A mixed - programming method and system for constructing an unmanned aerial vehicle route based on multiple preset routes

Abstract

The present invention provides a mixed compilation method and system for constructing a UAV route based on multiple preset routes. The method includes: S1, obtaining all route files to be merged, extracting the waypoint data in the routes and organizing it into a waypoint data set; S2, sequentially reading and parsing all route files; S3, sorting the waypoints in the route files in combination with a geographic layer; S4, assembling the sorted waypoints and waypoint actions to generate a new route file. The present invention realizes the parsing of UAV general flight route files by using intelligent route file parsing technology, decomposes the waypoints in multiple flight files, and uses path planning technology in combination with a geographic layer to realize the path planning of multiple UAV waypoint positions, realizes route merging, produces a mixed-compiled route, and realizes completing multiple routes along the optimal path in one flight.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle (UAV) flight control, and particularly to a mixed compilation method and system for constructing a UAV flight route based on multiple preset routes. Background Art

[0002] In the prior art, flight route files are all independent. After one flight route is completed, the next one is executed. The UAV has to complete the first flight route plan and then read the second flight route plan, which is very complex in flight operations, affecting the flight efficiency of the UAV. Moreover, there are many overlapping routes in the flight routes, resulting in redundant video data and point information collected, which is not convenient for subsequent business processing and data analysis.

[0003] With the popularization of the application of UAVs, there are different demands in various business scenarios, and there are different requirements for flight route planning and waypoint actions. Frequent design of different flight routes for different businesses greatly increases the difficulty of UAV flight mission planning, and excessive flight times and repeated flights also affect the service life of the UAV.

[0004] In summary, there are the following problems in the current multi-flight of UAVs according to preset flight routes:

[0005] 1. Repeated flight path planning in the area and repeated design of flight routes;

[0006] 2. The flight routes need to be inspected one by one, and the repeated takeoff and landing of the UAV affect the efficiency;

[0007] 3. There is duplication in the data collected by the flight routes, and there is too much redundant data. Summary of the Invention

[0008] In view of the above technical problems, the present invention discloses a mixed compilation method and system for constructing a UAV flight route based on multiple preset routes, avoiding flight route and data redundancy. To achieve the above object, the technical solution adopted by the present invention is as follows:

[0009] A mixed compilation method for constructing a UAV flight route based on multiple preset routes includes the following steps:

[0010] S1. Obtain the flight route files to be merged, extract the waypoint data in the flight routes and organize them into a waypoint data set; the waypoint data set includes: waypoint order, action attribute, position information, altitude data;

[0011] S2. Read and parse the flight route files, add the waypoints to the waypoint pre-storage table according to the waypoint order, and add independent waypoint ids;

[0012] Process all the flight route files in sequence until all the flight route files are read and parsed.

[0013] S3. Sort the waypoints in the route file in combination with the geographic layer;

[0014] S31. Process the waypoint pre-storage table. The earliest added waypoint position is the initial waypoint, and the position where the UAV is located is the starting point;

[0015] S32. Read the 4 geographic poles of the waypoint pre-storage table and obtain the geographic layer within the area where the 4 geographic poles are located;

[0016] S33. Based on longitude, latitude, altitude and combined with distance, obtain the closest unselected waypoint in the waypoint pre-storage table, and judge whether there is a geographic layer obstruction. If there is no layer obstruction, it is defined as the optimal point;

[0017] If there is a geographic layer obstruction, then judge the shortest detour path and determine the distance of the shortest detour path as the distance of the closest point;

[0018] Based on longitude, latitude, altitude and combined with distance, obtain the second-closest unselected waypoint in the waypoint pre-storage table, and get the distance of the second-closest point. If there is a geographic layer obstruction, then judge the shortest detour path and determine the distance of the shortest detour path as the distance of the second-closest point;

[0019] Compare the distance of the second-closest point with the distance of the closest point, and define the point corresponding to the shorter distance as the optimal point;

[0020] Kick out the optimal point position from the waypoint pre-storage table, and repeat step S33 until the data in the waypoint pre-storage table is emptied;

[0021] S4. Assemble the sorted waypoints and waypoint actions to generate a new route file.

[0022] Furthermore, the altitude data in step S1 includes relative altitude, takeoff altitude and altitude. The waypoint dataset also includes elevation, and the elevation is used to determine which altitude data to use in the header file.

[0023] Furthermore, the waypoint pre-storage table is a doubly linked list. 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; while the other pointer points to the next node, and when this node is the last node, it points to a null value. The advantage of this is that the upper and lower waypoints can be quickly found, and the speed of data processing for insertion and deletion is faster.

[0024] Furthermore, for the waypoints with continuous actions in step S2, construct a continuous id attribute and add it to the waypoint pre-storage table; when the starting point in the waypoints with continuous actions is merged, then merge them in sequence according to the continuous id attribute until all the waypoints with continuous actions are merged.

[0025] Furthermore, the method for judging the shortest detour path in step S33 specifically includes:

[0026] S331, blur the three-dimensional map and construct a grid road map in the three-dimensional space by building a grid area for each unit area;

[0027] S332, continuously search for the surrounding grids, and exclude the grids with obstacles among the 26 surrounding grids retrieved, where the grids include 9 grids above, 9 grids below, and 8 grids in 8 directions on the plane;

[0028] S333, calculate the movement cost from each grid to the next flight point. The relevant formula is:

[0029] C = D + H

[0030] where C represents the total movement consumption, D represents the cost consumed to move to the new point, and H represents the cost consumed from the new position to the target;

[0031] S334, determine the grid with the lowest total movement consumption as the shortest detour path point.

[0032] The present invention also discloses a mixed - compilation system for constructing an unmanned aerial vehicle (UAV) route based on multiple preset routes, including:

[0033] A data sorting module, which is used to obtain all route files that need to be merged, extract the waypoint data in the routes, and sort it into a waypoint data set;

[0034] A processing module, which is used to sequentially read and parse all route files;

[0035] A sorting module, which is used to sort the waypoints in the route files in combination with the geographical layer;

[0036] An assembly module, which is used to assemble the sorted waypoints and waypoint actions to generate a new route file.

[0037] The present invention also discloses a mixed - compilation device for constructing an unmanned aerial vehicle (UAV) route based on multiple preset routes, including:

[0038] A client, a data server, a cloud storage end, a waypoint pre - storage table, and a route stack;

[0039] The client sends the identification information of the route file that needs to be mixed - compiled to the data server. The data server obtains the route data from the cloud storage end. Based on the above - mentioned method for constructing an unmanned aerial vehicle (UAV) route based on multiple preset routes, it first obtains all routes, parses the route waypoints, then calls the waypoint pre - storage table to merge the route files, adds the waypoints to the route stack, and finally sends the merged route file to the client.

[0040] The present invention adopts the above technical solutions. By applying the intelligent parsing technology of flight route files, it realizes the parsing of general flight route files for unmanned aerial vehicles (UAVs), decomposes the waypoints in multiple flight files, and combines with the geographical layer to use path planning technology to realize the path planning of multiple waypoints of UAVs, realizes route merging, produces the mixed route after mixing, and realizes that a single flight can complete multiple routes according to the optimal path. It has the following beneficial effects:

[0041] 1. Merge multiple route files into one route file, and realize the flight of UAVs through one route, solving the problem of multiple flights of UAVs.

[0042] 2. Realize the merging of waypoints according to the shortest path algorithm, shortening the flight distance and flight time of the route.

[0043] 3. Isolate obstacles according to the geographical layer, and realize bypassing obstacles through the path algorithm.

[0044] 4. Ensure the execution of consecutive actions and ensure the unity of the data required for flight. Description of the Drawings

[0045] Figure 1 It is a flowchart of the method for constructing a mixed route of UAV routes based on multiple preset routes in an embodiment of the present invention.

[0046] Figure 2 It is a topology diagram of the method for constructing a mixed route of UAV routes based on multiple preset routes in an embodiment of the present invention.

[0047] Figure 3 It is a schematic diagram of the initial route of the method for constructing a mixed route of UAV routes based on multiple preset routes in an embodiment of the present invention.

[0048] Figure 4 It is a schematic diagram of the route to be merged of the method for constructing a mixed route of UAV routes based on multiple preset routes in an embodiment of the present invention.

[0049] Figure 5 It is a schematic diagram of the merged route of the method for constructing a mixed route of UAV routes based on multiple preset routes in an embodiment of the present invention. Detailed Embodiments

[0050] For the convenience of understanding by those skilled in the art, the present invention will be further described below in conjunction with the embodiments and the drawings.

[0051] This embodiment provides a mixed - compilation system for constructing a UAV route based on multiple preset routes, which is characterized in that the system includes: a data sorting module, configured to obtain all route files to be merged, extract the waypoint data in the routes, and sort it into a waypoint data set; a processing module, configured to sequentially read and parse all route files; a sorting module, configured to sort the waypoints in the route files in combination with a geographic layer; an assembly module, configured to assemble the sorted waypoints and waypoint actions to generate a new route file.

[0052] The mixed - compilation system for constructing a UAV route based on multiple preset routes can implement the mixed - compilation method for constructing a UAV route based on multiple preset routes. As Figure 1 shown, it includes the following steps:

[0053] S1. Obtain the route files of the initial route and the routes to be merged, extract the waypoint data in the routes, and sort it into a waypoint data set. The extracted data includes: waypoint order, action attribute, position information, elevation, altitude data, etc.;

[0054] S2. Sequentially read and parse the route files of the initial route and the routes to be merged; specifically including:

[0055] S21. Read the initial route file, parse the kmz file of the initial route file, and extract the waypoint set data. As Figure 2 shown, obtain 3 waypoints;

[0056] Specifically: The mixed - compilation device for constructing a UAV route based on multiple preset routes includes: a client, a data server, a cloud storage end, a waypoint pre - storage table, and a route stack; the client sends information to the data server, the data server obtains route data from the cloud storage end, based on the above - mentioned mixed - compilation method for constructing a UAV route based on multiple preset routes, first obtains all routes, parses the route waypoints, then calls the waypoint pre - storage table to merge the route files, adds the waypoints to the route stack, and finally sends the merged route file to the client.

[0057] The client sends the identification information of the route files to be mixed - compiled to the data server, so that the data server can pull the corresponding route files. The data server obtains the route files from the cloud storage end, and the route files contain waypoint information. The cloud storage end is a storage platform shared by multiple clients and the data server.

[0058] S22. Add the waypoints to the waypoint pre - storage table according to the waypoint order, and at the same time add independent waypoint ids. For waypoints with continuous actions, construct a continuous id attribute and add it to the waypoint pre - storage table;

[0059] S23. Loop through steps S21 - S22 to process the files to be merged until the reading of the files to be merged is completed.

[0060] S3. Sort the waypoints in the route file in combination with the geographical layer, specifically including:

[0061] S31. Process the route pre-storage table, and set the point added earliest as the starting point. Refer to Figure 3 、 Figure 4 Currently, there are 7 points in the waypoint pre-storage table, namely the starting point f of the UAV, the initial route point s, the initial route point 2, the initial route point 3, the to-be-merged route point s, the to-be-merged route point 2, and the to-be-merged route point 3.

[0062] S32. Read the corresponding 4 geographical poles of the waypoint pre-storage table. Among them, the North Pole is the initial route point 2, the East Pole is the merged route point 2, the South Pole is the merged route point s, and the West Pole is the initial route point 2. Obtain the geographical layer within the area based on the 4 poles; a restricted area layer is also read in the area.

[0063] S33. Based on the comprehensive distance of longitude, latitude, and altitude, obtain the waypoint closest to the starting point in the pre-storage table as the merged route point s, and determine whether there is an obstacle in the geographical layer. It is found that there is no layer obstacle, and it is designated as the optimal point.

[0064] S34. After obtaining the optimal point position, kick out the waypoint of the optimal point from the waypoint pre-storage table data, and repeat the operation of step S33 until the pre-storage table is emptied.

[0065] S4. After the loop ends, the point sorting 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. Construct a new route, and assemble the waylines.wpml and template.kml files according to the waypoints after the new sorting; generate a kmz route file, and the merged route map of the parsed route file result is as Figure 5 shown.

[0066] The above is only the 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 modifications, equivalent changes and modifications made by any person skilled in the art to the above embodiments based on the technical essence of the present invention without departing from the principles and spirit of the present invention shall be included within the protection scope of the present invention.

Claims

1. A mixed - compilation method for constructing an unmanned aerial vehicle (UAV) route based on multiple preset routes, characterized in that, The steps are as follows: S1. Obtain the route files to be merged, extract the waypoint data in the routes, and organize it into a waypoint dataset. The waypoint dataset includes: waypoint sequence, action attribute, location information, and altitude data. S2. Read and parse the route files, add the waypoints to the waypoint pre-storage table in the order of waypoint sequence, and add independent waypoint IDs. Process all route files in sequence until all route files are read and parsed. S3. Sort the waypoints in the route files in combination with the geographical layer. S31. Process the waypoint pre-storage table. The earliest added waypoint position is the initial waypoint, and the position where the UAV is located is the starting point. S32. Read the four geographical poles in the waypoint pre-storage table and obtain the geographical layer within the areas where the four geographical poles are located. S33. Based on longitude, latitude, altitude, and combined with distance, obtain the nearest unselected waypoint position in the waypoint pre-storage table, and determine whether there is a geographical layer obstruction. If there is no layer obstruction, it is defined as the optimal point. If there is a geographical layer obstruction, then judge the shortest detour path and determine the distance of the shortest detour path as the distance of the nearest point. Based on longitude, latitude, altitude, and combined with distance, obtain the second-nearest unselected waypoint in the waypoint pre-storage table, get the distance of the second-nearest point. If there is a geographical layer obstruction, then judge the shortest detour path and determine the distance of the shortest detour path as the distance of the second-nearest point. Compare the distance of the second-nearest point with the distance of the nearest point, and define the point corresponding to the shorter distance as the optimal point. Kick out the optimal point position from the waypoint pre-storage table, and repeat step S33 until the data in the waypoint pre-storage table is emptied. The method for judging the shortest detour path includes: S331. Blur the three-dimensional map, and in the three-dimensional space, construct a grid road map by building a grid area for each unit area. S332. Continuously search for the surrounding grids, and exclude the grids with obstructions among the 26 retrieved surrounding grids, where the grids include 9 upper grids, 9 lower grids, and 8 grids in the plane directions. S333. Calculate the movement cost from each grid to the next flight point. The relevant formula: C = D + H where C represents the total movement consumption, D represents the consumption cost of moving to the new point position, and H represents the consumption cost from the new position to the target position. S334. Determine the grid with the lowest total movement consumption as the shortest detour path point position. S4. Assemble the sorted waypoints and waypoint actions to generate a new route file.

2. The mixed compilation method for constructing a UAV route based on multiple preset routes according to claim 1, characterized in that: In step S1, the altitude data includes relative altitude, takeoff altitude, and altitude above sea level. The waypoint dataset also includes elevation, and the elevation is used to determine which altitude data to use in the header file.

3. The mixed compilation method for constructing a UAV route based on multiple preset routes according to claim 1, wherein: The waypoint pre-storage table is a doubly linked list. 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; while the other pointer points to the next node, and when this node is the last node, it points to a null value.

4. The mixed - programming method for constructing an unmanned aerial vehicle route based on multiple preset routes according to claim 1, characterized in that: In step S2, for waypoints with continuous actions, construct a continuous ID attribute and add it to the waypoint pre-storage table. When the starting point in the waypoints with continuous actions is merged, then merge them in sequence according to the continuous ID attribute until all the waypoints with continuous actions are merged.

5. A system for implementing the mixed - programming method of constructing a drone flight path based on multiple preset flight paths according to any one of claims 1 - 4, characterized in that, It includes: A data sorting module, which is used to obtain all route files to be merged, extract the waypoint data in the routes, and sort it into a waypoint data set; A processing module, which is used to sequentially read and parse all route files; A sorting module, which is used to sort the waypoints in the route files in combination with the geographic layer; An assembly module, which is used to assemble the sorted waypoints and waypoint actions to generate a new route file.

6. A mixed - compilation device for constructing a UAV route based on multiple preset routes, characterized in that, It includes: A client, a data server, a cloud storage, a waypoint pre-storage table, and a route stack; The client sends the identification information of the route files to be mixed to the data server. The data server obtains the route data from the cloud storage. Based on the mixing method for constructing the UAV route based on multiple preset routes described in any one of claims 1-4, first obtain all routes, parse the route waypoints, then call the waypoint pre-storage table to merge the route files, add the waypoints to the route stack, and finally send the merged route files to the client.

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