments and drawings.

[0022] The present embodiment provides a hybrid system for constructing drone routes based on multiple preset routes, characterized in that the system includes: a data sorting module, used to obtain all route files that need to be merged, extract waypoint data in the route and organize them into a waypoint data set; a processing module, used to read and parse all route files in sequence; a sorting module, used to sort the waypoints in the route file in combination with the geographic layer; an assembling module, used to assemble the sorted waypoints and waypoint actions to generate a new route file.

[0023] The mixed system for constructing drone routes based on multiple preset routes can realize a mixed method for constructing drone routes based on multiple preset routes, such as Figure 1 As shown, the following steps are included: S1, obtain the route files of the initial route and the route to be merged, extract the waypoint data in the route and organize it into a waypoint data set, the extracted data includes: waypoint sequence, action attributes, location information, elevation, altitude data, etc.; S2, sequentially reads and parses the route files of the initial route and the route to be merged; specifically includes: S21, read the initial route file, parse the kmz file of the initial route file, and extract the waypoint set data, such as Figure 2 As shown, get 3 waypoints; Specifically: a mixed device for constructing a drone route based on multiple preset routes, including: a client, a data server, a cloud storage terminal, a waypoint pre-stored table, and a route stack; the client sends information to the data server, and the data server obtains route data from the cloud storage terminal. Based on the above-mentioned mixed method for constructing a drone route based on multiple preset routes, all routes are first obtained, the route waypoints are parsed, and then the waypoint pre-stored table is called to merge the route files, and the waypoints are added to the route stack, and finally the merged route file is sent to the client.

[0024] The client sends the route file identification information that needs to be mixed to the data server, and asks the data server to pull the corresponding route file. The data server obtains the route file from the cloud storage end, and the route file contains the waypoint information. The cloud storage end is a storage platform shared by multiple clients and data servers.

[0025] S22, adding the waypoints to the waypoint pre-stored table in the order of the waypoints, and adding independent waypoint IDs at the same time, and for waypoints with continuous actions, constructing continuous ID attributes and adding them to the waypoint pre-stored table; S23, looping step S21-step S22 to process the file to be merged until the reading of the route file to be merged is completed.

[0026] S3, sorting the waypoints in the route file in combination with the geographic layer; specifically including: S31, process the route pre-stored table, set the earliest added point as the departure point, see Figure 3 , Figure 4 , now there are 7 points in the waypoint pre-stored table, which are the starting point f of the drone, the initial route point s, the initial route point 2, the initial route point 3, the route to be merged point s, the route to be merged point 2, and the route to be merged point 3; S32, read the corresponding four geographic poles in the waypoint pre-stored table, where the North Pole is the initial route No. 2 point, the East Pole is the merged route No. 2 point, the South Pole is the merged route S point, and the West Pole is the initial route No. 2 point, and obtain the geographic layer in the area based on the four poles; the restricted area layer is also read in the area; S33, based on the comprehensive distance of latitude, longitude and altitude, obtain a point in the pre-stored table closest to the departure point and merge the route point s, determine whether there is a geographical layer obstacle, and if there is no layer obstacle, determine it as the optimal point; S34, after obtaining the optimal point position, the waypoint of the optimal point is kicked out of the waypoint pre-stored table data, and the step S33 operation is repeated until the pre-stored table is cleared.

[0027] S4, after the loop is finished, the point order is changed to merged route point s, merged route point 2, initial route point s, merged route point 3, initial route point 2, initial route point 3, and a new route is constructed. The waylines.wpml and template.kml files are assembled according to the newly sorted waypoints; the kmz route file is generated, and the merged route map after parsing the route file result is as follows Figure 5 shown.

[0028] The above is only a preferred embodiment of the present invention, but the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. Any simple modification, equivalent changes and modifications made to the above embodiments by any technician familiar with the profession according to the technical essence of the present invention without departing from the principle and spirit of the present invention shall be included in the protection scope of the present invention.

Claims

1. A mixed method for constructing a UAV route based on multiple preset routes, characterized in that: The steps include: S1, obtain the route file to be merged, extract the waypoint data in the route and organize it into a waypoint data set; the waypoint data set includes: waypoint sequence, action attributes, location information, and altitude data; S2, read and parse the route file, add the waypoints to the waypoint pre-stored table in the order of the waypoints, and add independent waypoint IDs; process all route files in sequence until all route files are read and parsed; S3, sorting the waypoints in the route file in combination with the geographic layer; S31, processing the waypoint pre-stored table, the earliest added waypoint is the initial waypoint, and the location of the drone is the starting point; S32, reading four geographic poles in the waypoint pre-stored table, and obtaining a geographic layer within the area where the four geographic poles are located; S33, based on the latitude and longitude, altitude and distance, obtain a point that is not selected in the waypoint pre-stored table and is closest to it, and determine whether there is a geographical layer obstacle. If there is no layer obstacle, it is determined as the optimal point; If there is a geographical layer obstruction, the shortest detour path is determined, and the distance of the shortest detour path is determined as the distance of the nearest point; Based on the comprehensive distance of latitude, longitude and altitude, obtain the next closest point that is not selected in the waypoint pre-stored table, and obtain the distance of the next closest point. If there is a geographical layer obstruction, determine the shortest detour path, and determine the shortest detour path distance as the distance of the next closest point; The distance of the second closest point is compared with the distance of the closest point, and the point corresponding to the shorter distance is determined as the optimal point; The optimal point position is kicked out of the waypoint pre-stored table, and step S33 is repeated until the waypoint pre-stored table data is cleared; S4, assemble the sorted waypoints and waypoint actions to generate a new route file.

2. The method for constructing a mixed route of a drone based on multiple preset routes according to claim 1, characterized in that: The altitude data in step S1 includes relative altitude, take-off altitude and altitude. The waypoint data set also includes elevation. The elevation is used to determine which altitude data to use in the header file.

3. The method for constructing a mixed route of a drone based on multiple preset routes according to claim 1, characterized in that: The waypoint pre-stored table is a bidirectional list, and each data node in the list has two pointers, one pointer points to the previous node, and when this node is the first node, it points to a null value; and the other pointer points to the next node, and when this node is the last node, it points to a null value.

4. The method for constructing a mixed route of a drone based on multiple preset routes according to claim 1, characterized in that: In step S2, for waypoints with continuous actions, a continuous id attribute is constructed and added to the waypoint pre-stored table; When the starting points of the continuous action waypoints are merged, they are then merged in sequence according to the continuous id attributes until all the waypoints of the continuous action are merged.

5. The method for constructing a mixed route of a drone based on multiple preset routes according to claim 1, characterized in that: The method of determining the shortest detour path in step S33 specifically includes: S331, virtualizing the three-dimensional map, and constructing a grid road map in a manner of constructing a grid area per unit area in the three-dimensional space; S332, continuously searching for surrounding grids, and removing obstructing grids from the retrieved surrounding 26 grids, including 9 grids above, 9 grids below, and grids in 8 directions of the plane; S333, calculate the movement cost of each grid to the next flight point, the relevant formula is: C=D+H Among them, C represents the total cost of movement, D represents the cost of moving to the new point, and H represents the cost of moving from the new position to the target. S334, determining the grid with the lowest total movement consumption as the shortest detour path point.

6. A system for implementing the mixed compilation method of constructing a drone route based on multiple preset routes according to any one of claims 1 to 5, characterized in that: include: The data sorting module is used to obtain all route files that need to be merged, extract the waypoint data in the route and sort them into a waypoint data set; The processing module is used to read and parse all route files in sequence; Sorting module, used to sort the waypoints in the route file in combination with the geographic layer; The assembly module is used to assemble the sorted waypoints and waypoint actions to generate a new route file.

7. A mixed device for constructing drone routes based on multiple preset routes, characterized in that: include: Client, data server, cloud storage, waypoint pre-stored table, route stack; The client sends the route file identification information that needs to be mixed to the data server, and the data server obtains the route data from the cloud storage end. Based on the mixing method for constructing a drone route based on multiple preset routes described in any one of claims 1-5, all routes are first obtained, the route waypoints are parsed, and then the waypoint pre-stored table is called to merge the route files, and the waypoints are added to the route stack, and finally the merged route file is sent to the client.

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