Route multiplexing method, flight control method and device, electronic equipment and medium
By searching historical routes at the current location of the drone, filtering reusable sections and selecting recommended reusable sections, the flexibility of unmanned aerial vehicle route planning in complex transportation tasks is solved, and the efficiency of route planning is improved.
Patent Information
- Application Number
- CN202311664006.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-12-05
- Publication Date
- 2025-06-06
AI Technical Summary
Existing UAV route planning has limitations in complex transportation tasks, especially when the starting point or end point is not fixed, how to flexibly plan the route is a challenge.
By searching each historical route within the surrounding preset range centered on the current location of the drone, determining the reusable segments in each historical route, and filtering out the effective reusable segments with a set flight efficiency, and finally selecting at least one recommended multiplexed segment based on the segment multiplexing rate.
This has achieved flexible finding recommended multiplexed flight segments that can be reused without re-planning the complete flight route, thereby improving the efficiency and flexibility of route planning and reducing the workload of route planning.
Smart Images
Figure CN120103853A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of unmanned aerial vehicles, and in particular to a route multiplexing method, a flight control method, a device, an electronic device and a medium. Background Art
[0002] At present, drone cargo transportation has become an efficient and flexible mode of transportation. However, while planning the drone routes, how to improve transportation efficiency and safety remains a challenge.
[0003] In the prior art, the route planning of drones is usually carried out between two fixed target points. However, in the scenario of complex transportation tasks, the two-point route has certain limitations, because the starting point or end point of the drone is no longer a fixed point, but changes with the situation. At this time, how to flexibly plan the route is a problem that needs to be considered. Summary of the invention
[0004] The purpose of the present invention is to provide a route multiplexing method, a flight control method, a device, an electronic device and a medium to improve the problems existing in the prior art.
[0005] The embodiments of the present invention can be implemented as follows:
[0006] In a first aspect, the present invention provides a route multiplexing method, comprising:
[0007] Centered on the current location of the drone, search for every historical route within the preset range;
[0008] determining a reusable flight segment in each of the historical routes;
[0009] Filter out each valid reused flight segment whose reused flight efficiency meets the set requirements from all the reused flight segments; the reused flight efficiency reflects the difference in flight distance between reuse of the reused flight segment and direct flight during the process of the UAV flying from the current position to the target position;
[0010] At least one recommended reused flight segment is selected from all the valid reused flight segments based on the flight segment reuse rate of each of the valid reused flight segments.
[0011] Optionally, the step of determining the reusable flight segments in each of the historical routes includes:
[0012] Determine a reuse starting point and a reuse end point on each of the historical routes;
[0013] For each of the historical routes, the reused starting point and the reused end point on the historical route are used to extract the reused flight segments from the historical route, thereby obtaining the reused flight segments in each of the historical routes.
[0014] Optionally, the historical route includes a plurality of historical waypoints, and the step of determining a reused starting point and a reused end point on each of the historical routes includes:
[0015] The current position of the drone is taken as the current starting point, and the target position is taken as the current end point;
[0016] For any of the historical routes, respectively calculating a first distance and a second distance between the current starting point and the current end point and each historical waypoint on the historical route;
[0017] Among all the historical waypoints of the historical route, the historical waypoint with the smallest first distance is used as the reuse starting point;
[0018] Among all the historical waypoints of the historical route, the historical waypoint with the smallest second distance is used as the reuse end point;
[0019] Each of the historical routes is traversed to obtain a reused starting point and a reused end point on each of the historical routes.
[0020] Optionally, the current position of the UAV is the current starting point, and the target position is the current end point; the reusable flight segment includes a reusable starting point and a reusable end point, and the step of selecting each valid reusable flight segment whose reusable flight efficiency meets the set requirements from all reusable flight segments includes:
[0021] Calculate the direct flight distance from the current starting point to the current end point;
[0022] For each of the reusable flight segments, based on the straight-line distance between the current starting point and the reusing starting point, the route length of the reusable flight segment, and the straight-line distance between the reusing end point and the current end point, determine the total length of the reusable flight in which the reusable flight segments are reused in the process of flying from the current starting point to the current end point;
[0023] Calculating the ratio between the direct flight distance and the total length of the reused flight corresponding to each of the reused flight segments respectively;
[0024] The reusable flight segments whose ratio exceeds the preset ratio are taken as the valid reusable flight segments.
[0025] Optionally, the step of selecting at least one recommended multiplexing segment from all valid multiplexing segments based on the segment multiplexing rate of each of the valid multiplexing segments includes:
[0026] Obtaining the length of each valid multiplexing flight segment and the total multiplexing flight length when each of the valid multiplexing flight segments is multiplexed for flight;
[0027] For each of the valid multiplexing segments, a ratio between the length of the valid multiplexing segment and the corresponding total multiplexing flight length is calculated to obtain a segment multiplexing rate of each of the valid multiplexing segments;
[0028] Sorting all valid reused flight segments in descending order of the flight segment reuse rates;
[0029] At least one recommended multiplexing segment is selected from all sorted valid multiplexing segments.
[0030] Optionally, after the step of selecting each valid reused flight segment whose reused flight efficiency meets the set requirements from all the reused flight segments, the method further includes:
[0031] When two valid multiplexed flight segments have a common intersection, the two valid multiplexed flight segments are reorganized based on the intersection to obtain two new multiplexed flight segments;
[0032] Each new valid reused flight segment whose reuse flight efficiency meets the set requirement is selected from the two new reused flight segments.
[0033] Optionally, the current position of the drone is the current starting point, and the target position is the current end point; the step of reorganizing the two valid reused flight segments based on the intersection to obtain two new reused flight segments includes:
[0034] The two valid multiplexed flight segments are segmented based on the intersection to obtain a first multiplexed flight segment and a second multiplexed flight segment corresponding to the first valid multiplexed flight segment and a third multiplexed flight segment and a fourth multiplexed flight segment corresponding to the second valid multiplexed flight segment; wherein the first multiplexed flight segment and the third multiplexed flight segment are located between the current starting point and the intersection, and the second multiplexed flight segment and the fourth multiplexed flight segment are located between the intersection and the current end point;
[0035] splicing the first reusable flight segment with the fourth reusable flight segment to obtain a new reusable flight segment;
[0036] The third reusable flight segment is concatenated with the second reusable flight segment to obtain another new reusable flight segment.
[0037] In a second aspect, the present invention provides a flight control method, comprising:
[0038] Obtaining a target multiplexing segment, wherein the target multiplexing segment is selected by a user from at least one recommended multiplexing segment obtained by the route multiplexing method according to the first aspect;
[0039] The current position of the drone is taken as the current starting point and the target position is taken as the current end point, the drone is controlled to fly from the current starting point, and the target reused segment is reused in the process of flying from the current starting point to the current end point.
[0040] Optionally, the target multiplexing segment includes a multiplexing start point and a multiplexing end point; after the step of obtaining the target multiplexing segment, the method further includes:
[0041] When the current starting point does not coincide with the reuse starting point, planning a first segment from the current starting point to the reuse starting point and a second segment from the reuse end point to the current end point;
[0042] The step of controlling the drone to start flying from the current starting point and reusing the target reused segment during the flight from the current starting point to the current end point includes:
[0043] The drone is controlled to start flying from the current starting point, and to fly in accordance with the first flight segment, the target reused flight segment and the second flight segment in sequence until it reaches the current destination.
[0044] Optionally, the target multiplexing segment includes a multiplexing start point and a multiplexing end point; after the step of obtaining the current start point, the current end point and the target multiplexing segment, the step further includes:
[0045] When the current starting point coincides with the reuse starting point, planning a second flight segment from the reuse end point to the current end point;
[0046] The step of controlling the drone to start flying from the current starting point and reusing the target reused segment during the flight from the current starting point to the current end point includes:
[0047] The drone is controlled to start flying from the current starting point, and to fly in accordance with the target reused flight segment and the second flight segment in sequence until it reaches the current destination.
[0048] Optionally, the target multiplexing segment includes a multiplexing start point and a multiplexing end point; the step of controlling the UAV to start flying from the current start point and multiplexing the target multiplexing segment in the process of flying from the current start point to the current end point includes:
[0049] Receiving an automatic flight instruction sent by a flight remote controller; wherein the flight remote controller includes a touch screen, and the automatic flight instruction is generated when the flight remote controller senses that a user clicks a confirmation button of an automatic flight prompt pop-up window on the touch screen; and the automatic flight prompt pop-up window is popped up when the flight remote controller senses that the UAV flies from the current starting point to the reused starting point under manual control of the user;
[0050] Controlling the UAV to fly from the reuse starting point according to the target reuse segment;
[0051] When it is determined that the drone has reached the reuse end point, a takeover instruction is sent to the flight remote controller, so that the flight remote controller displays a takeover prompt pop-up window on the touch screen based on the takeover instruction, and the takeover prompt pop-up window is used to prompt the user to manually control the drone to fly to the current end point.
[0052] Optionally, the target multiplexing segment includes a multiplexing start point and a multiplexing end point; the step of controlling the UAV to start flying from the current start point and multiplexing the target multiplexing segment in the process of flying from the current start point to the current end point includes:
[0053] Controlling the UAV to fly according to the target reused flight segment starting from the current starting point;
[0054] When it is determined that the drone has reached the reuse end point, a takeover instruction is sent to the flight remote controller, so that the flight remote controller displays a takeover prompt pop-up window on the touch screen based on the takeover instruction, and the takeover prompt pop-up window is used to prompt the user to manually control the drone to fly to the current end point.
[0055] In a third aspect, the present invention provides a route multiplexing device, comprising:
[0056] The route search module is used to search for each historical route within a preset range around the current location of the drone;
[0057] A flight segment calculation module, used for determining the reusable flight segments in each of the historical routes;
[0058] A first screening module, configured to determine a reused route corresponding to each of the historical routes based on the current starting point and the current end point; the reused route includes a reused segment in the corresponding historical route;
[0059] The second screening module is used to:
[0060] Filter out each valid reused flight segment whose reused flight efficiency meets the set requirements from all the reused flight segments; the reused flight efficiency reflects the difference in flight distance between reuse of the reused flight segment and direct flight during the process of the UAV flying from the current position to the target position;
[0061] At least one recommended reused flight segment is selected from all the valid reused flight segments based on the flight segment reuse rate of each of the valid reused flight segments.
[0062] In a fourth aspect, the present invention provides a flight control device, comprising:
[0063] A flight segment acquisition module, used to obtain a target multiplexing flight segment, wherein the target multiplexing flight segment is selected by a user from at least one recommended multiplexing flight segment obtained by the route multiplexing method according to the first aspect;
[0064] The flight control module is used to control the drone to fly from the current starting point with the current position of the drone as the current starting point and the target position as the current end point, and reuse the target reused segment during the flight from the current starting point to the current end point.
[0065] In a fifth aspect, the present invention provides an electronic device, comprising: a memory and a processor, wherein the memory stores a software program, and when the electronic device is running, the processor executes the software program to implement: the route multiplexing method as described in the first aspect above, and / or the flight control method as described in the second aspect above.
[0066] In a sixth aspect, the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the computer program implements: the route multiplexing method as described in the first aspect above, and / or the flight control method as described in the second aspect above.
[0067] Compared with the prior art, the embodiment of the present invention provides a route reuse method, a flight control method, a device, an electronic device and a medium. First, with the current position of the drone as the center, each historical route within a preset range is searched, and then the reusable segments in each historical route are determined; then, each valid reusable segment whose reusable flight efficiency meets the set requirements is screened out from all the reusable segments; finally, based on the segment reuse rate of each valid reusable segment, at least one recommended reusable segment is selected from all the valid reusable segments. Since the reusable flight efficiency can reflect the difference in flight distance between the reusable reusable segment and the direct flight in the process of the drone flying from the current position to the target position, the user can flexibly select the target reusable segment reused in the process of flying from the current position of the drone to the target position from the recommended reusable segments finally selected, so that there is no need to re-plan the complete flight route from the current position of the drone to the target position, but flexibly find the recommended reusable segment that can be reused, thereby avoiding part of the route planning work. BRIEF DESCRIPTION OF THE DRAWINGS
[0068] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.
[0069] Figure 1 One of the flowchart diagrams of a route multiplexing method provided in an embodiment of the present invention.
[0070] Figure 2 A schematic diagram of determining a reuse start point and a reuse end point on a historical route provided by an embodiment of the present invention.
[0071] Figure 3 A schematic diagram of a flight during the reuse of a reusable flight segment provided in an embodiment of the present invention.
[0072] Figure 4 A schematic diagram of a route multiplexing interface of a control device provided in an embodiment of the present invention.
[0073] Figure 5 The second flowchart of a route multiplexing method provided in an embodiment of the present invention.
[0074] Figure 6 An exemplary diagram of the intersection of two valid multiplexed flight segments provided in an embodiment of the present invention.
[0075] Figure 7 A schematic flow chart of a flight control method provided by an embodiment of the present invention.
[0076] Figure 8 An example diagram of an embodiment of the present invention in which a current starting point coincides with a multiplexing starting point of a target multiplexing segment.
[0077] Fig. 9 An example diagram of a control device displaying a takeover prompt pop-up window provided in an embodiment of the present invention.
[0078] Fig.10 A schematic structural diagram of a route multiplexing device provided in an embodiment of the present invention.
[0079] Fig.11 A schematic structural diagram of a flight control device provided by an embodiment of the present invention.
[0080] Fig.12 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION
[0081] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions 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 part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.
[0082] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0083] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.
[0084] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.
[0085] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.
[0086] The route reuse method provided in the embodiment of the present invention can be applied to electronic devices. The electronic device can be an integral device, such as a flight remote controller of a drone, a smart phone, a server, etc., or a separate product, such as a computing device or a chip platform mounted on a drone, or a drone control system, which is not limited in any way by the embodiment of the present application.
[0087] The drone in the embodiment of the present invention may be, but is not limited to, a fixed-wing drone, a multi-rotor drone, a vertical take-off and landing drone, and the like.
[0088] The application scenario of the embodiment of the present invention can be a cargo replenishment and transportation scenario during plant protection operations, for example, the switching of operation points involved in the operation process such as fertilization, sowing, and spraying pesticides. When a plot of land is completed and there is a shortage of materials, it is necessary to go to the replenishment point to replenish the goods and then fly to the next operation point. This example is only an example, and the embodiment of the present invention does not impose any limitation on this.
[0089] Please refer to Figure 1 , Figure 1 A schematic flow chart of a route multiplexing method provided in an embodiment of the present invention, the method comprising the following steps S101 to S104:
[0090] S101. Taking the current location of the UAV as the center, search for each historical route within a preset range around it.
[0091] In this embodiment, in the current operation scenario of the drone, there may be several historical routes for transportation. It is necessary to search for each historical route within a preset range around the current location of the drone.
[0092] Optionally, the preset range may cover the entire area or part of the area where the drone is operating. The setting of the preset range depends on the actual operation scenario. For example, the preset range may be a 1km or 500m area centered on the current location of the drone. This example is only an example and is not limited in the embodiments of the present invention.
[0093] S102: Determine the reusable flight segments in each historical route.
[0094] In this embodiment, when the drone needs to fly from the current location to the target location, it can consider reusing the searched historical routes. Therefore, the reusable segment in the historical route can be a part of the historical route or the complete route, and the target location can be specified by the user, which is not limited in the embodiment of the present invention.
[0095] It can be understood that, ideally, the two ends of a reusable segment found can coincide with the current location of the drone and the target location, so that the drone can reach the target location from the current location by flying according to the reusable segment. However, in actual situations, the reusable segment found is usually only a part of the complete route in which the drone reuses the reusable segment to fly from the current location to the target location.
[0096] S103. Filter out each valid reused flight segment whose reuse flight efficiency meets the set requirements from all the reused flight segments.
[0097] In this embodiment, in order to ensure that the flight efficiency of the drone reusing the reusable flight segment to the target location is reduced, it is necessary to screen out the effective reusable flight segment from all the reusable flight segments based on the reusable flight efficiency, and the flight efficiency of reusing the effective reusable flight segment to the target location is considered to be up to standard and meet the requirements. Among them, the reusable flight efficiency can reflect the difference in flight distance between reusing the reusable flight segment and direct flight during the process of the drone flying from the current location to the target location.
[0098] S104. Based on the segment reuse rate of each valid reuse segment, at least one recommended reuse segment is selected from all valid reuse segments.
[0099] In this embodiment, in the complete route of the drone from the current location to the target location, if the reused valid reusable segments are as long as possible, this can reduce the workload of route planning to a greater extent. Therefore, based on the segment reuse rate of each valid reusable segment, at least one recommended reusable segment can be selected from all valid reusable segments.
[0100] It is understandable that when a drone needs to fly from its current location to a target location, although a straight-line flight is the shortest distance and takes the least time, the usual practice in the prior art is to plan a route and fly along the route, and the planned route is not necessarily a straight line, and route planning also takes time.
[0101] The route reuse method provided in the embodiment of the present invention does not plan a complete route from the current location of the drone to the target location, but determines the reuseable segments in each searched historical route, and finally selects at least one recommended reused segment to recommend to the user. This can effectively save some route planning time and achieve the effect of flexible and efficient route planning.
[0102] It is understandable that the drone or the drone's control device (flight remote controller or smart phone) can locally store several historical routes involved in the transportation in the current operation scenario, or the control device can also upload these historical routes to the drone's cloud server.
[0103] When the executing entity is a drone flight control or control device, the current location of the drone can be used as the center to search for each historical route within a preset range from several historical routes in the current operating scenario stored locally. Finally, the control device can recommend at least one recommended reused route segment to the user for selection.
[0104] Alternatively, when the execution subject is a cloud server of a drone, the cloud server receives a reused segment request instruction sent by the control device, which may include the current location of the drone, the target location, and a preset range, and is used to request the cloud server to find out the segments of the historical routes within the preset range that can be reused in the process of flying from the current location of the drone to the target location. The cloud server executes the reused segment request instruction, finds out multiple reused segments, and after screening, determines the final at least one recommended reused segment and feeds it back to the control device, and the control device can recommend the received recommended reused segment to the user for selection.
[0105] In an optional implementation, the sub-steps of step S102 may include S1021 to S1022:
[0106] S1021. Determine the reuse starting point and reuse end point on each historical route.
[0107] It can be understood that a historical route may include several historical waypoints.
[0108] Optionally, for a historical route, the reuse starting point and reuse end point can be found from all historical waypoints of the historical route according to the current position of the drone and the distance between the target position and each historical waypoint on the historical route.
[0109] Therefore, the sub-steps of S1021 may include S10211 to S10215.
[0110] S10211. The current position of the drone is taken as the current starting point, and the target position is taken as the current end point.
[0111] S10212. For any historical route, respectively calculate the first distance and the second distance between the current starting point and the current end point and each historical waypoint on the historical route.
[0112] In the optional example, please combine Figure 2 , Figure 2 The historical route shown includes 11 historical waypoints (S1-S11) in total, the current starting point is K1, and the current end point is K2. The first distance d1 can be represented as the distance between K1 and the historical waypoint, and the second distance d2 can be represented as the distance between K2 and the historical waypoint.
[0113] S10213. Among all the historical waypoints of the historical route, the historical waypoint with the smallest first distance is used as the reuse starting point.
[0114] S10214. Among all the historical waypoints of the historical route, the historical waypoint with the second smallest distance is used as the reuse end point.
[0115] Please continue to combine Figure 2 , Figure 2 It can be seen that among the first distances between the current starting point K1 and each historical waypoint, the distance between K1 and S2 is the smallest, that is, S2 is the reused starting point; among the second distances between the current end point K2 and each historical waypoint, the distance between K2 and S8 is the smallest, that is, S8 is the reused end point.
[0116] S10215. Traverse each historical route to obtain the reused starting point and reused end point on each historical route.
[0117] In this embodiment, for each historical route searched out, the above steps S10212 to S10214 are executed to obtain the reused starting point and the reused end point on each historical route.
[0118] It should be noted that the execution order between the above steps S10213 and S10214 can be replaced and should not be limited to the above.
[0119] S1022. For each historical route, extract a reusable flight segment from the historical route using the reusable starting point and the reusable end point on the historical route to obtain the reusable flight segment in each historical route.
[0120] Please continue to combine Figure 2 ,exist Figure 2In the above, based on the reuse starting point S2 and the reuse end point S8, the reusable flight segments S2 to S8 can be extracted from the historical route.
[0121] It should be noted that Figure 2 The above is only an example, and the embodiments of the present invention are not limited to this.
[0122] In an optional implementation, the sub-steps of step S103 may include S1031 to S1034:
[0123] S1031, calculating the direct flight distance from the current starting point to the current end point.
[0124] S1032. For each reusable flight segment, based on the straight-line distance between the current starting point and the reuse starting point, the route length of the reusable flight segment, and the straight-line distance from the reuse end point to the current end point, determine the total reuse flight length of the reusable flight segment in the process of flying from the current starting point to the current end point.
[0125] In this embodiment, for each reusable flight segment, the straight-line distance between the current starting point and the reused starting point, the route length of the reusable flight segment, and the straight-line distance from the reused end point to the current end point can be calculated first, and then the sum of these three parts can be calculated to obtain the total reused flight length corresponding to the reusable flight segment.
[0126] S1033. Calculate the ratio between the direct flight distance and the total length of the reused flight corresponding to each reuseable flight segment.
[0127] S1034. The reusable flight segments whose ratio exceeds the preset ratio are regarded as valid reusable flight segments.
[0128] In this embodiment, the reuse flight efficiency may be the ratio of the direct flight distance to the total reuse flight length corresponding to the reused flight segment. If the reuse flight efficiency of a reused flight segment does not exceed the preset ratio, it means that the flight efficiency of reused flight segment from the current starting point to the current destination is low.
[0129] Therefore, by calculating the reuse flight efficiency of each reusable segment, the effective reusable segments whose reuse flight efficiency exceeds the preset ratio can be found from all the reusable segments. This can ensure that the flight efficiency of the drone reusing the effective reusable segments from the current starting point to the current destination meets the standard, thereby avoiding a significant reduction in subsequent operating efficiency due to the reuse of routes.
[0130] In the optional example, Figure 2 Based on Figure 3 , Figure 3In the figure, assuming that the direct flight distance from the current starting point K1 to the current end point K2 is d, the straight-line distance between the current starting point K1 and the reused starting point S2 is d1, the route length of the reused segment (S2-S8) is l, and the straight-line distance from the reused end point S8 to the current end point K2 is d2, the total reused flight length corresponding to the reused segment (S2-S8) is d1+l+d2. Therefore, Figure 3 The reuse flight efficiency of the reuseable flight segments (S2 to S8) is
[0131] It should be noted that the above examples are only for illustration and are not intended to be limiting. The preset ratio may be determined based on actual application conditions, for example, the preset ratio may be 75% or 80%, which is not limited in the embodiment of the present invention.
[0132] In an optional implementation, the sub-steps of the above step S104 may include S1041 to S1044.
[0133] S1041. Obtain the length of each valid multiplexing segment and the total length of the multiplexing flight when each valid multiplexing segment is multiplexed for flight.
[0134] S1042. For each valid multiplexing segment, calculate the ratio between the length of the valid multiplexing segment and the corresponding total multiplexing flight length to obtain the segment multiplexing rate of each valid multiplexing segment.
[0135] In this embodiment, the segment reuse rate can reflect the proportion of the segment length reused in the process of reusing the corresponding valid reuse segment from the current starting point to the current destination. That is, for an effective reuse segment, its segment reuse rate is the ratio between the length of the effective reuse segment and the corresponding total reuse flight length.
[0136] S1043. Sort all valid reused flight segments in descending order of flight segment reuse rates.
[0137] S1044. Select at least one recommended reused flight segment from all sorted valid reused flight segments.
[0138] In this embodiment, 1 to 3 recommended multiplexing flight segments with higher flight segment multiplexing rates can be selected from all sorted valid multiplexing flight segments for user selection.
[0139] For an optional example, see Figure 4 , Figure 4 A schematic diagram of a route reuse interface of a control device provided in an embodiment of the present invention. Point 3 is the target location selected by the user, and point 1 is the current location of the drone. Figure 4The thick dashed line from point 1 to point 3 is a recommended multiplexing segment that can be selected by the user. This example is only an example and is not intended to be limiting.
[0140] In an optional implementation, among the multiple valid multiplexing segments obtained in step S103, two valid multiplexing segments may intersect. Considering that routes can be switched based on the intersection, a new multiplexing segment can be further obtained. Figure 1 Based on Figure 5 After the above step S103, the following steps may be further included: S105 to S106:
[0141] S105. When two valid multiplexed flight segments have a common intersection, the two valid multiplexed flight segments are reorganized based on the intersection to obtain two new multiplexed flight segments.
[0142] In this embodiment, when there are two intersecting valid multiplexing segments, theoretically, when flying to the intersection point according to one valid multiplexing segment, it is possible to switch to another valid multiplexing segment. Based on this, the two intersecting valid multiplexing segments can be reorganized to obtain two new multiplexable segments.
[0143] Optionally, the sub-steps of S105 may include S1051 to S1053:
[0144] S1051. Segment segmentation is performed on two valid multiplexed flight segments based on the intersection point to obtain a first multiplexed flight segment and a second multiplexed flight segment corresponding to the first valid multiplexed flight segment and a third multiplexed flight segment and a fourth multiplexed flight segment corresponding to the second valid multiplexed flight segment.
[0145] In this embodiment, the first reusable flight segment and the third reusable flight segment are located between the current starting point and the intersection, and the second reusable flight segment and the fourth reusable flight segment are located between the intersection and the current end point.
[0146] S1052: Concatenate the first reusable flight segment and the fourth reusable flight segment to obtain a new reusable flight segment.
[0147] S1053: Splice the third reusable flight segment with the second reusable flight segment to obtain another new reusable flight segment.
[0148] In this embodiment, by splitting the two intersecting valid multiplexed flight segments at the intersection, the two intersecting valid multiplexed flight segments can be divided into four parts, and then the two parts belonging to different valid multiplexed flight segments are spliced to obtain a new multiplexed flight segment, so that more multiplexed flight segments can be expanded.
[0149] For an optional example, see Figure 6 , Figure 6 Two intersecting valid reused flight segments are shown in the figure, which belong to the historical routes r1 and r2 respectively. The intersection point of the two is point G. The two intersecting valid reused flight segments are recorded as A1-G-A2 and B1-G-B2.
[0150] Then, starting from point G, A1-G-A2 can be divided into the first reusable segment A1-G and the second reusable segment G-A2, and B1-G-B2 can be divided into the third reusable segment B1-G and the fourth reusable segment G-B2. After splicing and reassembling, two new reusable segments A1-G-B2 and B1-G-A2 can be obtained.
[0151] This example is merely an example and is not intended to be limiting.
[0152] S106. Select each new valid reused flight segment whose reuse flight efficiency meets the set requirements from the two new reused flight segments.
[0153] In this embodiment, in order to ensure the flight efficiency during reuse, the two newly expanded reuseable flight segments also need to be screened based on the reuse flight efficiency. The calculation method of the reuse flight efficiency of the new reuseable flight segment is consistent with the above introduction, and will not be repeated here.
[0154] Based on the above route reuse method, the present invention also provides a flight control method, which can be applied to UAV flight control. Figure 7 The flight control method includes the following steps S201 and S204:
[0155] S201. Obtain a target reused flight segment.
[0156] In this embodiment, the target multiplexing segment is selected by the user from at least one recommended multiplexing segment obtained based on the route multiplexing method introduced above.
[0157] Optionally, after the user selects the target location on the operation scene map displayed on the touch screen of the control device, the user can select the reuse priority mode, so that the control device can obtain at least one recommended reuse segment based on the above route reuse method, and then the control device displays the recommended reuse segment on the operation scene map for the user to select. When the user selects the target reuse segment from at least one recommended reuse segment, the control device will send the target reuse segment and the target point to the UAV flight control.
[0158] S204, taking the current position of the drone as the current starting point and the target position as the current end point, controlling the drone to fly from the current starting point, and reusing the target reused segment during the process of flying from the current starting point to the current end point.
[0159] The flight control method provided by the embodiment of the present invention can obtain the target multiplexing segment selected by the user from at least one recommended multiplexing segment, and then control the drone to fly from the current starting point with the current location of the drone as the current starting point and the target location as the current end point, and reuse the target multiplexing segment in the process of flying from the current starting point to the current end point. In this way, in the process of the drone flying to the target location, reusing the target multiplexing segment can save part of the route planning work under the premise of ensuring flight efficiency, and achieve the purpose of flexible and efficient route planning.
[0160] For optional implementations, please combine Figure 3 , Figure 3 In the example, the current starting point and the reused starting point S2 do not overlap. At this time, the determined route is only the target reused segment (S2 to S8). As for the flight routes from the current starting point to the reused starting point (K1 to S2) and from the reused end point to the current end point (S8 to K2), it depends on the flight mode selected by the user after selecting the target reused segment. Then there are the following two situations:
[0161] In one case, the user may select the automatic flight mode, and then before the above step S204, the following may be included:
[0162] S202: When the current starting point does not coincide with the reuse starting point, a first flight segment from the current starting point to the reuse starting point and a second flight segment from the reuse end point to the current end point are planned.
[0163] In this embodiment, the specific method of planning the first flight segment from the current starting point to the reuse starting point and the second flight segment from the reuse end point to the current end point is the existing technology and will not be described in detail here.
[0164] At this time, the sub-steps of step S204 may include: S2041, controlling the drone to start flying from the current starting point, and fly in accordance with the first segment, the target reuse segment and the second segment in sequence until reaching the current destination.
[0165] That is, in this case, the UAV flight control executes steps S201, S202, and S2041 in sequence.
[0166] In another case, the user may select the manual flight mode, and the sub-steps of the above step S204 may include S204-1 to S204-3:
[0167] S204-1. Receive the automatic flight command sent by the flight remote controller.
[0168] It is understandable that the flight remote controller may include a touch screen, which can display information such as the target reuse segment and the real-time position of the drone on a map of the current operation scene.
[0169] In this embodiment, the automatic flight instruction may be generated when the flight remote controller senses that the user clicks the confirmation button of the automatic flight prompt pop-up window on the touch screen. The automatic flight prompt pop-up window may pop up when the flight remote controller senses that the drone flies from the current starting point to the reused starting point under the manual control of the user.
[0170] S204-2. Control the UAV to fly according to the target reuse segment from the reuse starting point.
[0171] S204-3. When it is determined that the drone has reached the reuse end point, a takeover instruction is sent to the flight remote controller, so that the flight remote controller displays a takeover prompt pop-up window on the touch screen based on the takeover instruction. The takeover prompt pop-up window is used to prompt the user to manually control the drone to fly to the current end point.
[0172] That is, in this case, the UAV flight control executes steps S201, S204-1 to S204-3 in sequence.
[0173] The above introduces the processing logic of the drone flight control when the user selects the automatic flight mode when the reused starting point of the current start point and the target reused segment do not coincide, and the processing logic of the drone flight control when the user selects the manual flight mode.
[0174] Next, we will introduce the processing logic of the UAV flight control involved when the reused starting point of the current starting point and the target reused segment coincide.
[0175] In the optional implementation, the current starting point may coincide with the reuse starting point of the target reuse segment. Figure 8 , Figure 8 The reuse starting point of the target reuse segment is S1, the reuse end point is S9, and the reuse starting point S1 coincides with the current starting point K1. At this time, the determined route is the target reuse segment (S1 to S9 part). As for the flight route from the reuse end point S9 to the current end point K2, it also depends on the flight mode selected by the user after selecting the target reuse segment. Then there are the following two situations:
[0176] In one case, the user may select the automatic flight mode, and then before the above step S204, S203 may be included:
[0177] S203, when the current starting point coincides with the reuse starting point, planning a second flight segment from the reuse end point to the current end point;
[0178] At this time, the sub-steps of step S204 may include: S204-a, controlling the drone to fly from the current starting point, and fly in accordance with the target reused segment and the second segment in sequence until reaching the current end point.
[0179] That is, in this case, the UAV flight control executes steps S201, S203, and S204-a in sequence.
[0180] In another case, the user may select the manual flight mode, and the sub-steps of the above step S204 may include S204-A to S204-B:
[0181] S204-A, control the UAV to fly according to the target reuse segment from the current starting point.
[0182] S204-B, when it is determined that the drone has reached the reuse end point, a takeover instruction is sent to the flight remote controller, so that the flight remote controller displays a takeover prompt pop-up window on the touch screen based on the takeover instruction, and the takeover prompt pop-up window is used to prompt the user to manually control the drone to fly to the current end point.
[0183] It can be understood that step S204-B is the same as the above step S204-3. Figure 4 Based on Fig. 9 , Fig. 9 The figure shows a pop-up window of a takeover prompt when the drone reaches the target point 2, and the prompt content is "Arrived at the takeover point, please fly manually to the target point". This example is only an example and is not limited here.
[0184] That is, in this case, the UAV flight control executes steps S201, S204-A to S204-B in sequence.
[0185] It should be noted that the execution order of each step in the above method embodiment is not limited to that shown in the drawings, and the execution order of each step shall be based on the actual application situation.
[0186] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:
[0187] First, by searching for each historical route within a preset range around the current location of the drone, it can be ensured that the historical headings found are reusable references.
[0188] Second, according to the current position of the UAV and the distance between the target position and each historical waypoint on the historical route, the reuse starting point and reuse end point are found from all historical waypoints of the historical route, so as to intercept the reusable segments on the historical route. This ensures that some reusable segments on the historical route are found, making the overall flight distance shorter in the process of reusing the reusable segments, avoiding unnecessary detours caused by reusing a complete historical route.
[0189] Third, by calculating the reuse flight efficiency of each reusable segment, the effective reuse flight segments whose reuse flight efficiency exceeds the preset ratio can be found from all the reusable segments. This can ensure that the flight efficiency of the drone reusing the effective reuse segment from the current starting point to the current destination meets the standard, thereby avoiding a significant reduction in subsequent operating efficiency due to the reuse of routes.
[0190] Fourth, by calculating the segment reuse rate of the valid reused segments, at least one recommended reused segment with a higher segment reuse rate is selected from all valid reused segments. This ensures that the selected recommended reused segments can reduce the workload of route planning to a greater extent.
[0191] Fifth, for the flight from the current starting point to the current destination, except for the multiplexed segment of the multiplexed target, the present invention provides two modes of automatic flight and manual flight for users to choose, which is more flexible.
[0192] In order to execute the corresponding steps in the above method embodiment and each possible implementation method, the implementation method of the corresponding route multiplexing device and flight control device is given below.
[0193] See also Fig.10 , Fig.10 The schematic diagram of the structure of the route multiplexing device provided by the embodiment of the present invention is shown. The route multiplexing device 200 comprises: a route search module 210 , a flight segment calculation module 220 , a first screening module 230 and a second screening module 240 .
[0194] The route search module 210 is used to search for each historical route within a preset range around the current location of the drone;
[0195] The flight segment calculation module 220 is used to determine the reusable flight segments in each historical route;
[0196] The first screening module 230 is used to determine the reused route corresponding to each historical route based on the current starting point and the current end point; the reused route includes the reused flight segments in the corresponding historical route;
[0197] The second screening module 240 is used to: screen out each valid reused segment whose reuse flight efficiency meets the set requirements from all the reused segments; the reuse flight efficiency reflects the difference in flight distance between reused reused segments and direct flight in the process of the drone flying from the current position to the target position; based on the segment reuse rate of each valid reused segment, select at least one recommended reused segment from all the valid reused segments.
[0198] Those skilled in the art can clearly understand that the route search module 210 can be used to implement the above step S101, the flight segment calculation module 220 can be used to implement the above step S102 and its sub-steps, the first screening module 230 can be used to implement the above steps S103, S105-S106 and their various sub-steps, and the second screening module 240 can be used to implement the above step S104 and its sub-steps. For the convenience and simplicity of description, the specific working process of the route multiplexing device 200 described above can refer to the corresponding process in the embodiment corresponding to the above route multiplexing method, and will not be repeated here.
[0199] See also Fig.11 , Fig.11 The schematic diagram of the structure of the flight control device provided by the embodiment of the present invention is shown. The flight control device 400 comprises: a flight segment acquisition module 410 and a flight control module 420 .
[0200] The flight segment acquisition module 410 is used to obtain a target multiplexing flight segment, where the target multiplexing flight segment is selected by the user from at least one recommended multiplexing flight segment obtained according to the route multiplexing method described above;
[0201] The flight control module 420 is used to control the drone to fly from the current starting point with the current position of the drone as the current starting point and the target position as the current end point, and reuse the target reuse segment in the process of flying from the current starting point to the current end point.
[0202] Those skilled in the art can clearly understand that the flight segment acquisition module 410 can be used to implement the above step S201, and the flight control module 420 can be used to implement steps S202, S203, S204 and various sub-steps thereof. For the convenience and simplicity of description, the specific working process of the flight control device 400 described above can refer to the corresponding process in the corresponding embodiment of the aforementioned flight control method, and will not be repeated here.
[0203] See also Fig.12 , Fig.12 The electronic device 300 includes a processor 310 , a memory 320 , and a bus 330 , wherein the processor 310 is connected to the memory 320 via the bus 330 .
[0204] The memory 320 may be used to store software programs, for example, software programs corresponding to the route multiplexing device 200 and / or software programs corresponding to the flight control device 400 provided in the embodiment of the present invention. The processor 310 executes various functional applications and data processing to implement the route multiplexing method and / or flight control method provided in the embodiment of the present invention by running the software programs stored in the memory 320.
[0205] Among them, the memory 320 can be but is not limited to: RAM (Random Access Memory), ROM (Read Only Memory), FLASH (Flash Memory), PROM (Programmable Read-Only Memory), EPROM (Erasable Programmable Read-Only Memory), EEPROM (Electric Erasable Programmable Read-Only Memory), etc.
[0206] The processor 310 may be an integrated circuit chip with signal processing capability. The processor 310 may be a general-purpose processor, including: CPU (Central Processing Unit), NP (Network Processor), etc.; it may also be: DSP (Digital Signal Processing), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
[0207] Understandably, Fig.12 The structure shown is for illustration only. The electronic device 300 may also include Fig.12 More or fewer components as shown, or with Fig.12 Different configurations are shown. Fig.12 Each component shown in the figure can be implemented by hardware, software or a combination thereof.
[0208] The embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the route multiplexing method and / or flight control method disclosed in the above embodiment are implemented. The computer-readable storage medium can be, but is not limited to, various media that can store program codes, such as a USB flash drive, a mobile hard disk, a ROM, a RAM, a PROM, an EPROM, an EEPROM, a FLASH disk, or an optical disk.
[0209] In summary, the embodiments of the present invention provide a route reuse method, a flight control method, an apparatus, an electronic device and a medium. First, with the current location of the drone as the center, each historical route within a preset range is searched, and then the reusable segments in each historical route are determined; then, each valid reusable segment whose reuse flight efficiency meets the set requirements is selected from all reusable segments; finally, based on the segment reuse rate of each valid reusable segment, at least one recommended reusable segment is selected from all valid reusable segments. Since the reuse flight efficiency can reflect the difference in flight distance between the reused reusable segment and the direct flight in the process of the drone flying from the current location to the target location, the user can flexibly select the target reusable segment reused in the process of flying from the current location of the drone to the target location from the recommended reusable segments finally selected, so that there is no need to re-plan the complete flight route from the current location of the drone to the target location, but to flexibly find the recommended reusable segment that can be reused, thereby avoiding part of the route planning work.
[0210] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims
1. A route multiplexing method, It is characterized in that include: Centered on the current location of the drone, search for every historical route within the preset range around it; determining a reusable flight segment in each of the historical routes; Filter out effective reused flight segments whose reused flight efficiency meets the set requirements from the plurality of reused flight segments; the reused flight efficiency reflects the difference in flight distance between reused reused flight segments and direct flight during the process of the UAV flying from the current location to the target location; At least one recommended reused flight segment is selected from the valid reused flight segments based on the flight segment reuse rate of each of the valid reused flight segments.
2. The method according to claim 1, It is characterized in that The step of determining the reusable flight segments in each of the historical routes comprises: Determine a reuse starting point and a reuse end point on each of the historical routes; For each of the historical routes, the reused starting point and the reused end point on the historical route are used to extract the reused flight segments from the historical route, thereby obtaining the reused flight segments in each of the historical routes.
3. The method according to claim 2, It is characterized in that The historical route includes a plurality of historical waypoints, and the step of determining the reused starting point and the reused end point on each of the historical routes includes: The current position of the drone is taken as the current starting point, and the target position is taken as the current end point; For any of the historical routes, respectively calculating a first distance and a second distance between the current starting point and the current end point and each historical waypoint on the historical route; Among all the historical waypoints of the historical route, the historical waypoint with the smallest first distance is used as the reuse starting point; Among all the historical waypoints of the historical route, the historical waypoint with the smallest second distance is used as the reuse end point; Each of the historical routes is traversed to obtain a reused starting point and a reused end point on each of the historical routes.
4. The method according to claim 1, It is characterized in that The current position of the drone is the current starting point, and the target position is the current end point; the reusable flight segment includes a reusable starting point and a reusable end point, and the step of selecting each valid reusable flight segment whose reusable flight efficiency meets the set requirements from all reusable flight segments includes: Calculate the direct flight distance from the current starting point to the current end point; For each of the reusable flight segments, based on the straight-line distance between the current starting point and the reusing starting point, the route length of the reusable flight segment, and the straight-line distance between the reusing end point and the current end point, determine the total length of the reusable flight in which the reusable flight segments are reused in the process of flying from the current starting point to the current end point; Calculating the ratio between the direct flight distance and the total length of the reused flight corresponding to each of the reused flight segments respectively; The reusable flight segments whose ratio exceeds the preset ratio are taken as the valid reusable flight segments.
5. The method according to claim 1, It is characterized in that The step of selecting at least one recommended multiplexing segment from all valid multiplexing segments based on the segment multiplexing rate of each valid multiplexing segment comprises: Obtaining the length of each valid multiplexing flight segment and the total multiplexing flight length when each of the valid multiplexing flight segments is multiplexed for flight; For each of the valid multiplexing segments, a ratio between the length of the valid multiplexing segment and the corresponding total multiplexing flight length is calculated to obtain a segment multiplexing rate of each of the valid multiplexing segments; Sorting all valid reused flight segments in descending order of the flight segment reuse rates; At least one recommended multiplexing segment is selected from all sorted valid multiplexing segments.
6. The method according to claim 1, It is characterized in that After the step of selecting each valid reused flight segment whose reused flight efficiency meets the set requirements from all the reused flight segments, the method further includes: When two valid multiplexed flight segments have a common intersection, the two valid multiplexed flight segments are reorganized based on the intersection to obtain two new multiplexed flight segments; Each new valid reused flight segment whose reuse flight efficiency meets the set requirement is selected from the two new reused flight segments.
7. The method according to claim 6, It is characterized in that The current position of the drone is the current starting point, and the target position is the current end point; the step of reorganizing the two valid reused flight segments based on the intersection to obtain two new reused flight segments includes: The two valid multiplexed flight segments are segmented based on the intersection to obtain a first multiplexed flight segment and a second multiplexed flight segment corresponding to the first valid multiplexed flight segment and a third multiplexed flight segment and a fourth multiplexed flight segment corresponding to the second valid multiplexed flight segment; wherein the first multiplexed flight segment and the third multiplexed flight segment are located between the current starting point and the intersection, and the second multiplexed flight segment and the fourth multiplexed flight segment are located between the intersection and the current end point; splicing the first reusable flight segment with the fourth reusable flight segment to obtain a new reusable flight segment; The third reusable flight segment is concatenated with the second reusable flight segment to obtain another new reusable flight segment.
8. A flight control method, It is characterized in that include: Obtaining a target multiplexing segment, wherein the target multiplexing segment is selected by a user from at least one recommended multiplexing segment obtained according to the route multiplexing method according to any one of claims 1 to 7; The current position of the drone is taken as the current starting point and the target position is taken as the current end point, the drone is controlled to fly from the current starting point, and the target reused segment is reused in the process of flying from the current starting point to the current end point.
9. The method according to claim 8, It is characterized in that The target reused flight segment includes a reused starting point and a reused end point; After the step of obtaining the target reused flight segment, the method further includes: When the current starting point does not coincide with the reuse starting point, planning a first segment from the current starting point to the reuse starting point and a second segment from the reuse end point to the current end point; The step of controlling the drone to start flying from the current starting point and reusing the target reused segment during the flight from the current starting point to the current end point includes: The drone is controlled to start flying from the current starting point, and to fly in accordance with the first flight segment, the target reused flight segment and the second flight segment in sequence until it reaches the current destination.
10. The method according to claim 8, It is characterized in that The target reused flight segment includes a reused starting point and a reused end point; After the step of obtaining the current starting point, the current end point and the target reused segment, the method further includes: When the current starting point coincides with the reuse starting point, planning a second flight segment from the reuse end point to the current end point; The step of controlling the drone to start flying from the current starting point and reusing the target reused segment during the flight from the current starting point to the current end point includes: The drone is controlled to start flying from the current starting point, and to fly in accordance with the target reused flight segment and the second flight segment in sequence until it reaches the current destination.
11. The method according to claim 8, It is characterized in that The target reused flight segment includes a reused starting point and a reused end point; the step of controlling the UAV to start flying from the current starting point and reuse the target reused flight segment in the process of flying from the current starting point to the current end point includes: Receiving an automatic flight instruction sent by a flight remote controller; wherein the flight remote controller includes a touch screen, and the automatic flight instruction is generated when the flight remote controller senses that a user clicks a confirmation button of an automatic flight prompt pop-up window on the touch screen; and the automatic flight prompt pop-up window is popped up when the flight remote controller senses that the UAV flies from the current starting point to the reused starting point under manual control of the user; Controlling the UAV to fly from the reuse starting point according to the target reuse segment; When it is determined that the drone has reached the reuse end point, a takeover instruction is sent to the flight remote controller, so that the flight remote controller displays a takeover prompt pop-up window on the touch screen based on the takeover instruction, and the takeover prompt pop-up window is used to prompt the user to manually control the drone to fly to the current end point.
12. The method according to claim 8, It is characterized in that The target reused flight segment includes a reused starting point and a reused end point; the step of controlling the UAV to start flying from the current starting point and reuse the target reused flight segment in the process of flying from the current starting point to the current end point includes: Controlling the UAV to fly according to the target reused flight segment starting from the current starting point; When it is determined that the drone has reached the reuse end point, a takeover instruction is sent to the flight remote controller, so that the flight remote controller displays a takeover prompt pop-up window on the touch screen based on the takeover instruction, and the takeover prompt pop-up window is used to prompt the user to manually control the drone to fly to the current end point.
13. A route multiplexing device, It is characterized in that include: The route search module is used to search for each historical route within a preset range around the current location of the drone; A flight segment calculation module, used for determining the reusable flight segments in each of the historical routes; A first screening module, configured to determine a reused route corresponding to each of the historical routes based on the current starting point and the current end point; the reused route includes a reused segment in the corresponding historical route; The second screening module is used to: Filter out each valid reused flight segment whose reused flight efficiency meets the set requirements from all the reused flight segments; the reused flight efficiency reflects the difference in flight distance between reuse of the reused flight segment and direct flight during the process of the UAV flying from the current position to the target position; At least one recommended reused flight segment is selected from all the valid reused flight segments based on the flight segment reuse rate of each of the valid reused flight segments.
14. A flight control device, It is characterized in that include: A segment acquisition module, used for obtaining a target multiplexing segment, wherein the target multiplexing segment is selected by a user from at least one recommended multiplexing segment obtained according to the route multiplexing method according to any one of claims 1 to 7; The flight control module is used to control the drone to fly from the current starting point with the current position of the drone as the current starting point and the target position as the current end point, and reuse the target reused segment during the flight from the current starting point to the current end point.
15. An electronic device, It is characterized in that include: A memory and a processor, wherein the memory stores a software program, and when the electronic device is running, the processor executes the software program to implement: the route reuse method as described in any one of claims 1 to 7, and / or the flight control method as described in any one of claims 8 to 12.
16. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements: the route multiplexing method according to any one of claims 1 to 7, and / or the flight control method according to any one of claims 8 to 12.