A method and device for generating a drone flight path

Abstract

The present invention discloses a method and device for generating a drone flight route. The method includes: displaying a first reference waypoint and a second reference waypoint in a virtual flight environment; controlling the flight of a simulated drone according to an operation instruction of a control terminal, and evaluating the flight trajectory of the simulated drone based on a first evaluation index to determine a first flight route; evaluating the reference waypoints associated with the first flight route according to a second evaluation index to determine a second flight route; and mapping the second flight route into the real flight environment based on the longitude and latitude coordinate correspondence between the virtual flight environment and the real flight environment to obtain a third flight route. This technical solution solves the problem of low efficiency in generating drone flight routes. By performing route planning based on a simulated drone in the three-dimensional model of the real flight environment, the efficiency of generating flight routes is improved, and the time cost of route planning is saved.

Description

Technical Field

[0001] The present invention relates to the technical field of path planning, and particularly to a method and device for generating a UAV flight route. Background Art

[0002] Currently, during the execution of inspection tasks by UAVs, the flight route is usually drawn manually. It is difficult to consider all flight risks in the manually drawn flight route. The route drawing personnel need to fly the UAV multiple times and adjust the flight route multiple times according to the execution results of the UAV inspection tasks to obtain a flight route that meets the requirements. However, this UAV route planning method requires wasting a large amount of time for experiments, and the generation efficiency of the flight route is low. Summary of the Invention

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

[0005] 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 the real flight environment; the second reference waypoint is the reference position of the waypoint to be planned;

[0006] Controlling the flight of the simulated UAV according to the operation instruction of the control terminal, and evaluating the flight trajectory of the simulated UAV 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 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] Evaluating the reference waypoints associated with the first flight route according to a second evaluation index to determine a second flight route;

[0008] Mapping the second flight route to the real flight environment based on the correspondence relationship of longitude and latitude coordinates between the virtual flight environment and the real flight environment to obtain a third flight route.

[0009] According to another aspect of the present invention, a device for generating a UAV flight route is provided, and the device includes:

[0010] A reference waypoint display module for 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 the reference position of the waypoint to be planned.

[0011] A first flight route determination module for controlling the flight of a simulated unmanned aerial vehicle according to an operation instruction of a control terminal, evaluating the flight trajectory of the simulated unmanned aerial vehicle based on a first evaluation index, and determining a first flight route; the simulated unmanned aerial vehicle is a three-dimensional model established based on the characteristic data of an entity unmanned aerial vehicle; the first flight route is the flight trajectory of the simulated unmanned aerial vehicle from the first reference waypoint to the second reference waypoint in the virtual flight environment.

[0012] A second flight route determination module for evaluating the reference waypoints associated with the first flight route according to a second evaluation index and determining a second flight route.

[0013] A third flight route generation module for mapping the second flight route into the real flight environment based on the correspondence relationship of longitude and latitude coordinates between 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, which includes:

[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 when the computer program is executed by the at least one processor, the at least one processor can execute the unmanned aerial vehicle flight route generation method according to any embodiment of the present invention.

[0016] According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement the unmanned aerial vehicle flight route generation method according to any embodiment of the present invention when executed.

[0017] According to another aspect of the present invention, there is provided a computer program product including a computer program, which implements the unmanned aerial vehicle flight route generation method according to any embodiment of the present invention when executed by a processor.

[0018] In the technical solution of the embodiment of the present invention, a first reference waypoint and a second reference waypoint are displayed in a virtual flight environment, and the virtual flight environment is a three-dimensional model established based on a real flight environment; the second reference waypoint is the reference position of the waypoint to be planned; according to the operation instruction of the control terminal, the flight of the simulated unmanned aerial vehicle (UAV) is controlled, 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 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; the reference waypoints associated with the first flight route are evaluated according to a second evaluation index to determine a second flight route; based on the longitude and latitude coordinate correspondence between the virtual flight environment and the real flight environment, the second flight route is mapped into the real flight environment to obtain a third flight route. This technical solution solves the problem of low efficiency in generating UAV routes. By planning routes based on the simulated UAV in the three-dimensional model of the real flight environment, the efficiency of generating flight routes is improved, and the time cost of route planning is saved.

[0019] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used 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 will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

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

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

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

[0024] Figure 4 is a schematic structural diagram of a device for generating a UAV route according to Embodiment 4 of the present invention;

[0025] Figure 5 is a schematic structural diagram of an electronic device for implementing the method for generating a UAV route in the embodiment of the present invention. Detailed implementation manners

[0026] To enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope 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 accompanying drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances 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 "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily need to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices. The acquisition, storage, use, processing, etc. of the data in the technical solution of this application all comply with the relevant regulations of national laws and regulations.

[0028] Embodiment 1

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

[0030] S110. 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 the real flight environment; the second reference waypoint is the reference position of the waypoint to be planned.

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

[0032] The simulated flight platform can pre - obtain the reference route of the target flight mission and display each reference waypoint in the reference route in the virtual flight environment. Specifically, the reference route of the target flight mission can be the historical flight route of the target flight mission or a manually set route for completing the target flight mission. The simulated flight platform can use the reference waypoints for route planning to improve the route planning efficiency. 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 instruction of the control terminal, control the flight of the simulated unmanned aerial vehicle (UAV), 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.

[0034] The simulated flight platform can construct a three - dimensional model of the physical UAV based on the characteristic data of the physical UAV as the simulated UAV. Among them, the characteristic data of the physical UAV can include appearance parameters such as the shape and size of the physical UAV, and can also include operation parameters such as the flight altitude, turning radius, and endurance time of the physical UAV. The control terminal can be used to control the flight state of the simulated UAV in the virtual inspection environment, such as flight position, flight attitude, and flight altitude. The operation instruction can be a UAV control signal such as forward, acceleration, deceleration, hover, ascent, and descent. The simulated flight platform can communicate with the control terminal to obtain the operation instruction of the control terminal.

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

[0036] The control terminal can synchronize the operation instruction to the simulation flight platform. After receiving the operation instruction sent by the control terminal, the simulation flight platform can control the simulated drone to fly in the virtual flight environment according to the operation instruction. The simulation flight platform can obtain the flight trajectory of the simulated drone at a preset time interval and evaluate the flight trajectory of the simulated drone in each time period based on the first evaluation index. The simulation flight platform can also obtain the flight trajectory of the simulated drone from the first reference waypoint to the second reference waypoint when it detects that the simulated drone reaches 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 simulation flight platform can also sequentially obtain the trajectory segments between every two adjacent reference waypoints and evaluate the trajectory segments 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 drone. For example, it can include evaluation indexes such as whether the distance between the flight trajectory and the power line meets the preset safety distance and whether there are obstacles on the flight trajectory. The first evaluation index can also be used to evaluate the accuracy of the flight trajectory of the simulated drone. For example, it can include evaluation indexes such as whether the length of the flight trajectory is within the preset mileage range and whether the flight trajectory passes through the preset reference waypoint.

[0038] By evaluating the flight trajectory of the simulated drone, the simulation flight platform can obtain the flight trajectory from the first reference waypoint to the second reference waypoint with qualified evaluation and use it as the first flight route.

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

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

[0041] To ensure the accuracy and reliability of the waypoints in the first flight route, the simulation flight platform can evaluate the reference waypoints associated with the first flight route based on the second evaluation index. Among them, the reference waypoints associated with the first flight route may 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 mission execution result of the simulation drone at the target reference waypoint meets the preset mission requirements. For example, the simulation drone can receive the data sent by power equipment 1 at reference waypoint A, and the simulation drone can clearly image power equipment 2 at reference waypoint B. The second evaluation index may also include that the target reference waypoint matches the virtual flight environment. For example, the distance between reference waypoint C and power equipment 3 in the virtual flight environment is greater than the preset distance threshold. The second evaluation index may further include that the target reference waypoint matches the simulation drone. For example, the simulation drone can reach reference waypoint D.

[0043] According to the evaluation result of the reference waypoints associated with the first flight route based on the second evaluation index, the simulation flight platform can retain the qualified reference waypoints and adjust the unqualified reference waypoints to ensure the accuracy and reliability of the waypoints in the first flight route, and obtain the second flight route from the first reference waypoint to the second reference waypoint.

[0044] S140. Based on the longitude and latitude coordinate correspondence between the virtual flight environment and the real flight environment, map the second flight route to the real flight environment to obtain the third flight route.

[0045] After obtaining the second flight route, the simulation flight platform can map the second flight route to the real flight environment according to the longitude and latitude coordinate correspondence between the virtual flight environment and the real flight environment to obtain the 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 displays 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 the real flight environment; the second reference waypoint is the reference position of the waypoint to be planned; according to the operation instruction of the control terminal, control the simulated unmanned aerial vehicle (UAV) to fly, 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; evaluate the reference waypoints associated with the first flight route according to the second evaluation index to determine the second flight route; based on the longitude and latitude coordinate correspondence between the virtual flight environment and the real flight environment, map the second flight route to the real flight environment to obtain the third flight route. This technical solution solves the problem of low efficiency in generating UAV flight routes. By planning flight routes based on simulated UAVs in the three-dimensional model of the real flight environment, the efficiency of generating flight routes is improved, and the time cost of route planning is saved.

[0047] In a feasible solution, the first evaluation index includes that the flight trajectory of the simulated UAV matches the virtual flight environment; the second evaluation index includes that the virtual flight environment matches the reference waypoints associated with the first flight route;

[0048] The method further includes: if it is detected that the environment of the real flight environment changes, update the virtual flight environment based on the environmental change of the real flight environment;

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

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

[0051] The 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 it is detected that there is an update event of the virtual flight environment within the second time range, evaluate the reference waypoints associated with the first flight route according to the second evaluation index to determine the second flight route.

[0053] It can be understood that the real flight environment often changes. The simulated flight platform can detect whether the real flight environment changes according to a preset detection period. If the real flight environment changes, update the three-dimensional model of the real flight environment, that is, the virtual flight environment, according to the environmental change of the real flight environment.

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

[0055] The simulation flight platform can set an environmental update record for recording the update events of the virtual flight environment. The environmental update record can include information such as the update time and update location of the virtual flight environment. Before evaluating the flight trajectory of the simulated unmanned aerial vehicle, the simulation flight platform can detect whether there is an update event of the virtual flight environment within the first time range. If so, the simulation flight platform can evaluate the flight trajectory of the simulated unmanned aerial vehicle 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 simulation flight platform can detect whether there is an update event of the virtual flight environment within the second time range. If so, the simulation flight 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 adapted to the virtual flight environment and obtain 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 can be the same or different. The first time range and the second time range can 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 can be the time range starting from the last route planning time of the target flight mission as the interval start point and ending at the current route planning time.

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

[0059] In another feasible solution, the first evaluation index includes that the flight trajectory of the simulated unmanned aerial vehicle matches the simulated unmanned aerial vehicle; the second evaluation index includes that the simulated unmanned aerial vehicle matches the reference waypoints associated with the first flight route;

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

[0061] Evaluating the flight trajectory of the simulated drone based on the first evaluation index to determine the first flight route includes:

[0062] If it is detected that there is an update event of the simulated drone within the third time range, then evaluating the flight trajectory of the simulated drone according to the first evaluation index to determine the first flight route;

[0063] 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 it is detected that there is an update event of the simulated drone within the fourth time range, then evaluating the reference waypoints associated with the first flight route according to the second evaluation index to determine the second flight route.

[0065] It is easy to understand that due to the allocation problem of the physical drone, the physical drone performing the target flight mission may change each time. In addition, the task items in the target flight mission may change. To adapt to the change of the task items, the physical drone performing the target flight mission also needs to change accordingly. For example, the original task item is to capture an image of power equipment A, and the changed task item is to capture 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 in size and cannot approach for shooting. A smaller physical drone is required to complete this task item.

[0066] The simulation flight platform can detect whether the characteristic data of the physical drone changes according to a preset detection period. If the characteristic data of the physical drone changes, then update the simulated drone according to the change in the characteristic data of the physical drone. The change in the characteristic data of the physical drone may lead to changes in the flight route and waypoints. For example, a large drone cannot pass through a wall, while a small drone can. For different types of drones, the simulation flight platform can plan different flight routes and waypoints. Therefore, it is necessary to evaluate the flight trajectory of the simulated drone and the reference waypoints when the characteristic data of the physical drone changes to ensure the safety and accuracy of the flight route.

[0067] The simulation flight platform can set model update records for recording the update events of the simulated unmanned aerial vehicle (UAV). The model update records can include information such as the update time and update feature items of the simulated UAV. Before evaluating the flight trajectory of the simulated UAV, the simulation flight platform can detect whether there are update events of the simulated UAV within a third time range. If there are, the simulation flight platform can evaluate the flight trajectory of the simulated UAV according to the first evaluation index to obtain a first flight route that matches the simulated UAV.

[0068] Similarly, before evaluating the reference waypoints associated with the first flight route, the simulation flight platform can detect whether there are update events of the simulated UAV within a fourth time range. If there are, the simulation flight 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 suitable for the simulated UAV, and obtain a second flight route that matches the simulated UAV.

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

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

[0071] Embodiment 2

[0072] Figure 2 It is a flowchart of a method for generating a UAV flight route provided by Embodiment 2 of the present invention. This embodiment is refined based on the above embodiment. As Figure 2 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 the real flight environment; the second reference waypoint is the reference position of the 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. Judge whether the flight trajectory of the simulated UAV is qualified based on the first evaluation result.

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

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

[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 the length of the flight trajectory of the simulated UAV is within the 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 indexes such as whether the distance between the flight trajectory and the power transmission line meets the preset safety distance, and whether there are obstacles on the flight trajectory. 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, and 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: Feed back the first evaluation result to the control terminal, and control the simulated UAV to return to the first reference waypoint; the first reference waypoint is the reference position of the 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 simulation 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 the animation matching the first evaluation result. For example, the control terminal can display the text "An obstacle is encountered in the middle of the flight trajectory" on the display screen, play the voice "An obstacle is encountered in the middle of the flight trajectory", or play the schematic animation of the existence of an obstacle in the middle of the flight trajectory.

[0083] The simulation flight platform can control the simulated UAV to return to the first reference waypoint and adjust the operation instruction based on the first evaluation result. Among them, the first reference waypoint is the reference position of the determined waypoint. The simulation flight platform can re-obtain the operation instruction generated by the control terminal, return to execute S202, control the simulated UAV 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 it is determined that the flight trajectory of the simulated UAV is qualified based on the first evaluation result, and then output the first flight route.

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

[0085] If it is determined that the flight trajectory of the simulated UAV is qualified based on the first evaluation result, the simulation 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 the second evaluation index.

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

[0088] S207. Judge whether the reference waypoints associated with the first flight route are qualified based on the second evaluation result.

[0089] The simulation flight platform can judge whether the reference waypoints associated with the first flight route are qualified according to the second evaluation result. Specifically, if the target reference waypoint meets the second evaluation index, it is determined that the target reference waypoint is qualified; if the target reference waypoint does not meet the second evaluation index, it is determined that the target reference waypoint is unqualified.

[0090] The second evaluation index can be one or more. When there are multiple second evaluation indexes, a target reference waypoint is considered qualified if it meets all the second evaluation indexes, and unqualified if it fails to meet at least one of the second evaluation indexes. The second evaluation result can include whether the second evaluation index is met. If the first flight route is associated with multiple reference waypoints, the second evaluation result can also include the reference waypoints that do not meet the second evaluation index. When there are multiple second evaluation indexes, the second evaluation result can further include the unmet second evaluation indexes.

[0091] Among them, the second evaluation index can include that the task execution result of the simulated UAV at the target reference waypoint meets the preset task requirements. For example, the simulated UAV can receive the data sent by the power equipment 1 at the reference waypoint A, and the simulated UAV can clearly image the power equipment 2 at the reference waypoint B. The second evaluation index can also include the matching of the target reference waypoint with 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 can further include the matching of the target reference waypoint with the simulated UAV. For example, the simulated UAV can reach the reference waypoint D.

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

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

[0094] It can be understood that different reference waypoints can perform the same type of task items and correspond to the same task requirements. For example, both the reference waypoint C and the reference waypoint D are used to take pictures of the power equipment on the pole tower, and the corresponding task requirement for both is that the clarity of the captured image reaches the preset clarity condition. Different reference waypoints can also perform different types of task items and correspond to different task requirements. For example, the task item of the reference waypoint A is to receive the data sent by the communication equipment on the pole tower, the task item of the reference waypoint B is to take pictures of the power equipment on the pole tower, the corresponding task requirement for the reference waypoint A is to receive the data completely, and the corresponding task requirement for the reference waypoint B is that the clarity of the captured image reaches the preset clarity condition.

[0095] The simulation flight platform can compare the task execution result of the target reference waypoint with the task requirements matched by the target reference waypoint to determine whether the task execution result of the target reference waypoint meets the task requirements matched by the target reference waypoint. If the task requirements matched by the target reference waypoint are met, it is determined that the target reference waypoint is qualified; if the task requirements matched by the target reference waypoint are not met, it is determined that the target reference waypoint is unqualified.

[0096] By setting the task execution result of the simulation UAV at the reference waypoint to meet the preset task requirements as the second evaluation index, the above solution can effectively ensure the usability of the reference waypoint and is conducive to the rapid and accurate completion of the flight task.

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

[0098] S208: Feedback the second evaluation result to the control terminal, adjust the reference waypoint in the virtual flight environment, and control the simulation UAV 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 simulation flight platform can feedback 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 the animation matching the second evaluation result. For example, the control terminal can display the text "The second reference waypoint is too close to the power equipment A" on the display screen, play the voice "The second reference waypoint is too close to the power equipment A", or play the schematic animation of the distance requirement between the waypoint and the power equipment.

[0100] The simulation flight platform can adjust the reference waypoint in the virtual flight environment based on the second evaluation result. For example, translate 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 waypoint in the virtual flight environment includes, but is not limited to, adjustment methods such as deleting the reference waypoint, adding the reference waypoint, and changing the position of the reference waypoint.

[0101] The simulation flight platform can control the simulation UAV to return to the first reference waypoint, re-obtain 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 then output the second flight route.

[0102] S209: Output the second flight route.

[0103] S210. Map the second flight route to the real flight environment based on the longitude and latitude coordinate correspondence between the virtual flight environment and the real flight environment to obtain a third flight route.

[0104] In this solution, the flight trajectory of the simulated unmanned aerial vehicle (UAV) is automatically detected for compliance through the first evaluation index. When the flight trajectory is unqualified, the flight route can be repeatedly planned in the virtual flight environment until a first flight route that meets the flight requirements is obtained, which is beneficial to improving the planning efficiency of the flight route. After obtaining the first flight route, this solution can evaluate the reference waypoints associated with the first flight route according to the second evaluation index to ensure the usability of the waypoints, effectively avoiding repeated tests of the physical UAV and greatly saving the UAV route planning cost.

[0105] Embodiment III

[0106] Figure 3 The flowchart of a UAV route generation method provided in Embodiment III of the present invention is refined based on the above embodiments. As Figure 3 shown, the method includes:

[0107] S301. Display a first reference waypoint and a second reference waypoint in the virtual flight environment, where the virtual flight environment is a three-dimensional model established based on the real flight environment; the second reference waypoint is the reference position of the 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. Judge 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. Feed back the first evaluation result to the control terminal, and control the simulated UAV to return to the third reference waypoint; the third reference waypoint is the 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 it is determined based on the first evaluation result that the flight trajectory of the simulated UAV is unqualified, the simulation flight platform can feedback 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, where A, B, C, D, E, and F represent different reference waypoints respectively, A is the first reference waypoint, and F is the second reference waypoint. If it is determined based on the first evaluation result that the flight trajectory of the C->D section is unqualified, the simulation flight platform needs to re-plan the flight trajectory of the C->D section. Therefore, the third reference waypoint is the reference waypoint C, and the simulation flight platform can control the simulated UAV to return to the reference waypoint C and, according to the operation instructions 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 section.

[0113] When it is determined based on the first evaluation result that the flight trajectory of the simulated UAV is unqualified, this solution can avoid re-planning the entire flight trajectory from the planning starting point and can selectively plan the unqualified flight trajectory section, which is beneficial to improving the planning efficiency of the flight route.

[0114] S305. Determine the 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 the second evaluation index.

[0116] S307. Judge whether the reference waypoints associated with the first flight route are qualified based on the second evaluation result.

[0117] If the reference waypoints associated with the first flight route are unqualified, then continue to execute S308; if the reference waypoints associated with the first flight route are qualified, then 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. Control the simulated UAV to return to the fourth reference waypoint according to the adjusted reference waypoints in the virtual flight environment; the fourth reference waypoint is the starting point of the target flight segment; the target flight segment is determined based on the adjusted reference waypoints in the virtual flight environment.

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

[0121] It is easy to understand that the number of target flight segments can be one or multiple. If there are multiple target flight segments, the simulation flight platform can replan each target flight segment in sequence 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, where A1, B1, C1, D1, E1, and F1 represent different reference waypoints respectively, A1 is the first reference waypoint, and F1 is the second reference waypoint. If, based on the second evaluation result, the simulation flight platform adjusts the reference waypoint B1 to B2 and deletes E1, the simulation flight platform needs to replan the flight segment A1->B2->C1 and the flight segment D1->F1, that is, the target flight segments include the flight segment A1->B2->C1 and the flight segment D1->F1. The simulation flight platform can replan the flight segment A1->B2->C1 and the flight segment D1->F1 in sequence. The fourth reference waypoint corresponding to the flight segment A1->B2->C1 is the reference waypoint A1. The simulation flight platform can control the simulation UAV to return to the reference waypoint A1 and, according to the operation instruction of the control terminal, control the simulation UAV to fly to the reference waypoint C1 to replan the flight segment A1->B2->C1. After obtaining the flight segment A1->B2->C1 that meets the first evaluation index and the second evaluation index, the simulation flight platform can control the simulation UAV to reach the reference waypoint D1 and, according to the operation instruction of the control terminal, control the simulation UAV to fly to the reference waypoint F1 to replan the flight segment D1->F1. After obtaining the flight segment D1->F1 that meets the first evaluation index and the second evaluation index, output the second flight route A1->B2->C1->D1->F1 that meets the first evaluation index and the second evaluation index.

[0123] When it is determined that the reference waypoint associated with the first flight route is unqualified according to the second evaluation result, there is no need to re-plan the entire route starting from the starting point of the first flight route, and it is possible to selectively plan the flight segment where the reference waypoint is unqualified, which is beneficial to improving the planning efficiency of the flight route.

[0124] S310. Output the second flight route.

[0125] S311. Based on the longitude and latitude coordinate correspondence between the virtual flight environment and the real flight environment, map the second flight route into the real flight environment to obtain the third flight route.

[0126] In this solution, the flight trajectory of the simulated UAV is automatically detected for compliance through the first evaluation index. When the flight trajectory is unqualified, it can return to the unqualified flight trajectory segment for local trajectory re-planning, 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 according to the second evaluation index. While ensuring the usability of the waypoints, it re-plans the flight segments matched with the unqualified waypoints, further improving the planning efficiency of the flight route and greatly saving the time cost of UAV route planning.

[0127] Embodiment 4

[0128] Figure 4 It is a schematic structural diagram of a UAV route generation device provided in Embodiment 4 of the present invention. As Figure 4 shown, the device includes:

[0129] A reference waypoint display module 410, configured to 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 the reference position of the waypoint to be planned;

[0130] A first route determination module 420, configured 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 route determination module 430, configured to evaluate the reference waypoints associated with the first flight route according to the second evaluation index to determine the second flight route;

[0132] The third flight route generation module 440 is configured to map the second flight route to the real flight environment based on the longitude and latitude coordinate correspondence between the virtual flight environment and the real flight environment, so as to obtain a third flight route.

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

[0134] If it is determined that the flight trajectory of the simulated unmanned aerial vehicle is unqualified based on the first evaluation result, the first evaluation result is fed back to the control terminal, and the simulated unmanned aerial vehicle is controlled to return to the first reference waypoint, and then return to execute the operation instruction of the control terminal to control the flight of the simulated unmanned aerial vehicle until it is determined that the flight trajectory of the simulated unmanned aerial vehicle is qualified based on the first evaluation result, and the first flight route is output; the first evaluation result is the evaluation result of the first evaluation index on the flight trajectory of the simulated unmanned aerial vehicle; wherein, the first reference waypoint is the reference position of the planned waypoint.

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

[0136] If it is determined that the reference waypoint associated with the first flight route is unqualified based on the second evaluation result, the second evaluation result is fed back to the control terminal, and the reference waypoint in the virtual flight environment is adjusted; the simulated unmanned aerial vehicle is controlled to return to the first reference waypoint, and then return to execute the operation instruction of the control terminal to control the flight of the simulated unmanned aerial vehicle until it is determined that the first flight route is 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 index on the first flight route.

[0137] In a feasible solution, the first evaluation index includes the matching of the flight trajectory of the simulated unmanned aerial vehicle with the virtual flight environment; the second evaluation index includes the matching of the virtual flight environment with the reference waypoint associated with the first flight route;

[0138] The device further includes a virtual environment update module, configured to: if it detects an environmental change in the real flight environment, update the virtual flight environment based on the environmental change in the real flight environment;

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

[0140] If it detects an update event of the virtual flight environment within the first time range, evaluate the flight trajectory of the simulated unmanned aerial vehicle according to the first evaluation index, and determine the first flight route;

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

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

[0143] In another feasible solution, the first evaluation index includes that the flight trajectory of the simulated unmanned aerial vehicle (UAV) matches the simulated UAV; the second evaluation index includes that the simulated UAV matches the reference waypoints associated with the first flight route.

[0144] The device further includes a simulated UAV update module for: if a change in the characteristic data of the physical UAV is detected, updating the simulated UAV based on the change in the characteristic data of the physical UAV.

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

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

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

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

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

[0150] In this solution, optionally, the second evaluation index includes that the task execution result of the simulated UAV at the target reference waypoint meets the preset task 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 unmanned aerial vehicle is unqualified, the first evaluation result is fed back to the control terminal, and the simulated unmanned aerial vehicle is controlled to return to the third reference waypoint. Then, return to execute controlling the flight of the simulated unmanned aerial vehicle according to the operation instruction of the control terminal until it is determined based on the first evaluation result that the flight trajectory of the simulated unmanned aerial vehicle is qualified, and output the first flight route; the first evaluation result is the evaluation result of the first evaluation index on the flight trajectory of the simulated unmanned aerial vehicle; the third reference waypoint is the reference waypoint determined based on the unqualified flight trajectory.

[0154] In another preferred solution, 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 index on the first flight route;

[0157] According to the adjusted reference waypoint in the virtual flight environment, control the simulated unmanned aerial vehicle to return to the fourth reference waypoint, and return to execute controlling the flight of the simulated unmanned aerial vehicle according to the operation instruction of the control terminal until it is determined based on the second evaluation result that the first flight route is qualified, and output the second flight route; the fourth reference waypoint is the starting point of the target flight segment; the target flight segment is determined based on the adjusted reference waypoint in the virtual flight environment.

[0158] The unmanned aerial vehicle route generation device provided by the embodiments of the present invention can execute the unmanned aerial vehicle route generation method provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method.

[0159] Embodiment Five

[0160] Figure 5 FIG. shows a schematic structural diagram of an electronic device 510 that can be used to implement the embodiments of the present invention. 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 herein and / or claimed.

[0161] AsFigure 5 As shown, the electronic device 510 includes at least one processor 511 and a memory communicatively connected to the at least one processor 511, such as a read-only memory (ROM) 512, a random access memory (RAM) 513, etc. Among them, the memory stores a computer program executable by the at least one processor. The processor 511 can execute 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 into 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] Multiple 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 magnetic 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 can be various 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 dedicated 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 can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as the storage unit 518. In some embodiments, part or all of the computer program can be loaded and / or installed onto 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 can be executed. Alternatively, in other embodiments, the processor 511 can be configured to execute the drone route generation method in any other appropriate manner (e.g., by means of firmware).

[0165] The various embodiments of the systems and techniques described above in this specification can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on a chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that receives data and instructions from, and transmits data and instructions to, a storage system, at least one input device, and at least one output device.

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

[0167] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, 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 disc 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 can be implemented on an electronic device having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and a pointing device (e.g., a mouse or a trackball) through which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and the input received from the user can be in any form (including acoustic input, voice input, or tactile input).

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

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

[0171] It should be understood that various forms of the processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is imposed herein.

[0172] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for generating a UAV flight path, characterized in that, The method includes: 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 first reference waypoint is the reference position of a planned waypoint, and the second reference waypoint is the reference position of a waypoint to be planned; According to an operation instruction of a control terminal, controlling a simulated unmanned aerial vehicle (UAV) to fly, and evaluating the flight trajectory of the simulated UAV based on a first evaluation index. If it is determined that the flight trajectory of the simulated UAV is unqualified based on a first evaluation result, then feedback the first evaluation result to the control terminal, and control the simulated UAV to return to the first reference waypoint or a third reference waypoint, and return to execute controlling the simulated UAV to fly according to the operation instruction of the control terminal until it is determined that the flight trajectory of the simulated UAV is qualified based on the first evaluation result, and output a first flight route; the simulated UAV is a three-dimensional model established based on the characteristic data of a physical UAV; the first evaluation index is used to evaluate the safety and accuracy of the flight trajectory; the first evaluation result is the evaluation result of the first evaluation index on the flight trajectory of the simulated 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 third reference waypoint is a reference waypoint between the first reference waypoint and the second reference waypoint determined based on the unqualified flight trajectory; Evaluating the reference waypoints associated with the first flight route according to a second evaluation index to determine a second flight route; the second evaluation index is used to evaluate the task execution ability of the virtual UAV at the reference waypoints; Based on the longitude and latitude coordinate correspondence between the virtual flight environment and the real flight environment, mapping the second flight route to the real flight environment to obtain a third flight route.

2. The method according to claim 1, wherein The evaluating the reference waypoints associated with the first flight route according to the second evaluation index to determine a second flight route includes: If it is determined that the reference waypoints associated with the first flight route are unqualified based on a second evaluation result, then feedback the second evaluation result to the control terminal, adjust the reference waypoints in the virtual flight environment; control the simulated UAV to return to the first reference waypoint, and return to execute controlling the simulated UAV to fly according to the operation instruction of the control terminal until it is determined that the first flight route is qualified based on the second evaluation result, and output the second flight route; the second evaluation result is the evaluation result of the second evaluation index on the first flight route.

3. The method according to claim 1, wherein The first evaluation index includes that the flight trajectory of the simulated UAV matches the virtual flight environment; the second evaluation index includes that the virtual flight environment matches the reference waypoints associated with the first flight route; The method further includes: if it is detected that the environment of the real flight environment changes, then update the virtual flight environment based on the environmental change of the real flight environment; The 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 the first time range is detected, the flight trajectory of the simulated drone is evaluated according to the first evaluation index to determine the first flight route; The 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 within the second time range is detected, the reference waypoints associated with the first flight route are evaluated according to the second evaluation index to determine the second flight route.

4. The method according to claim 1, wherein The first evaluation index includes that the flight trajectory of the simulated drone matches the simulated drone; the second evaluation index includes that the simulated drone matches the reference waypoints associated with the first flight route; The method further includes: if a change in the characteristic data of the physical drone is detected, the simulated drone is updated based on the change in the characteristic data of the physical drone; The evaluating the flight trajectory of the simulated drone according to the first evaluation index to determine the first flight route includes: If an update event of the simulated drone within the third time range is detected, the flight trajectory of the simulated drone is evaluated according to the first evaluation index to determine the first flight route; The 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 drone within the fourth time range is detected, the reference waypoints associated with the first flight route are evaluated according to the second evaluation index to determine the second flight route.

5. The method according to claim 1, wherein The first evaluation index includes that the flight trajectory of the simulated drone meets the preset flight safety requirements, and / or the length of the flight trajectory of the simulated drone is within the preset mileage range.

6. The method according to claim 1, characterized in that, The second evaluation index includes that the task execution result of the simulated drone at the target reference waypoint meets the preset task requirements.

7. The method according to claim 1, wherein There is at least one reference waypoint between the first reference waypoint and the second reference waypoint; The 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 waypoints associated with the first flight route are unqualified, the second evaluation result is fed back to the control terminal, and the reference waypoints in the virtual flight environment are adjusted; the second evaluation result is the evaluation result of the second evaluation index for the first flight route; According to the adjusted reference waypoints in the virtual flight environment, the simulated drone is controlled to return to the fourth reference waypoint, and then returns to execute the operation instruction of the control terminal to control the flight of the simulated drone until it is determined based on the second evaluation result that the first flight route is qualified, and the second flight route is output; the fourth reference waypoint is the starting point of the target flight segment; the target flight segment is determined based on the adjusted reference waypoints in the virtual flight environment.

8. An unmanned aerial vehicle route generation device, characterized in that, The device includes: A reference waypoint display module, configured to 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 first reference waypoint is the reference position of the planned waypoint, and the second reference waypoint is the reference position of the waypoint to be planned; The first flight route determination module is used to control the flight of the simulated unmanned aerial vehicle according to the operation instructions of the control terminal, evaluate the flight trajectory of the simulated unmanned aerial vehicle based on the first evaluation index. If it is determined that the flight trajectory of the simulated unmanned aerial vehicle is unqualified based on the first evaluation result, the first evaluation result is fed back to the control terminal, and the simulated unmanned aerial vehicle is controlled to return to the first reference waypoint or the third reference waypoint, and then return to execute controlling the flight of the simulated unmanned aerial vehicle according to the operation instructions of the control terminal until it is determined that the flight trajectory of the simulated unmanned aerial vehicle is qualified based on the first evaluation result, and the first flight route is output; the simulated unmanned aerial vehicle is a three-dimensional model established based on the characteristic data of the physical unmanned aerial vehicle; the first evaluation index is used to evaluate the safety and accuracy of the flight trajectory; the first evaluation result is the evaluation result of the first evaluation index on the flight trajectory of the simulated unmanned aerial vehicle; the first flight route is the flight trajectory of the simulated unmanned aerial vehicle from the first reference waypoint to the second reference waypoint in the virtual flight environment; the third reference waypoint is the reference waypoint between the first reference waypoint and the second reference waypoint determined based on the unqualified flight trajectory. The second flight route determination module is used to evaluate the reference waypoints associated with the first flight route according to the second evaluation index to determine the second flight route; the second evaluation index is used to evaluate the task execution ability of the virtual unmanned aerial vehicle at the reference waypoints. The third flight route generation module is used to map the second flight route into the real flight environment based on the longitude and latitude coordinate correspondence between the virtual flight environment and the real flight environment to obtain the third flight route.

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