Unmanned aerial vehicle route generation method and device

Abstract

The invention discloses an unmanned aerial vehicle route generation method and device. The method comprises the following steps: displaying a first reference waypoint and a second reference waypoint in a virtual flight environment; controlling the flight of the simulated unmanned aerial vehicle according to an operation instruction of the control terminal, and evaluating the flight path of the simulated unmanned aerial vehicle based on a first evaluation index to determine a first flight route; evaluating a reference waypoint associated with the first flight route according to a second evaluation index, and determining a second flight route; and based on a latitude and longitude coordinate corresponding relation between the virtual flight environment and a real flight environment, mapping the second flight route to the real flight environment to obtain a third flight route. According to the technical scheme, the problem of low generation efficiency of the flight route of the unmanned aerial vehicle is solved, the flight route is planned based on the simulated unmanned aerial vehicle in the three-dimensional model of the real flight environment, the generation efficiency of the flight route is improved, and the time cost of flight route planning is saved.

Description

Technical Field

[0001] The present invention relates to the technical field of path planning, and in particular to a method and device for generating a route for an unmanned aerial vehicle. Background Art

[0002] At present, when drones are performing inspection tasks, flight routes are usually drawn manually. Manually drawn flight routes are difficult to consider all flight risks. Route planners need to release drones multiple times and adjust the flight routes multiple times according to the results of the drone's inspection tasks to obtain a flight route that meets the requirements. However, this drone route planning method requires a lot of time to be wasted on experiments, and the generation efficiency of flight routes is low. Summary of the invention

[0003] The present invention provides a method and device for generating a UAV route to solve the problem of low efficiency in generating a UAV route. By performing route planning based on a simulated UAV in a three-dimensional model of a real flight environment, the generation efficiency of the flight route is improved and the time cost of route planning is saved.

[0004] According to one aspect of the present invention, a method for generating a drone route is provided, the method comprising:

[0005] Displaying a first reference waypoint and a second reference waypoint in a virtual flight environment, wherein the virtual flight environment is a three-dimensional model established based on a real flight environment; the second reference waypoint is a reference position of a waypoint to be planned;

[0006] According to the operation instruction of the control terminal, the simulated UAV is controlled to fly, and the flight trajectory of the simulated UAV is evaluated based on the first evaluation index to determine a first flight route; the simulated UAV is a three-dimensional model established based on the characteristic data of the physical UAV; the first flight route is the flight trajectory of the simulated UAV from the first reference waypoint to the second reference waypoint in the virtual flight environment;

[0007] Evaluate the reference waypoints associated with the first flight route according to a second evaluation index to determine a second flight route;

[0008] Based on the corresponding relationship between the latitude and longitude coordinates of the virtual flight environment and the real flight environment, the second flight route is mapped to the real flight environment to obtain a third flight route.

[0009] According to another aspect of the present invention, a device for generating a drone route is provided, the device comprising:

[0010] A reference waypoint display module, used to display a first reference waypoint and a second reference waypoint in a virtual flight environment, wherein the virtual flight environment is a three-dimensional model established based on a real flight environment; the second reference waypoint is a reference position of a waypoint to be planned;

[0011] A first route determination module is used to control the flight of the simulated UAV according to the operation instruction of the control terminal, and evaluate the flight trajectory of the simulated UAV based on the first evaluation index to determine a first flight route; the simulated UAV is a three-dimensional model established based on the characteristic data of the physical UAV; the first flight route is the flight trajectory of the simulated UAV from the first reference waypoint to the second reference waypoint in the virtual flight environment;

[0012] A second flight route determination module, configured to evaluate the reference waypoints associated with the first flight route according to a second evaluation index to determine a second flight route;

[0013] The third flight route generating module is used to map the second flight route into the real flight environment based on the corresponding relationship between the latitude and longitude coordinates of the virtual flight environment and the real flight environment to obtain a third flight route.

[0014] According to another aspect of the present invention, there is provided an electronic device, the electronic device comprising:

[0015] At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the UAV route generation method described in any embodiment of the present invention.

[0016] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method for generating a drone route as described in any embodiment of the present invention when executed.

[0017] According to another aspect of the present invention, a computer program product is provided, including a computer program, wherein when the computer program is executed by a processor, the method for generating a drone route according to any embodiment of the present invention is implemented.

[0018] The technical solution of the embodiment of the present invention is to display a first reference waypoint and a second reference waypoint in a virtual flight environment, wherein the virtual flight environment is a three-dimensional model established based on a real flight environment; the second reference waypoint is a reference position of a waypoint to be planned; according to the operation instruction of the control terminal, the simulated UAV is controlled to fly, and the flight trajectory of the simulated UAV is evaluated based on a first evaluation index to determine a first flight route; the simulated UAV is a three-dimensional model established based on the characteristic data of a physical UAV; the first flight route is the flight trajectory of the simulated UAV from the first reference waypoint to the second reference waypoint in the virtual flight environment; the reference waypoints associated with the first flight route are evaluated according to the second evaluation index to determine the second flight route; based on the corresponding relationship between the latitude and longitude coordinates between the virtual flight environment and the real flight environment, the second flight route is mapped to the real flight environment to obtain a third flight route. The technical solution solves the problem of low efficiency in generating UAV routes, and improves the generation efficiency of flight routes and saves the time cost of route planning by performing route planning based on the simulated UAV in the three-dimensional model of the real flight environment.

[0019] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 is a flow chart of a method for generating a UAV route according to Embodiment 1 of the present invention;

[0022] Figure 2 is a flow chart of a method for generating a UAV route according to Embodiment 2 of the present invention;

[0023] Figure 3 is a flow chart of a method for generating a UAV route according to Embodiment 3 of the present invention;

[0024] Figure 4 This is a schematic diagram of the structure of a UAV route generation device provided according to Embodiment 4 of the present invention;

[0025] Figure 5 It is a structural schematic diagram of an electronic device for implementing the method for generating a UAV route according to an embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices. The acquisition, storage, use, processing, etc. of data in the technical solution of this application comply with the relevant provisions of national laws and regulations.

[0028] Embodiment 1

[0029] Figure 1 A flowchart of a method for generating a UAV route is provided for the first embodiment of the present invention. This embodiment is applicable to UAV flight route planning scenarios, especially the automatic generation of flight routes. The method can be executed by a UAV route generation device, which can be implemented in the form of hardware and / or software, and can be configured in an electronic device. Figure 1 As shown, the method includes:

[0030] S110. Displaying a first reference waypoint and a second reference waypoint in a virtual flight environment, where the virtual flight environment is a three-dimensional model established based on a real flight environment; the second reference waypoint is a reference position of a waypoint to be planned.

[0031] This solution can be executed by a simulated flight platform, which can pre-establish a three-dimensional model of the real flight environment as a virtual flight environment based on information such as the regional outline and the parameters of the facilities in the region. The real flight environment can be an area associated with the target flight mission. For example, if the target flight mission is to inspect power line A, the real flight environment can include the area where power line A is located and the area within a preset range around power line A. The target flight mission can be an unexecuted mission that requires flight route planning.

[0032] The flight simulation platform can obtain the reference route of the target flight mission in advance and display the reference waypoints in the reference route in a virtual flight environment. Specifically, the reference route of the target flight mission can be a historical flight route of the target flight mission, or it can be an artificially set route for completing the target flight mission. The flight simulation platform can use the reference waypoints for route planning to improve the efficiency of route planning. In this solution, the first reference waypoint and the second reference waypoint can be two different reference waypoints in the reference route of the target flight mission, and can be the two endpoints of the flight route to be planned.

[0033] S120. According to the operation instructions of the control terminal, the flight of the simulated UAV is controlled, and the flight trajectory of the simulated UAV is evaluated based on the first evaluation index to determine a first flight route; the simulated UAV is a three-dimensional model established based on the characteristic data of the physical UAV; the first flight route is the flight trajectory of the simulated UAV from the first reference waypoint to the second reference waypoint in the virtual flight environment.

[0034] The simulated flight platform can construct a three-dimensional model of the physical drone as a simulated drone based on the characteristic data of the physical drone. The characteristic data of the physical drone may include appearance parameters such as the shape and size of the physical drone, and may also include operating parameters such as the flight altitude, turning radius, and endurance of the physical drone. The control terminal can be used to control the flight status of the simulated drone in the virtual inspection environment, such as flight position, flight attitude, and flight altitude. The operation instructions may be drone control signals such as forward, acceleration, deceleration, hovering, ascent, and descent. The simulated flight platform can communicate with the control terminal to obtain the operation instructions of the control terminal.

[0035] The operation instruction can be generated based on the operator's operation on the control terminal. For example, if the control terminal is a drone remote controller, the operator turns the joystick of the drone remote controller, and the control terminal generates the operation instruction corresponding to the operator's operation. The operation instruction can also be generated based on the operator's voice command. For example, if the control terminal is a voice receiver, the operator issues a voice command "fly forward 200 meters", and the control terminal generates the corresponding operation instruction by recognizing the operator's voice command. The operation instruction can also be generated based on the operator's action. For example, if the control terminal is a camera, the operator makes a "forward" gesture, and the control terminal generates the corresponding operation instruction by recognizing the operator's gesture action. The operation instruction can also be automatically generated by the control terminal in response to the triggering of the target flight mission according to the preset route planning algorithm.

[0036] The control terminal can synchronize the operation instructions to the simulated flight platform. After receiving the operation instructions sent by the control terminal, the simulated flight platform can control the simulated drone to fly in the virtual flight environment according to the operation instructions. The simulated flight platform can obtain the flight trajectory of the simulated drone at preset time intervals, and evaluate the flight trajectory of the simulated drone in each time period based on the first evaluation index. The simulated flight platform can also obtain the flight trajectory of the simulated drone from the first reference waypoint to the second reference waypoint when detecting that the simulated drone has arrived at the second reference waypoint, and evaluate the flight trajectory from the first reference waypoint to the second reference waypoint based on the first evaluation index. If there are other reference waypoints between the first reference waypoint and the second reference waypoint, the simulated flight platform can also obtain the trajectory segments between each two adjacent reference waypoints in turn, and evaluate each trajectory segment of the simulated drone based on the first evaluation index.

[0037] Among them, the first evaluation index can be used to evaluate the safety of the flight trajectory of the simulated UAV, for example, it can include evaluation indicators such as whether the distance between the flight trajectory and the power line meets the preset safety distance, whether there are obstacles in the flight trajectory, etc. The first evaluation index can also be used to evaluate the accuracy of the flight trajectory of the simulated UAV, for example, it can include whether the length of the flight trajectory is within the preset mileage range, whether the flight trajectory passes through the preset reference waypoint.

[0038] By evaluating the flight trajectory of the simulated UAV, the simulated flight platform can obtain a flight trajectory from a first reference waypoint to a second reference waypoint that has passed the evaluation, and use it as a first flight route.

[0039] S130. Evaluate the reference waypoints associated with the first flight route according to a second evaluation index to determine a second flight route.

[0040] It can be understood that the target flight mission may include one or more task items, each of which may correspond to a waypoint. The physical drone needs to fly to the waypoint corresponding to the task item to execute the task item. The physical drone can fly to the waypoint corresponding to the task item and execute task items such as taking images, reading data, and writing data on the task object. The task object may be equipment, devices, and environment in a real flight environment. In a specific example, the target flight mission is to inspect a transmission line, and the task object may be a tower on the transmission line or an electrical equipment on the tower. The task item may be to take an image of the electrical equipment.

[0041] In order to ensure the accuracy and reliability of the waypoints in the first flight route, the flight simulation platform can evaluate the reference waypoints associated with the first flight route based on the second evaluation index. The reference waypoints associated with the first flight route can be all the reference waypoints on the first flight route; the second evaluation index can be used to evaluate the positions of the reference waypoints associated with the first flight route.

[0042] Among them, the second evaluation index may include that the task execution result of the simulated drone at the target reference waypoint meets the preset task requirements, for example, the simulated drone can receive data sent by the power equipment 1 at the reference waypoint A, and the simulated drone can clearly image the power equipment 2 at the reference waypoint B. The second evaluation index may also include the match between the target reference waypoint and the virtual flight environment, for example, the distance between the reference waypoint C and the power equipment 3 in the virtual flight environment is greater than the preset distance threshold. The second evaluation index may also include the match between the target reference waypoint and the simulated drone, for example, the simulated drone can reach the reference waypoint D.

[0043] Based on the evaluation results of the reference waypoints associated with the first flight route based on the second evaluation indicator, the simulated flight platform can retain qualified reference waypoints and adjust unqualified reference waypoints to ensure the accuracy and reliability of the waypoints in the first flight route, thereby obtaining a second flight route from the first reference waypoint to the second reference waypoint.

[0044] S140. Based on the corresponding relationship between the latitude and longitude coordinates between the virtual flight environment and the real flight environment, map the second flight route to the real flight environment to obtain a third flight route.

[0045] After obtaining the second flight route, the simulated flight platform can map the second flight route to the real flight environment according to the corresponding relationship between the latitude and longitude coordinates of the virtual flight environment and the real flight environment to obtain a third flight route. The physical drone can fly in the real flight environment based on the third flight route to complete the target flight mission.

[0046] The technical solution of the embodiment of the present invention is to display a first reference waypoint and a second reference waypoint in a virtual flight environment, wherein the virtual flight environment is a three-dimensional model established based on a real flight environment; the second reference waypoint is a reference position of a waypoint to be planned; according to the operation instruction of the control terminal, the simulated UAV is controlled to fly, and the flight trajectory of the simulated UAV is evaluated based on a first evaluation index to determine a first flight route; the simulated UAV is a three-dimensional model established based on the characteristic data of a physical UAV; the first flight route is the flight trajectory of the simulated UAV from the first reference waypoint to the second reference waypoint in the virtual flight environment; the reference waypoints associated with the first flight route are evaluated according to the second evaluation index to determine the second flight route; based on the corresponding relationship between the latitude and longitude coordinates between the virtual flight environment and the real flight environment, the second flight route is mapped to the real flight environment to obtain a third flight route. The technical solution solves the problem of low efficiency in generating UAV routes, and improves the generation efficiency of flight routes and saves the time cost of route planning by performing route planning based on the simulated UAV in the three-dimensional model of the real flight environment.

[0047] In a feasible solution, the first evaluation index includes the match between the flight trajectory of the simulated UAV and the virtual flight environment; the second evaluation index includes the match between the virtual flight environment and the reference waypoint associated with the first flight route;

[0048] The method further includes: if an environmental change of the real flight environment is detected, updating the virtual flight environment based on the environmental change of the real flight environment;

[0049] The step of evaluating the flight trajectory of the simulated UAV based on the first evaluation index to determine the first flight route includes:

[0050] If an update event of the virtual flight environment within a first time range is detected, the flight trajectory of the simulated UAV is evaluated according to a first evaluation index to determine a first flight route;

[0051] The step of evaluating the reference waypoints associated with the first flight route according to the second evaluation index to determine the second flight route includes:

[0052] If an update event of the virtual flight environment is detected within a second time range, the reference waypoints associated with the first flight route are evaluated according to a second evaluation index to determine a second flight route.

[0053] It is understandable that the real flight environment often changes. The simulated flight platform can detect whether the real flight environment has environmental changes according to a preset detection cycle. If the real flight environment has environmental changes, the three-dimensional model of the real flight environment, i.e. the virtual flight environment, is updated according to the environmental changes of the real flight environment.

[0054] Among them, the environmental changes of the real flight environment may include changes in static factors such as the regional outline and facilities in the area. For example, during the reconstruction of the inspection line, the height, shape and other characteristics of the towers are different at different stages. It can also include changes in dynamic factors such as weather and moving objects, such as kites, birds and other flying objects that accidentally break into the real flight environment. Environmental changes in the real flight environment may lead to changes in evaluation indicators and may also affect the planning of waypoints and routes for the target flight mission. Therefore, it is necessary to evaluate the flight trajectory and reference waypoints of the simulated drone when an update event occurs in the virtual flight environment to ensure the safety and accuracy of the route.

[0055] The flight simulation platform may set an environment update record to record update events of the virtual flight environment. The environment update record may include information such as the update time and update location of the virtual flight environment. Before evaluating the flight trajectory of the simulated UAV, the flight simulation platform may detect whether there is an update event of the virtual flight environment within the first time range. If so, the flight simulation platform may evaluate the flight trajectory of the simulated UAV according to the first evaluation index to obtain a first flight route that matches the virtual flight environment.

[0056] Similarly, before evaluating the reference waypoints associated with the first flight route, the flight simulation platform can detect whether there is an update event for the virtual flight environment within the second time range. If so, the flight simulation platform can evaluate the reference waypoints associated with the first flight route according to the second evaluation index to ensure that the reference waypoints associated with the first flight route are compatible with the virtual flight environment, thereby obtaining a second flight route that matches the virtual flight environment.

[0057] It should be noted that the first time range and the second time range may be the same or different. The first time range and the second time range may be determined based on the last route planning time of the target flight mission. For example, the first time range and the second time range may be the time range from the last route planning time of the target flight mission as the starting point of the interval to the current route planning time as the end point of the interval.

[0058] This solution can update the virtual flight environment based on changes in the real flight environment, and after the virtual flight environment changes, evaluate the flight trajectory and reference waypoints to ensure the reliability of the flight route.

[0059] In another feasible solution, the first evaluation index includes the flight trajectory of the simulated UAV matching the simulated UAV; the second evaluation index includes the simulated UAV matching the reference waypoint associated with the first flight route;

[0060] The method further includes: if a change in the characteristic data of the physical drone is detected, updating the simulated drone based on the change in the characteristic data of the physical drone;

[0061] The step of evaluating the flight trajectory of the simulated UAV based on the first evaluation index to determine the first flight route includes:

[0062] If an update event of the simulated UAV within a third time range is detected, the flight trajectory of the simulated UAV is evaluated according to the first evaluation index to determine a first flight route;

[0063] The step of evaluating the reference waypoints associated with the first flight route according to the second evaluation index to determine the second flight route includes:

[0064] If an update event of the simulated UAV is detected within a fourth time range, the reference waypoints associated with the first flight route are evaluated according to a second evaluation index to determine a second flight route.

[0065] It is easy to understand that due to the allocation of physical drones, the physical drone that performs the target flight mission may change each time. In addition, the task items in the target flight mission may change. In order to adapt to the changes in the task items, the physical drone that performs the target flight mission also needs to change accordingly. For example, the original task item is to take an image of power equipment A, and the changed task item is to take an image of component B on power equipment A. Compared with power equipment A, component B is small in size, and the original physical drone is too large to get close to shoot. A smaller physical drone is required to complete the task item.

[0066] The flight simulation platform can detect whether the characteristic data of the physical drone has changed according to the preset detection cycle. If the characteristic data of the physical drone has changed, the simulated drone will be updated according to the change in the characteristic data of the physical drone. Changes in the characteristic data of the physical drone may lead to changes in routes and waypoints. For example, large drones cannot pass through walls, but small drones can. For different types of drones, the flight simulation platform can plan different routes and waypoints. Therefore, when the characteristic data of the physical drone changes, it is necessary to evaluate the flight trajectory and reference waypoints of the simulated drone to ensure the safety and accuracy of the route.

[0067] The flight simulation platform may set a model update record to record the update event of the simulated drone. The model update record may include information such as the update time and update feature items of the simulated drone. Before evaluating the flight trajectory of the simulated drone, the flight simulation platform may detect whether there is an update event of the simulated drone within the third time range. If so, the flight simulation platform may evaluate the flight trajectory of the simulated drone according to the first evaluation index to obtain a first flight route that matches the simulated drone.

[0068] Similarly, before evaluating the reference waypoints associated with the first flight route, the simulated flight platform can detect whether there is an update event for the simulated UAV within the fourth time range. If so, the simulated flight platform can evaluate the reference waypoints associated with the first flight route according to the second evaluation indicator to ensure that the reference waypoints associated with the first flight route are compatible with the simulated UAV, thereby obtaining a second flight route that matches the simulated UAV.

[0069] It should be noted that the third time range and the fourth time range may be the same or different. The third time range and the fourth time range may be determined based on the last route planning time of the target flight mission. For example, the third time range and the fourth time range may be the time range from the last route planning time of the target flight mission as the starting point of the interval to the current route planning time as the end point of the interval.

[0070] This solution can update the simulated UAV based on the changes in the characteristic data of the physical UAV, and after the simulated UAV changes, the flight trajectory and reference waypoints are evaluated to ensure the reliability of the flight route.

[0071] Embodiment 2

[0072] Figure 2 This is a flow chart of a method for generating a drone route provided by Embodiment 2 of the present invention. This embodiment is based on the above embodiment and is refined. Figure 2 As shown, the method includes:

[0073] S201. Display a first reference waypoint and a second reference waypoint in a virtual flight environment, where the virtual flight environment is a three-dimensional model established based on a real flight environment; the second reference waypoint is a reference position of a waypoint to be planned.

[0074] S202: Control the simulated UAV to fly according to the operation instruction of the control terminal, and evaluate the flight trajectory of the simulated UAV based on the first evaluation index.

[0075] S203: Determine whether the flight trajectory of the simulated UAV is qualified based on the first evaluation result.

[0076] In this solution, the simulated flight platform can use the evaluation result of the first evaluation index on the flight trajectory of the simulated drone as the first evaluation result, and judge whether the flight trajectory of the simulated drone is qualified based on the first evaluation result. Specifically, if the flight trajectory of the simulated drone meets the first evaluation index, it is determined that the flight trajectory of the simulated drone is qualified; if the flight trajectory of the simulated drone does not meet the first evaluation index, it is determined that the flight trajectory of the simulated drone is unqualified.

[0077] The first evaluation index may be one or more. When there are more than one first evaluation index, a qualified flight trajectory may be when the flight trajectory meets all the first evaluation indexes, and an unqualified flight trajectory may be when the flight trajectory does not meet at least one of the first evaluation indexes. The first evaluation result may include whether the first evaluation index is met, and may also include the position where the first evaluation index is not met. If there are more than one first evaluation index, the first evaluation result may also include the unsatisfied first evaluation index.

[0078] In this solution, the first evaluation index includes that the flight trajectory of the simulated UAV meets the preset flight safety requirements, and / or that the length of the flight trajectory of the simulated UAV is within a preset mileage range.

[0079] Among them, the first evaluation index can be used to evaluate the safety of the flight trajectory of the simulated UAV, for example, it can include evaluation indicators such as whether the distance between the flight trajectory and the power line meets the preset safety distance, whether there are obstacles in the flight trajectory, etc. The first evaluation index can also be used to evaluate the accuracy of the flight trajectory of the simulated UAV, for example, it can include whether the length of the flight trajectory is within the preset mileage range, whether the flight trajectory passes through the preset reference waypoint.

[0080] If it is determined based on the first evaluation result that the flight trajectory of the simulated UAV is unqualified, then continue to execute S204; if it is determined based on the first evaluation result that the flight trajectory of the simulated UAV is qualified, then execute S205.

[0081] S204, feeding back the first evaluation result to the control terminal, and controlling the simulated UAV to return to a first reference waypoint; the first reference waypoint is a reference position of a planned waypoint.

[0082] After obtaining the first evaluation result, if it is determined based on the first evaluation result that the flight trajectory of the simulated UAV is unqualified, the simulated flight platform can feed back the first evaluation result to the control terminal. The control terminal can display the first evaluation result on the display screen, play the first evaluation result by voice, or play an animation matching the first evaluation result. For example, the control terminal can display the text "Obstacle encountered in the middle of the flight trajectory" on the display screen, play the voice "Obstacle encountered in the middle of the flight trajectory", or play an animation showing that there is an obstacle in the middle of the flight trajectory.

[0083] The simulated flight platform can control the simulated drone to return to the first reference waypoint and adjust the operation instruction based on the first evaluation result. The first reference waypoint is the reference position of the determined waypoint. The simulated flight platform can reacquire the operation instruction generated by the control terminal, return to execute S202, control the simulated drone to fly according to the operation instruction of the control terminal, obtain a new flight trajectory, and evaluate the new flight trajectory based on the first evaluation index until the flight trajectory of the simulated drone is determined to be qualified based on the first evaluation result, and output the first flight route.

[0084] S205: Determine a first flight route based on a flight trajectory of the simulated UAV from the first reference waypoint to the second reference waypoint.

[0085] If the flight trajectory of the simulated UAV is determined to be qualified based on the first evaluation result, the simulated flight platform can output the flight trajectory from the first reference waypoint to the second reference waypoint to obtain the first flight route.

[0086] S206: Evaluate the reference waypoints associated with the first flight route according to a second evaluation index.

[0087] After obtaining the first flight route, the flight simulation platform can evaluate the reference waypoints associated with the first flight route according to the second evaluation index to obtain a second evaluation result. Among them, the reference waypoint associated with the first flight route can be one, for example, only including the second reference waypoint, or can be multiple, for example, multiple waypoints between the first reference waypoint and the second reference waypoint including the second reference waypoint. If there are multiple reference waypoints associated with the first flight route, the flight simulation platform can sequentially use the multiple reference waypoints associated with the first flight route as target reference waypoints, and evaluate the target reference waypoints according to the second evaluation index, thereby obtaining a second evaluation result for each reference waypoint.

[0088] S207. Determine whether the reference waypoint associated with the first flight route is qualified based on the second evaluation result.

[0089] The flight simulation platform can determine whether the reference waypoint associated with the first flight route is qualified according to the second evaluation result. Specifically, if the target reference waypoint meets the second evaluation index, the target reference waypoint is determined to be qualified, and if the target reference waypoint does not meet the second evaluation index, the target reference waypoint is determined to be unqualified.

[0090] The second evaluation index may be one or more. When there are more than one second evaluation index, the qualified target reference waypoint may be that the target reference waypoint meets all the second evaluation indexes, and the unqualified target reference waypoint may be that the target reference waypoint does not meet at least one of the second evaluation indexes. The second evaluation result may include whether the second evaluation index is met. If the first flight route is associated with multiple reference waypoints, the second evaluation result may also include reference waypoints that do not meet the second evaluation index. If there are more than one second evaluation index, the second evaluation result may also include unsatisfied second evaluation indexes.

[0091] Among them, the second evaluation index may include that the task execution result of the simulated drone at the target reference waypoint meets the preset task requirements, for example, the simulated drone can receive data sent by the power equipment 1 at the reference waypoint A, and the simulated drone can clearly image the power equipment 2 at the reference waypoint B. The second evaluation index may also include the match between the target reference waypoint and the virtual flight environment, for example, the distance between the reference waypoint C and the power equipment 3 in the virtual flight environment is greater than the preset distance threshold. The second evaluation index may also include the match between the target reference waypoint and the simulated drone, for example, the simulated drone can reach the reference waypoint D.

[0092] In a feasible solution, the second evaluation index includes whether the mission execution result of the simulated UAV at the target reference waypoint meets the preset mission requirements.

[0093] The simulated flight platform can use the reference waypoints associated with the first flight route as target reference waypoints in sequence, and obtain the task execution results of the simulated UAV at the target reference waypoints, such as the received data of reference waypoint A, the captured image of reference waypoint B, etc.

[0094] It is understandable that different reference waypoints can perform the same type of task items and correspond to the same task requirements. For example, reference waypoint C and reference waypoint D are both for taking photos of power equipment on the pole tower, and the corresponding task requirements for both are that the clarity of the captured image meets the preset clarity conditions. Different reference waypoints can also perform different types of task items and correspond to different task requirements. For example, the task item of reference waypoint A is to receive data sent by the communication equipment on the pole tower, and the task item of reference waypoint B is to take images of power equipment on the pole tower. The task requirement corresponding to reference waypoint A is that the received data is complete, and the task requirement corresponding to reference waypoint B is that the clarity of the captured image meets the preset clarity conditions.

[0095] The simulation flight platform can compare the mission execution result of the target reference waypoint with the mission requirements of the target reference waypoint matching, and determine whether the mission execution result of the target reference waypoint meets the mission requirements of the target reference waypoint matching. If the mission requirements of the target reference waypoint matching are met, the target reference waypoint is determined to be qualified; if the mission requirements of the target reference waypoint matching are not met, the target reference waypoint is determined to be unqualified.

[0096] The above scheme can effectively ensure the availability of reference waypoints and facilitate the rapid and accurate completion of flight missions by setting the task execution results of the simulated UAV at the reference waypoints to meet the preset task requirements as the second evaluation indicator.

[0097] If it is determined based on the second evaluation result that the reference waypoint associated with the first flight route is unqualified, then continue to execute S208; if it is determined based on the second evaluation result that the reference waypoint associated with the first flight route is qualified, then execute S209.

[0098] S208: Feedback the second evaluation result to the control terminal, adjust the reference waypoint in the virtual flight environment, and control the simulated drone to return to the first reference waypoint.

[0099] After obtaining the second evaluation result, if it is determined based on the second evaluation result that the reference waypoint associated with the first flight route is unqualified, the flight simulation platform can feed back the second evaluation result to the control terminal. The control terminal can display the second evaluation result on the display screen, play the second evaluation result by voice, or play an animation matching the second evaluation result. For example, the control terminal can display the text "The second reference waypoint is too close to power equipment A" on the display screen, play the voice "The second reference waypoint is too close to power equipment A", or play an animation showing the distance requirements between the waypoint and the power equipment.

[0100] The flight simulation platform can adjust the reference waypoints in the virtual flight environment based on the second evaluation result, for example, by translating the second reference waypoint so that the distance between the second reference waypoint and the power equipment A meets the preset distance requirement. It should be noted that adjusting the reference waypoints in the virtual flight environment includes but is not limited to deleting reference waypoints, adding reference waypoints, and changing the positions of reference waypoints.

[0101] The simulated flight platform can control the simulated UAV to return to the first reference waypoint, re-acquire the operation instruction generated by the control terminal, and return to execute S202 until it is determined based on the second evaluation result that the reference waypoint associated with the first flight route is qualified, and output the second flight route.

[0102] S209: Output the second flight route.

[0103] S210. Based on the corresponding relationship between the latitude and longitude coordinates between the virtual flight environment and the real flight environment, map the second flight route to the real flight environment to obtain a third flight route.

[0104] This solution uses the first evaluation index to automatically check the compliance of the flight trajectory of the simulated drone. When the flight trajectory is unqualified, the flight route planning can be repeated in the virtual flight environment until the first flight route that meets the flight requirements is obtained, which is conducive to improving the efficiency of flight route planning. After obtaining the first flight route, this solution can evaluate the reference waypoints associated with the first flight route based on the second evaluation index to ensure the availability of the waypoints, effectively avoid repeated tests of physical drones, and greatly save the cost of drone route planning.

[0105] Embodiment 3

[0106] Figure 3 This is a flow chart of a method for generating a drone route provided by Embodiment 3 of the present invention. This embodiment is based on the above embodiment and is refined. Figure 3 As shown, the method includes:

[0107] S301. Display a first reference waypoint and a second reference waypoint in a virtual flight environment, where the virtual flight environment is a three-dimensional model established based on a real flight environment; the second reference waypoint is a reference position of a waypoint to be planned.

[0108] S302: Control the simulated UAV to fly according to the operation instruction of the control terminal, and evaluate the flight trajectory of the simulated UAV based on the first evaluation index.

[0109] S303: Determine whether the flight trajectory of the simulated UAV is qualified based on the first evaluation result.

[0110] If it is determined based on the first evaluation result that the flight trajectory of the simulated UAV is unqualified, then continue to execute S304; if it is determined based on the first evaluation result that the flight trajectory of the simulated UAV is qualified, then execute S305.

[0111] S304. Feedback the first evaluation result to the control terminal, and control the simulated UAV to return to a third reference waypoint; the third reference waypoint is a reference waypoint determined based on the unqualified flight trajectory.

[0112] In this solution, there is at least one reference waypoint between the first reference waypoint and the second reference waypoint. After obtaining the first evaluation result, if the flight trajectory of the simulated UAV is determined to be unqualified based on the first evaluation result, the simulated flight platform can feed back the first evaluation result to the control terminal, and the control terminal can locate the third reference waypoint according to the starting point of the unqualified flight trajectory in the first evaluation result. For example, the flight trajectory of the simulated UAV is: A->B->C->D->E->F, A, B, C, D, E and F represent different reference waypoints, A is the first reference waypoint, and F is the second reference waypoint. If the flight trajectory of the C->D segment is determined to be unqualified based on the first evaluation result, the simulated flight platform needs to re-plan the flight trajectory of the C->D segment, so the third reference waypoint is the reference waypoint C, and the simulated flight platform can control the simulated UAV to return to the reference waypoint C, and according to the operation instruction of the control terminal, control the simulated UAV to fly to the reference waypoint D to re-plan the flight trajectory of the C->D segment.

[0113] When the scheme determines that the flight trajectory of the simulated UAV is unqualified based on the first evaluation result, there is no need to re-plan the entire flight trajectory from the planning starting point, and the unqualified flight trajectory segments can be selectively planned, which is conducive to improving the planning efficiency of the flight route.

[0114] S305: Determine a first flight route based on the flight trajectory of the simulated UAV from the first reference waypoint to the second reference waypoint.

[0115] S306: Evaluate the reference waypoints associated with the first flight route according to a second evaluation index.

[0116] S307: Determine whether the reference waypoint associated with the first flight route is qualified based on the second evaluation result.

[0117] If the reference waypoint associated with the first flight route is unqualified, continue to execute S308; if the reference waypoint associated with the first flight route is qualified, execute S310.

[0118] S308: Feedback the second evaluation result to the control terminal, and adjust the reference waypoints in the virtual flight environment.

[0119] S309. According to the reference waypoint adjusted in the virtual flight environment, control the simulated UAV to return to a fourth reference waypoint; the fourth reference waypoint is the starting point of a target route segment; the target route segment is determined based on the reference waypoint adjusted in the virtual flight environment.

[0120] After adjusting the reference waypoints in the virtual flight environment, the simulated flight platform can obtain the adjusted reference waypoints, determine the target route segment that needs to be replanned based on the adjusted reference waypoints in the virtual flight environment, and use the starting point of the target route segment as the fourth reference waypoint. For example, the first flight route is: A->B->C->D->E->F, A, B, C, D, E and F represent different reference waypoints, A is the first reference waypoint, F is the second reference waypoint, if based on the second evaluation result, the simulated flight platform adjusts the reference waypoint C, the simulated flight platform needs to replan the route segment B->C->D, so the fourth reference waypoint is reference waypoint B, the simulated flight platform can control the simulated drone to return to reference waypoint B, and according to the operation instructions of the control terminal, control the simulated drone to fly to reference waypoint D to replan the route segment B->C->D.

[0121] It is easy to understand that the number of target route segments can be one or more. If there are multiple target route segments, the simulation flight platform can plan each target route segment in turn to obtain a second flight route that meets the first evaluation index and the second evaluation index.

[0122] For example, the first flight route is A1->B1->C1->D1->E1->F1, A1, B1, C1, D1, E1 and F1 represent different reference waypoints, A1 is the first reference waypoint, and F1 is the second reference waypoint. If, based on the second evaluation result, the flight simulation platform adjusts the reference waypoint B1 to B2 and deletes E1, the flight simulation platform needs to re-plan the route segment A1->B2->C1 and the route segment D1->F1, that is, the target route segment includes the route segment A1->B2->C1 and the route segment D1->F1. The flight simulation platform can re-plan the route segment A1->B2->C1 and the route segment D1->F1 in sequence. The fourth reference waypoint corresponding to the route segment A1->B2->C1 is the reference waypoint A1. The flight simulation platform can control the simulated drone to return to the reference waypoint A1, and according to the operation instruction of the control terminal, control the simulated drone to fly to the reference waypoint C1 to re-plan the route segment A1->B2->C1. After obtaining the route segment A1->B2->C1 that meets the first evaluation index and the second evaluation index, the simulated flight platform can control the simulated drone to reach the reference waypoint D1, and according to the operation instruction of the control terminal, control the simulated drone to fly to the reference waypoint F1 to re-plan the route segment D1->F1. After obtaining the route segment D1->F1 that meets the first evaluation index and the second evaluation index, the second flight route A1->B2->C1->D1->F1 that meets the first evaluation index and the second evaluation index is output.

[0123] When this scheme determines that the reference waypoint associated with the first flight route is unqualified based on the second evaluation result, there is no need to re-plan the entire route from the starting point of the first flight route. The route segments with unqualified reference waypoints can be selectively planned, which is conducive to improving the planning efficiency of the flight route.

[0124] S310: Output the second flight route.

[0125] S311. Based on the corresponding relationship between the latitude and longitude coordinates between the virtual flight environment and the real flight environment, map the second flight route to the real flight environment to obtain a third flight route.

[0126] This solution uses the first evaluation index to automatically check the compliance of the flight trajectory of the simulated drone. When the flight trajectory is unqualified, it can return to the unqualified flight trajectory segment to re-plan the local trajectory, avoiding repeated planning of qualified trajectory segments. After obtaining the first flight route, this solution can evaluate the reference waypoints associated with the first flight route based on the second evaluation index. While ensuring the availability of the waypoints, the route segments matching the unqualified waypoints are re-planned, further improving the planning efficiency of the flight route and greatly saving the time cost of drone route planning.

[0127] Embodiment 4

[0128] Figure 4 This is a schematic diagram of the structure of a drone route generation device provided by the fourth embodiment of the present invention. Figure 4 As shown, the device comprises:

[0129] The reference waypoint display module 410 is used to display a first reference waypoint and a second reference waypoint in a virtual flight environment, wherein the virtual flight environment is a three-dimensional model established based on a real flight environment; the second reference waypoint is a reference position of a waypoint to be planned;

[0130] The first route determination module 420 is used to control the flight of the simulated UAV according to the operation instruction of the control terminal, and evaluate the flight trajectory of the simulated UAV based on the first evaluation index to determine the first flight route; the simulated UAV is a three-dimensional model established based on the characteristic data of the physical UAV; the first flight route is the flight trajectory of the simulated UAV from the first reference waypoint to the second reference waypoint in the virtual flight environment;

[0131] A second flight route determination module 430, configured to evaluate the reference waypoints associated with the first flight route according to a second evaluation index to determine a second flight route;

[0132] The third flight route generating module 440 is used to map the second flight route to the real flight environment based on the corresponding relationship between the latitude and longitude coordinates between the virtual flight environment and the real flight environment to obtain a third flight route.

[0133] In this solution, the first route determination module 420 is specifically used to:

[0134] If it is determined based on the first evaluation result that the flight trajectory of the simulated UAV is unqualified, the first evaluation result will be fed back to the control terminal, and the simulated UAV will be controlled to return to the first reference waypoint, and return to execute the operation instructions according to the control terminal to control the flight of the simulated UAV until it is determined based on the first evaluation result that the flight trajectory of the simulated UAV is qualified, and the first flight route is output; the first evaluation result is the evaluation result of the first evaluation indicator on the flight trajectory of the simulated UAV; wherein, the first reference waypoint is the reference position of the planned waypoint.

[0135] Optionally, the second route determining module 430 is specifically configured to:

[0136] If it is determined based on the second evaluation result that the reference waypoint associated with the first flight route is unqualified, the second evaluation result is fed back to the control terminal to adjust the reference waypoint in the virtual flight environment; the simulated UAV is controlled to return to the first reference waypoint, and returns to execute the operation instructions according to the control terminal to control the flight of the simulated UAV until the first flight route is determined to be qualified based on the second evaluation result, and the second flight route is output; the second evaluation result is the evaluation result of the second evaluation indicator on the first flight route.

[0137] In a feasible solution, the first evaluation index includes the match between the flight trajectory of the simulated UAV and the virtual flight environment; the second evaluation index includes the match between the virtual flight environment and the reference waypoint associated with the first flight route;

[0138] The device further comprises a virtual environment updating module, which is used to: if an environmental change of the real flight environment is detected, update the virtual flight environment based on the environmental change of the real flight environment;

[0139] The first route determination module 420 is further configured to:

[0140] If an update event of the virtual flight environment within a first time range is detected, the flight trajectory of the simulated UAV is evaluated according to a first evaluation index to determine a first flight route;

[0141] The second route determination module 430 is further configured to:

[0142] If an update event of the virtual flight environment is detected within a second time range, the reference waypoints associated with the first flight route are evaluated according to a second evaluation index to determine a second flight route.

[0143] In another feasible solution, the first evaluation index includes the flight trajectory of the simulated UAV matching the simulated UAV; the second evaluation index includes the simulated UAV matching the reference waypoint associated with the first flight route;

[0144] The device further comprises a simulated drone updating module, which is used to: if a change in the characteristic data of the physical drone is detected, update the simulated drone based on the change in the characteristic data of the physical drone;

[0145] The first route determination module 420 is further configured to:

[0146] If an update event of the simulated UAV within a third time range is detected, the flight trajectory of the simulated UAV is evaluated according to the first evaluation index to determine a first flight route;

[0147] The second route determination module 430 is further configured to:

[0148] If an update event of the simulated UAV is detected within a fourth time range, the reference waypoints associated with the first flight route are evaluated according to a second evaluation index to determine a second flight route.

[0149] In this embodiment, optionally, the first evaluation index includes that the flight trajectory of the simulated UAV meets preset flight safety requirements, and / or that the length of the flight trajectory of the simulated UAV is within a preset mileage range.

[0150] In this solution, optionally, the second evaluation indicator includes whether the mission execution result of the simulated UAV at the target reference waypoint meets the preset mission requirements.

[0151] In a preferred solution, there is at least one reference waypoint between the first reference waypoint and the second reference waypoint;

[0152] The first route determination module 420 is specifically configured to:

[0153] If it is determined based on the first evaluation result that the flight trajectory of the simulated UAV is unqualified, the first evaluation result is fed back to the control terminal, and the simulated UAV is controlled to return to the third reference waypoint, and return to execute the operation instructions according to the control terminal to control the flight of the simulated UAV until it is determined based on the first evaluation result that the flight trajectory of the simulated UAV is qualified, and the first flight route is output; the first evaluation result is the evaluation result of the flight trajectory of the simulated UAV by the first evaluation indicator; the third reference waypoint is a reference waypoint determined based on the unqualified flight trajectory.

[0154] In another preferred embodiment, there is at least one reference waypoint between the first reference waypoint and the second reference waypoint;

[0155] The second route determination module 430 is specifically configured to:

[0156] If it is determined based on the second evaluation result that the reference waypoint associated with the first flight route is unqualified, the second evaluation result is fed back to the control terminal, and the reference waypoint in the virtual flight environment is adjusted; the second evaluation result is the evaluation result of the second evaluation indicator on the first flight route;

[0157] According to the reference waypoint adjusted in the virtual flight environment, the simulated UAV is controlled to return to a fourth reference waypoint, and returns to execute the operation instructions of the control terminal to control the flight of the simulated UAV until the first flight route is determined to be qualified based on the second evaluation result and the second flight route is output; the fourth reference waypoint is the starting point of the target route segment; the target route segment is determined based on the reference waypoint adjusted in the virtual flight environment.

[0158] The drone route generation device provided in the embodiment of the present invention can execute the drone route generation method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0159] Embodiment 5

[0160] Figure 5 A schematic diagram of the structure of an electronic device 510 that can be used to implement an embodiment of the present invention is shown. 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, mainframe computers, 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 (such as helmets, glasses, watches, etc.) 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 invention described and / or required herein.

[0161] like Figure 5 As shown, the electronic device 510 includes at least one processor 511, and a memory connected to the at least one processor 511 in communication, such as a read-only memory (ROM) 512, a random access memory (RAM) 513, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 511 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 512 or the computer program loaded from the storage unit 518 to the random access memory (RAM) 513. In the RAM 513, various programs and data required for the operation of the electronic device 510 can also be stored. The processor 511, the ROM 512, and the RAM 513 are connected to each other via a bus 514. An input / output (I / O) interface 515 is also connected to the bus 514.

[0162] A number of components in the electronic device 510 are connected to the I / O interface 515, including: an input unit 516, such as a keyboard, a mouse, etc.; an output unit 517, such as various types of displays, speakers, etc.; a storage unit 518, such as a disk, an optical disk, etc.; and a communication unit 519, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 519 allows the electronic device 510 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0163] The processor 511 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 511 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 511 executes the various methods and processes described above, such as the drone route generation method.

[0164] In some embodiments, the drone route generation method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 518. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 510 via the ROM 512 and / or the communication unit 519. When the computer program is loaded into the RAM 513 and executed by the processor 511, one or more steps of the drone route generation method described above may be performed. Alternatively, in other embodiments, the processor 511 may be configured to execute the drone route generation method in any other appropriate manner (e.g., by means of firmware).

[0165] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0166] The computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable drone route generation device, so that when the computer program is executed by the processor, the functions / operations specified in the flowchart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine as a stand-alone software package and partially on a remote machine, or entirely on a remote machine or server.

[0167] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0168] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0169] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0170] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0171] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0172] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for generating a drone route, characterized in that: The method comprises: Displaying a first reference waypoint and a second reference waypoint in a virtual flight environment, wherein the virtual flight environment is a three-dimensional model established based on a real flight environment; the second reference waypoint is a reference position of a waypoint to be planned; According to the operation instruction of the control terminal, the simulated UAV is controlled to fly, and the flight trajectory of the simulated UAV is evaluated based on the first evaluation index to determine a first flight route; the simulated UAV is a three-dimensional model established based on the characteristic data of the physical UAV; the first flight route is the flight trajectory of the simulated UAV from the first reference waypoint to the second reference waypoint in the virtual flight environment; Evaluate the reference waypoints associated with the first flight route according to a second evaluation index to determine a second flight route; Based on the corresponding relationship between the latitude and longitude coordinates of the virtual flight environment and the real flight environment, the second flight route is mapped to the real flight environment to obtain a third flight route.

2. The method according to claim 1, characterized in that The step of evaluating the flight trajectory of the simulated UAV based on the first evaluation index to determine the first flight route includes: If it is determined based on the first evaluation result that the flight trajectory of the simulated UAV is unqualified, the first evaluation result will be fed back to the control terminal, and the simulated UAV will be controlled to return to the first reference waypoint, and return to execute the operation instructions according to the control terminal to control the flight of the simulated UAV until it is determined based on the first evaluation result that the flight trajectory of the simulated UAV is qualified, and the first flight route is output; the first evaluation result is the evaluation result of the first evaluation indicator on the flight trajectory of the simulated UAV; wherein, the first reference waypoint is the reference position of the planned waypoint.

3. The method according to claim 1, characterized in that The step of evaluating the reference waypoints associated with the first flight route according to the second evaluation index to determine the second flight route includes: If it is determined based on the second evaluation result that the reference waypoint associated with the first flight route is unqualified, the second evaluation result is fed back to the control terminal to adjust the reference waypoint in the virtual flight environment; the simulated UAV is controlled to return to the first reference waypoint, and returns to execute the operation instructions according to the control terminal to control the flight of the simulated UAV until the first flight route is determined to be qualified based on the second evaluation result, and the second flight route is output; the second evaluation result is the evaluation result of the second evaluation indicator on the first flight route.

4. The method according to claim 1, characterized in that: The first evaluation index includes a match between the flight trajectory of the simulated UAV and the virtual flight environment; the second evaluation index includes a match between the virtual flight environment and a reference waypoint associated with the first flight route; The method further includes: if an environmental change of the real flight environment is detected, updating the virtual flight environment based on the environmental change of the real flight environment; The step of evaluating the flight trajectory of the simulated UAV based on the first evaluation index to determine the first flight route includes: If an update event of the virtual flight environment within a first time range is detected, the flight trajectory of the simulated UAV is evaluated according to a first evaluation index to determine a first flight route; The step of evaluating the reference waypoints associated with the first flight route according to the second evaluation index to determine the second flight route includes: If an update event of the virtual flight environment is detected within a second time range, the reference waypoints associated with the first flight route are evaluated according to a second evaluation index to determine a second flight route.

5. The method according to claim 1, characterized in that The first evaluation metric includes a match between the simulated UAV’s flight trajectory and the simulated UAV; the second evaluation metric includes a match between the simulated UAV and a reference waypoint associated with the first flight route; The method further includes: if a change in the characteristic data of the physical drone is detected, updating the simulated drone based on the change in the characteristic data of the physical drone; The step of evaluating the flight trajectory of the simulated UAV based on the first evaluation index to determine the first flight route includes: If an update event of the simulated UAV within a third time range is detected, the flight trajectory of the simulated UAV is evaluated according to the first evaluation index to determine a first flight route; The step of evaluating the reference waypoints associated with the first flight route according to the second evaluation index to determine the second flight route includes: If an update event of the simulated UAV is detected within a fourth time range, the reference waypoints associated with the first flight route are evaluated according to a second evaluation index to determine a second flight route.

6. The method according to claim 1, characterized in that The first evaluation index includes that the flight trajectory of the simulated UAV meets the preset flight safety requirements, and / or that the length of the flight trajectory of the simulated UAV is within a preset mileage range.

7. The method according to claim 1, characterized in that The second evaluation indicator includes whether the task execution result of the simulated UAV at the target reference waypoint meets the preset task requirements.

8. The method according to claim 1, characterized in that There is at least one reference waypoint between the first reference waypoint and the second reference waypoint; The step of evaluating the flight trajectory of the simulated UAV based on the first evaluation index to determine the first flight route includes: If it is determined based on the first evaluation result that the flight trajectory of the simulated UAV is unqualified, the first evaluation result is fed back to the control terminal, and the simulated UAV is controlled to return to the third reference waypoint, and return to execute the operation instructions according to the control terminal to control the flight of the simulated UAV until it is determined based on the first evaluation result that the flight trajectory of the simulated UAV is qualified, and the first flight route is output; the first evaluation result is the evaluation result of the flight trajectory of the simulated UAV by the first evaluation indicator; the third reference waypoint is a reference waypoint determined based on the unqualified flight trajectory.

9. The method according to claim 1, characterized in that: There is at least one reference waypoint between the first reference waypoint and the second reference waypoint; The step of evaluating the reference waypoints associated with the first flight route according to the second evaluation index to determine the second flight route includes: If it is determined based on the second evaluation result that the reference waypoint associated with the first flight route is unqualified, the second evaluation result is fed back to the control terminal, and the reference waypoint in the virtual flight environment is adjusted; the second evaluation result is the evaluation result of the second evaluation indicator on the first flight route; According to the reference waypoint adjusted in the virtual flight environment, the simulated UAV is controlled to return to a fourth reference waypoint, and returns to execute the operation instructions of the control terminal to control the flight of the simulated UAV until the first flight route is determined to be qualified based on the second evaluation result and the second flight route is output; the fourth reference waypoint is the starting point of the target route segment; the target route segment is determined based on the reference waypoint adjusted in the virtual flight environment.

10. A drone route generation device, characterized in that: The device comprises: A reference waypoint display module, used to display a first reference waypoint and a second reference waypoint in a virtual flight environment, wherein the virtual flight environment is a three-dimensional model established based on a real flight environment; the second reference waypoint is a reference position of a waypoint to be planned; A first route determination module is used to control the flight of the simulated UAV according to the operation instruction of the control terminal, and evaluate the flight trajectory of the simulated UAV based on the first evaluation index to determine a first flight route; the simulated UAV is a three-dimensional model established based on the characteristic data of the physical UAV; the first flight route is the flight trajectory of the simulated UAV from the first reference waypoint to the second reference waypoint in the virtual flight environment; A second flight route determination module, configured to evaluate the reference waypoints associated with the first flight route according to a second evaluation index to determine a second flight route; The third flight route generating module is used to map the second flight route into the real flight environment based on the corresponding relationship between the latitude and longitude coordinates of the virtual flight environment and the real flight environment to obtain a third flight route.

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