Outdoor tent erection position planning method, device and equipment and storage medium

Abstract

The invention relates to the technical field of tent erection position planning based on unmanned aerial vehicles, and discloses an outdoor tent erection position planning method, device and equipment and a storage medium. Driving the detection unmanned aerial vehicle to execute position planning cruise of a plurality of outdoor tent erection positions between two adjacent first outdoor activity planning track points in an outdoor activity initial planning path by considering a geographic parameter feature set of a fixed track point planning reference set and a moving speed and path feature mapping comparison table of the target user, and finally, obtaining a final outdoor activity planning path comprising a plurality of first outdoor activity planning track points and a plurality of second outdoor activity planning track points serving as outdoor tent erection positions. Therefore, on the premise that the tent erecting condition conformity of the tent erecting position is improved, the path section and the activity time of outdoor activities every day are planned as reasonably as possible.

Description

Technical Field

[0001] The present invention relates to the technical field of tent erection location planning based on unmanned aerial vehicles, and particularly to an outdoor tent erection location planning method, device, equipment and storage medium. Background Art

[0002] Tent erection location planning refers to the process of selecting and designing specific locations for setting up several tents during the selection and design of activity paths according to multi-dimensional factors such as terrain, safety, and activity time in long-term outdoor activities (especially hiking and wilderness exploration, etc.), so as to ensure comfort, safety, and convenience during camping. In practical applications, the tent erection location planning for outdoor activities needs to consider avoiding risky terrains (mainly staying away from dangerous areas and selecting stable geological areas). At the same time, it also needs to consider the convenience of water sources (mainly the distance from water sources) and terrain comfort (mainly the ground flatness and terrain type).

[0003] Traditional methods for outdoor tent erection location planning usually adopt two methods: theoretical speculation based on geographical topographic maps and ad-hoc planning during outdoor activities. Among them, the theoretical speculation method based on geographical topographic maps has low accuracy because it cannot take into account the dynamic changes of the actual geographical environment (such as geological disasters, vegetation coverage changes, and water source accuracy, etc.), and it is easy to have problems where the speculated location does not meet the tent erection conditions. And the ad-hoc planning during outdoor activities has obvious instability. The selection of outdoor activity rest points and tent erection locations is relatively conservative (that is, due to not knowing the specific geographical environment conditions of the subsequent activity path area, it is easy to start selecting rest points and setting up tents relatively early every day during the activity). Although it can ensure that the locations of outdoor activity rest points meet the tent erection conditions, in some outdoor activities with strict time limit planning (such as an appointment to meet at a certain location at a certain time period or to view a scenic spot at a certain time point), it is easy to have problems such as great difficulty in managing outdoor activity time and exceeding the activity time limit.

[0004] Therefore, how to improve the scientific nature of tent erection location planning during the long-term outdoor activity path, on the premise of improving the compliance of tent erection conditions for tent erection locations, reasonably plan the path sections and activity time of daily outdoor activities as much as possible, and avoid the occurrence of exceeding the activity time limit is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] The present invention provides an outdoor tent erection location planning method, device, equipment and storage medium, aiming to solve at least one of the above technical problems.

[0006] To achieve the above object, the present invention provides an outdoor tent erection location planning method, including the following steps: Obtain the outdoor activity planning information of the target user; wherein, the outdoor activity planning information includes the target outdoor activity area and the initial outdoor activity planning path located within the target outdoor activity area; Extract a number of first outdoor activity planning trajectory points arranged in sequence along the initial outdoor activity planning path, and use the first position information and activity time period of each first outdoor activity planning trajectory point to generate a fixed trajectory point planning reference set for the initial outdoor activity planning path; Query the geographical database of the target outdoor activity area, extract the geographical parameters of each location recorded in the geographical database, and construct a geographical parameter feature set; Based on the fixed trajectory point planning reference set and the geographical parameter feature set, drive the detection drone to perform position planning cruises for a number of outdoor tent erection positions between two adjacent first outdoor activity planning trajectory points in the initial outdoor activity planning path; Optimize the initial outdoor activity planning path according to the position planning cruise result to obtain a final outdoor activity planning path including a number of first outdoor activity planning trajectory points and a number of second outdoor activity planning trajectory points serving as outdoor tent erection positions.

[0007] Optionally, the step of obtaining the outdoor activity planning information of the target user specifically includes: In response to the first interaction action of the target user, determine the target outdoor activity area in the electronic map provided by the drone cruise control terminal; wherein, the first interaction action is configured as an area selection action of the target user in the electronic map provided by the drone cruise control terminal; In response to the second interaction action of the user, determine the initial outdoor activity planning path in the target outdoor activity area; wherein, the second interaction action is configured as a first outdoor activity trajectory point selection action and an activity time period input action of the target user in the target outdoor activity area; Generate the outdoor activity planning information of the target user based on the target outdoor activity area determined by the first interaction action and the initial outdoor activity planning path determined by the second interaction action.

[0008] Optionally, the step of extracting a number of first outdoor activity planning trajectory points arranged in sequence along the initial outdoor activity planning path and using the first position information and activity time period of each first outdoor activity planning trajectory point to generate a fixed trajectory point planning reference set for the initial outdoor activity planning path specifically includes: Extract the first position information and activity time period of a number of first outdoor activity planning trajectory points in the initial outdoor activity planning path, and establish the outdoor activity planning association information of each first outdoor activity planning trajectory point according to the first position information and activity time period; Sort and summarize the outdoor activity planning association information of several first outdoor activity planning trajectory points in the order of the above-mentioned activity time periods to generate a fixed trajectory point planning reference set for the initial outdoor activity planning path.

[0009] Optionally, query the geographical database of the target outdoor activity area, extract the geographical parameters of each location recorded in the geographical database, and the steps of constructing the geographical parameter feature set specifically include: Call the geographical database of the target outdoor activity area and extract several geographical parameters of each location within the target outdoor activity area recorded in the geographical database; Select several target geographical parameters that affect the outdoor activity moving speed from several geographical parameters to construct a geographical parameter feature set for each location within the target outdoor activity area; wherein, the target geographical parameters include terrain type characteristics, altitude characteristics, and vegetation type characteristics.

[0010] Optionally, based on the fixed trajectory point planning reference set and the geographical parameter feature set, drive the detection drone to execute the position planning cruise steps for several outdoor tent erection positions between two adjacent first outdoor activity planning trajectory points in the initial outdoor activity planning path, specifically including: According to the geographical parameter feature set of each location within the target outdoor activity area, divide the target outdoor activity area into several location grids and assign corresponding path cost values to each location grid according to the preset path cost calculation rule, and determine several candidate outdoor activity paths that meet the path cost selection conditions between every two adjacent first outdoor activity planning trajectory points; Among them, the path cost selection conditions include that the path cost value of each location grid is less than the maximum path cost value and the first N candidate outdoor activity paths sorted from small to large according to the sum of the path cost values of all location grids in the candidate outdoor activity path; Based on the earliest time of the start time of the target user's daily outdoor activities and the end time limit of the outdoor activities, considering the geographical parameter feature set of each location in the target outdoor activity area, the fixed trajectory point planning reference set, and the mapping table of the target user's moving speed and path characteristics, determine several initial outdoor activity rest points in each candidate outdoor activity path, and use the arrival order of several initial outdoor activity rest points in each candidate outdoor activity path as the cruise sequence relationship of each initial outdoor activity rest point, and generate the cruise route with the shortest cruise distance as the initial cruise route of the target outdoor activity area; Drive the detection drone to perform a position planning traversal cruise based on the initial cruise route to obtain a list of the second outdoor activity planning trajectory point positions of several candidate outdoor activity paths between every two adjacent first outdoor activity trajectory points; Based on the list of second outdoor activity planning trajectory point positions of several candidate outdoor activity paths between every two adjacent first outdoor activity trajectory points, perform a first screening action and a second screening action on the several candidate outdoor activity paths to obtain the cruise result of position planning cruise; Among them, the first screening action includes: screening out the candidate outdoor activity paths for which the time for the target user to reach the subsequent first outdoor activity trajectory point after passing through several second outdoor activity planning trajectory points in the list of second outdoor activity planning trajectory points is earlier than the activity time period corresponding to this first outdoor activity trajectory point; Among them, the second screening action includes: screening out the candidate outdoor activity path with the smallest standard deviation of the outdoor activity time between every two adjacent second outdoor activity planning trajectory points among all candidate outdoor activity paths, and taking it as the cruise result of position planning cruise.

[0011] Optionally, the step of driving the detection drone to perform a position planning traversal cruise of several initial outdoor activity rest points based on the initial cruise route to obtain the list of second outdoor activity planning trajectory point positions of several candidate outdoor activity paths between every two adjacent first outdoor activity trajectory points specifically includes: Drive the detection drone to perform a position planning traversal cruise of several initial outdoor activity rest points based on the initial cruise route. When obtaining the cruise image of each initial outdoor activity rest point, judge whether the initial outdoor activity rest point corresponding to each cruise image meets the outdoor tent erection condition; If so, write this initial outdoor activity rest point into the second outdoor activity planning trajectory point planning list corresponding to the candidate outdoor activity path; If not, perform a path front and back planning cruise along the candidate outdoor activity path corresponding to this initial outdoor activity rest point to determine the associated outdoor activity rest point, replace the corresponding initial outdoor activity rest point with this associated outdoor activity rest point and write it into the list of second outdoor activity planning trajectory point positions of the candidate outdoor activity path. Take the current position as the starting point, regenerate the initial outdoor activity rest point of the candidate outdoor activity path to which this associated outdoor activity rest point belongs, update the initial cruise route for the subsequent target outdoor activity area for the un-cruised initial outdoor activity rest points, and return to perform the position planning traversal cruise; Among them, the path front and back planning cruise includes a path forward planning cruise and a path backward planning cruise. The path forward planning cruise is configured as the cruise action for the outdoor activity path section between the earliest time and the latest time restricted by the end time period of each outdoor activity for the target user. The path backward planning cruise is configured as the cruise action from the position corresponding to the earliest time restricted by the end time period of each outdoor activity to the previous first outdoor activity trajectory point until the cruise image collected meets the outdoor tent erection condition; When replacing the associated outdoor activity rest point with the corresponding initial outdoor activity rest point and writing it into the list of the second outdoor activity planning track point positions of the candidate outdoor activity path, determine whether the position information of the associated outdoor activity rest point is the same as that of the previously added associated outdoor activity rest point in the list of the second outdoor activity planning track point positions. If so, delete the candidate outdoor activity path. After performing the cruise actions for all the initial outdoor activity rest points within the target outdoor activity area, extract the list of the second outdoor activity planning track point positions of several candidate outdoor activity paths between every two adjacent first outdoor activity track points.

[0012] Optionally, according to the position planning cruise result, optimize the initial outdoor activity planning path to obtain the final outdoor activity planning path including several first outdoor activity planning track points and several second outdoor activity planning track points serving as the outdoor tent erection positions. The specific steps include: Extract the candidate outdoor activity paths between every two adjacent first outdoor activity track points in the cruise result of the position planning cruise after two screenings; wherein, the candidate outdoor activity path includes several initial outdoor activity rest points and several associated outdoor activity rest points. Use the second position information corresponding to the initial outdoor activity rest point and the associated outdoor activity rest point as several second outdoor activity planning track points, and generate the final outdoor activity planning path including several first outdoor activity planning track points and several second outdoor activity planning track points serving as the outdoor tent erection positions.

[0013] In addition, to achieve the above object, the present invention further provides an outdoor tent erection position planning device, including: An acquisition module, configured to acquire the outdoor activity planning information of the target user; wherein, the outdoor activity planning information includes the target outdoor activity area and the initial outdoor activity planning path located within the target outdoor activity area. An extraction module, configured to extract several first outdoor activity planning track points arranged in the path sequence in the initial outdoor activity planning path, and generate a fixed track point planning reference set of the initial outdoor activity planning path by using the first position information and the activity time period of each of the first outdoor activity planning track points. A query module, configured to query the geographical database of the target outdoor activity area, extract the geographical parameters of each position recorded in the geographical database, and construct a geographical parameter feature set. A cruise module, configured to drive the detection unmanned aerial vehicle to perform the position planning cruise of several outdoor tent erection positions between two adjacent first outdoor activity planning track points in the initial outdoor activity planning path based on the fixed track point planning reference set and the geographical parameter feature set. A planning module, configured to optimize an initial planned path for outdoor activities according to the cruise result of the position, so as to obtain a final planned path for outdoor activities including a plurality of first planned trajectory points for outdoor activities and a plurality of second planned trajectory points for outdoor activities that are the positions for setting up outdoor tents.

[0014] In addition, to achieve the above object, the present invention further provides an outdoor tent setup position planning device, where the outdoor tent setup position planning device includes: a memory, a processor, and an outdoor tent setup position planning program stored on the memory and executable on the processor. When the outdoor tent setup position planning program is executed by the processor, the steps of the above-mentioned outdoor tent setup position planning method are implemented.

[0015] In addition, to achieve the above object, the present invention further provides a storage medium, on which an outdoor tent setup position planning program is stored. When the outdoor tent setup position planning program is executed by a processor, the steps of the above-mentioned outdoor tent setup position planning method are implemented.

[0016] The beneficial effects of the present invention are as follows: A method, device, equipment, and storage medium for planning the position of an outdoor tent are proposed. Based on the starting time of the target user's daily outdoor activities and the limit of the end period of outdoor activities, considering the geographical parameter feature set of the fixed trajectory point planning reference set and the mapping comparison table of the moving speed and path features of the target user, the detection drone is driven to perform position planning cruises for several outdoor tent setup positions between two adjacent first planned trajectory points in the initial planned path for outdoor activities, and finally a final planned path for outdoor activities including a plurality of first planned trajectory points for outdoor activities and a plurality of second planned trajectory points for outdoor activities that are the positions for setting up outdoor tents is obtained. Thereby, on the premise of improving the compliance of the tent setup conditions at the tent setup position, the path section and activity time of daily outdoor activities are reasonably planned as much as possible. Description of the Drawings

[0017] Figure 1 It is a schematic diagram of the device structure of the hardware operating environment related to the solution of the embodiment of the present invention; Figure 2 It is a schematic flow chart of the embodiment of the outdoor tent setup position planning method of the present invention; Figure 3 It is a structural block diagram of an outdoor tent setup position planning device in an embodiment of the present invention. Detailed Description of the Embodiment

[0018] In order to make the object, technical solution, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0019] As shown in Figure 1 the figure Figure 1 is a schematic structural diagram of the device of the hardware operating environment involved in the embodiment of the present invention.

[0020] As shown in Figure 1 the figure, the device may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display) and an input unit such as a keyboard (Keyboard). Optionally, the user interface 1003 may further include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the foregoing processor 1001.

[0021] Those skilled in the art can understand that Figure 1 the structure of the device shown in

[0022] does not constitute a limitation on the device, and may include more or fewer components than shown in the figure, or combine some components, or have different component arrangements. Figure 1 As shown in

[0023] In Figure 1 the terminal shown in the figure, the network interface 1004 is mainly used to connect to the background server and perform data communication with the background server; the user interface 1003 is mainly used to connect to the client (user side) and perform data communication with the client; and the processor 1001 may be used to call the outdoor tent erection position planning program stored in the memory 1005 and perform the following operations: Obtain the outdoor activity planning information of the target user; wherein, the outdoor activity planning information includes the target outdoor activity area and the initial outdoor activity planning path located within the target outdoor activity area; Extract a plurality of first outdoor activity planning trajectory points arranged in the order of the path in the initial outdoor activity planning path, and use the first position information and activity time period of each of the first outdoor activity planning trajectory points to generate a fixed trajectory point planning reference set of the initial outdoor activity planning path; Query the geographical database of the target outdoor activity area, extract the geographical parameters of each location recorded in the geographical database, and construct a geographical parameter feature set; Based on the fixed trajectory point planning reference set and the geographical parameter feature set, drive the detection drone to perform position planning cruises for several outdoor tent erection positions between two adjacent first outdoor activity planning trajectory points in the initial outdoor activity planning path; According to the position planning cruise results, optimize the initial outdoor activity planning path to obtain a final outdoor activity planning path that includes several first outdoor activity planning trajectory points and several second outdoor activity planning trajectory points that serve as outdoor tent erection positions.

[0024] The specific embodiments of the present invention applied to the device are basically the same as those of the following embodiments of the method for planning the position of an outdoor tent, and will not be elaborated here.

[0025] An embodiment of the present invention provides a method for planning the position of an outdoor tent. Refer to Figure 2 , Figure 2 which is a schematic flowchart of an embodiment of the method for planning the position of an outdoor tent according to the present invention.

[0026] In this embodiment, a method for planning the position of an outdoor tent includes the following steps: S100: Obtain the outdoor activity planning information of the target user; wherein, the outdoor activity planning information includes the target outdoor activity area and the initial outdoor activity planning path located within the target outdoor activity area; S200: Extract several first outdoor activity planning trajectory points arranged in sequence along the initial outdoor activity planning path, and use the first position information and activity time period of each first outdoor activity planning trajectory point to generate a fixed trajectory point planning reference set for the initial outdoor activity planning path; S300: Query the geographical database of the target outdoor activity area, extract the geographical parameters of each location recorded in the geographical database, and construct a geographical parameter feature set; S400: Based on the fixed trajectory point planning reference set and the geographical parameter feature set, drive the detection drone to perform position planning cruises for several outdoor tent erection positions between two adjacent first outdoor activity planning trajectory points in the initial outdoor activity planning path; S500: According to the position planning cruise results, optimize the initial outdoor activity planning path to obtain a final outdoor activity planning path that includes several first outdoor activity planning trajectory points and several second outdoor activity planning trajectory points that serve as outdoor tent erection positions.

[0027] It should be noted that the traditional methods for planning the location of outdoor tent erection usually include two methods: theoretical speculation based on geographical topographic maps and ad-hoc planning during outdoor activities. Among them, the theoretical speculation method based on geographical topographic maps has low accuracy because it cannot take into account the dynamic changes in the actual geographical environment (such as geological disasters, vegetation cover changes, and water source accuracy). It is prone to problems where the speculated location does not meet the tent erection conditions. On the other hand, ad-hoc planning during outdoor activities is very unstable. The selection of outdoor activity rest points and tent erection locations tends to be conservative (that is, due to not knowing the specific geographical environment conditions in the subsequent activity path area, it is easy to start selecting rest points and erecting tents relatively early every day during the activity). Although it can ensure that the location of the outdoor activity rest point meets the tent erection conditions, in some outdoor activities with strict time limit plans (such as being invited to meet at a certain location and time or viewing a scenic spot at a certain time), it is easy to have problems such as difficult time management for outdoor activities and exceeding the activity time limit.

[0028] In this embodiment, by obtaining the starting time of the target user's daily outdoor activities and the end time period limit of outdoor activities, considering the geographical parameter feature set of the fixed trajectory point planning reference set and the mapping comparison table of the moving speed and path characteristics of the target user, the detection drone is driven to perform position planning cruises for several outdoor tent erection positions between two adjacent first outdoor activity planning trajectory points in the initial planning path of outdoor activities. Finally, an outdoor activity final planning path including several first outdoor activity planning trajectory points and several second outdoor activity planning trajectory points as outdoor tent erection positions is obtained. Thus, on the premise of improving the compliance of the tent erection conditions for the tent erection location, the path section and activity time of daily outdoor activities are planned as reasonably as possible.

[0029] In a preferred embodiment, the steps of obtaining the outdoor activity planning information of the target user specifically include: S110: In response to the first interaction action of the target user, determine the target outdoor activity area in the electronic map provided by the drone cruise control terminal; wherein, the first interaction action is configured as an area selection action of the target user in the electronic map provided by the drone cruise control terminal; S120: In response to the second interaction action of the user, determine the initial planning path of outdoor activities in the target outdoor activity area; wherein, the second interaction action is configured as a first outdoor activity trajectory point selection action and an activity time period input action of the target user in the target outdoor activity area; S130: Generate the outdoor activity planning information of the target user based on the target outdoor activity area determined by the first interaction action and the initial planning path of outdoor activities determined by the second interaction action.

[0030] In this embodiment, by responding to the first interaction action of the target user, a target outdoor activity area is selected in the electronic map of the UAV cruise control terminal. Then, by responding to the second interaction action of the target user, several first outdoor activity trajectory points are selected in the target outdoor activity area, and the activity time of each first outdoor activity trajectory point is recorded, thereby generating an initial outdoor activity path including several first outdoor activity trajectory points.

[0031] It should be noted that the first interaction action and the second interaction action are input actions performed by the target user on the UAV cruise control terminal (the input action includes touch screen operation and / or button operation). The target user can implement the input of the target outdoor activity area and the initial outdoor activity planning path in the electronic map interface provided by the UAV cruise control terminal through methods such as clicking, drawing lines, and text input, thereby generating outdoor activity planning information.

[0032] In a preferred embodiment, the step of extracting several first outdoor activity planning trajectory points arranged in path order in the initial outdoor activity planning path and generating a fixed trajectory point planning reference set of the initial outdoor activity planning path by using the first position information and activity time period of each first outdoor activity planning trajectory point specifically includes: S210: Extract the first position information and activity time period of several first outdoor activity planning trajectory points in the initial outdoor activity planning path, and establish the outdoor activity planning association information of each first outdoor activity planning trajectory point according to the first position information and activity time period; S220: Sort and summarize the outdoor activity planning association information of several first outdoor activity planning trajectory points in the order of the activity time period, and generate a fixed trajectory point planning reference set of the initial outdoor activity planning path.

[0033] In this embodiment, the first position information and activity time period are extracted from several first outdoor activity planning trajectory points arranged in path order in the initial outdoor activity planning path, and then the outdoor activity planning association information including the first position information and activity time period of each first outdoor activity planning trajectory point is sorted and summarized in the order of the activity time period, so as to generate a fixed trajectory point planning reference set of the initial outdoor activity planning path.

[0034] It should be noted that each first outdoor activity planning trajectory point in the initial planned path of the outdoor activity is configured as an outdoor activity location with a strict time limit plan for the target user in the current outdoor activity, that is, the target user needs to participate in the outdoor activity at this outdoor activity location within the specified time period (for example, being invited to meet at a certain location and time or to view a scenic spot at a certain time point). Therefore, the generated initial planned path of the outdoor activity containing several first outdoor activity planning trajectory points actually only has several fixed trajectory points of the target user in the current outdoor activity, and there is no restriction on the activity path formed by other trajectory points outside the fixed trajectory points.

[0035] In a preferred embodiment, the steps of querying the geographical database of the target outdoor activity area, extracting the geographical parameters of each location recorded in the geographical database, and constructing a geographical parameter feature set specifically include: S310: Call the geographical database of the target outdoor activity area and extract several geographical parameters of each location within the target outdoor activity area recorded in the geographical database; S320: Screen out several target geographical parameters that affect the moving speed of the outdoor activity from the several geographical parameters and construct a geographical parameter feature set for each location within the target outdoor activity area; wherein, the target geographical parameters include terrain type characteristics, altitude characteristics, and vegetation type characteristics.

[0036] In this embodiment, the geographical database of the target outdoor activity area is queried, and several target geographical parameters that affect the moving speed of the outdoor activity are screened out from the several geographical parameters of each location, so as to construct a geographical parameter feature set for each location within the target outdoor activity area. Among them, the terrain type characteristics, altitude characteristics, and vegetation type characteristics are configured as several target geographical parameters that affect the moving speed of the outdoor activity in the geographical parameters.

[0037] In a preferred embodiment, based on the fixed trajectory point planning reference set and the geographical parameter feature set, the steps of driving the detection unmanned aerial vehicle to perform position planning and cruising for several outdoor tent erection positions between two adjacent first outdoor activity planning trajectory points in the initial planned path of the outdoor activity specifically include: S410: According to the geographical parameter feature set of each location within the target outdoor activity area, divide the target outdoor activity area into several location grids, assign corresponding path cost values to each location grid according to the preset path cost calculation rule, and determine several candidate outdoor activity paths that meet the path cost selection conditions between every two adjacent first outdoor activity planning trajectory points; Among them, the path cost selection condition includes that the path cost value of each position grid is less than the maximum path cost value, and the top N candidate outdoor activity paths are sorted in ascending order of the sum of the path cost values of all position grids in the candidate outdoor activity paths; S420: Based on the starting time of the target user's daily outdoor activities and the earliest time within the limit of the outdoor activity end period, considering the geographical parameter feature set of each position in the target outdoor activity area, the fixed trajectory point planning reference set, and the mapping comparison table of the target user's moving speed and path features, determine several initial outdoor activity rest points in each candidate outdoor activity path. Using the arrival order of several initial outdoor activity rest points in each candidate outdoor activity path as the cruise sequence relationship of each initial outdoor activity rest point, generate a cruise route with the shortest cruise distance as the initial cruise route of the target outdoor activity area; S430: Drive the detection drone to perform a position planning traversal cruise of several initial outdoor activity rest points based on the initial cruise route, and obtain a list of the positions of the second outdoor activity planning trajectory points of several candidate outdoor activity paths between every two adjacent first outdoor activity trajectory points; S440: Based on the list of the positions of the second outdoor activity planning trajectory points of several candidate outdoor activity paths between every two adjacent first outdoor activity trajectory points, perform a first screening action and a second screening action on several candidate outdoor activity paths to obtain the cruise result of the position planning cruise; Among them, the first screening action includes: screening out the candidate outdoor activity paths in which the time for the target user to reach the next first outdoor activity trajectory point after passing through several second outdoor activity planning trajectory points in the list of the positions of the second outdoor activity planning trajectory points is earlier than the activity time period corresponding to this first outdoor activity trajectory point; Among them, the second screening action includes: screening out the candidate outdoor activity path with the smallest standard deviation of the outdoor activity time between every two adjacent second outdoor activity planning trajectory points among all candidate outdoor activity paths, and using it as the cruise result of the position planning cruise.

[0038] In this embodiment, by obtaining the target outdoor activity area and the initial outdoor activity planning path including several first outdoor activity planning trajectory points, generating a fixed trajectory point planning reference set, querying the geographical database, constructing a geographical parameter feature set for each position within the scope of the target outdoor activity area, and then based on the starting time of the target user's daily outdoor activities and the limit of the outdoor activity end period, considering the fixed trajectory point planning reference set, the geographical parameter feature set, and the mapping comparison table of the target user's moving speed and path features, drive the detection drone to perform a position planning cruise of several outdoor tent erection positions between every two adjacent first outdoor activity planning trajectory points in the initial outdoor activity planning path.

[0039] In a preferred embodiment, the step of driving the detection UAV to perform a position planning traversal cruise of a number of initial outdoor activity rest points based on the initial cruise route, and obtaining a list of second outdoor activity planning trajectory point positions of a number of candidate outdoor activity paths between every two adjacent first outdoor activity trajectory points specifically includes: S431: Drive the detection UAV to perform a position planning traversal cruise of a number of initial outdoor activity rest points based on the initial cruise route. When obtaining the cruise image of each initial outdoor activity rest point, determine whether the initial outdoor activity rest point corresponding to each cruise image meets the outdoor tent erection condition; S432: If so, write this initial outdoor activity rest point into the second outdoor activity planning trajectory point planning list corresponding to the candidate outdoor activity path; S433: If not, perform a path forward and backward planning cruise along the candidate outdoor activity path corresponding to this initial outdoor activity rest point to determine the associated outdoor activity rest point. Replace the corresponding initial outdoor activity rest point with this associated outdoor activity rest point and write it into the list of second outdoor activity planning trajectory point positions of the candidate outdoor activity path. Starting from the current position, regenerate the initial outdoor activity rest point of the candidate outdoor activity path to which this associated outdoor activity rest point belongs. For the initial outdoor activity rest points that have not been cruised, update the subsequent initial cruise route of the target outdoor activity area and return to perform the position planning traversal cruise; Among them, the path forward and backward planning cruise includes a path forward planning cruise and a path backward planning cruise. The path forward planning cruise is configured as the cruise action of the outdoor activity path section between the earliest time and the latest time restricted by the target user at the end of each outdoor activity period. The path backward planning cruise is configured as the cruise action of cruising forward from the position corresponding to the earliest time restricted by the end of each outdoor activity period to the previous first outdoor activity trajectory point until the collected cruise image meets the outdoor tent erection condition; S434: When replacing the associated outdoor activity rest point with the corresponding initial outdoor activity rest point and writing it into the list of second outdoor activity planning trajectory point positions of the candidate outdoor activity path, determine whether the position information of this associated outdoor activity rest point is the same as that of the previous associated outdoor activity rest point added to the list of second outdoor activity planning trajectory point positions. If so, delete this candidate outdoor activity path; S435: After performing the cruise actions of all the initial outdoor activity rest points in the target outdoor activity area, extract the list of second outdoor activity planning trajectory point positions of a number of candidate outdoor activity paths between every two adjacent first outdoor activity trajectory points.

[0040] In this embodiment, during the cruising process, candidate outdoor activity paths that do not meet the daily outdoor activity end-time limit are gradually deleted. The initial outdoor activity rest points in multiple candidate outdoor activity paths are traversed in parallel in the order of arrival, and the cruising process of position planning for each initial outdoor activity rest point and its associated outdoor activity rest point in several candidate outdoor activity paths in the initial outdoor activity planned path is realized with the shortest cruising distance. Finally, an outdoor activity final planned path including several first outdoor activity planned trajectory points and several second outdoor activity planned trajectory points serving as the outdoor tent erection positions is obtained. Thereby, while improving the cruising efficiency of outdoor tent erection position planning, the power consumption of the detection drone's cruising path is minimized. Thus, the scientificity of tent erection position planning during long-term outdoor activity paths is improved. On the premise of improving the compliance of the tent erection conditions at the tent erection position, the path sections and activity times of daily outdoor activities are reasonably planned as much as possible to avoid the occurrence of exceeding the activity time limit.

[0041] In a preferred embodiment, according to the position planning cruising result, the initial outdoor activity planned path is optimized to obtain the steps of an outdoor activity final planned path including several first outdoor activity planned trajectory points and several second outdoor activity planned trajectory points serving as the outdoor tent erection positions, which specifically include: S510: Extract the candidate outdoor activity paths between every two adjacent first outdoor activity trajectory points after two screenings in the cruising result of the position planning cruising; wherein, the candidate outdoor activity paths include several initial outdoor activity rest points and several associated outdoor activity rest points; S520: Use the second position information corresponding to the initial outdoor activity rest points and the associated outdoor activity rest points as several second outdoor activity planned trajectory points to generate an outdoor activity final planned path including several first outdoor activity planned trajectory points and several second outdoor activity planned trajectory points serving as the outdoor tent erection positions.

[0042] In this embodiment, after obtaining the cruising result of the target outdoor activity area, several second outdoor activity planned trajectory points can be extracted from the cruising result, and finally, all the first outdoor activity trajectory planned points and the second outdoor activity trajectory planned points are summarized to generate the outdoor activity final planned path. When carrying out outdoor activities along this outdoor activity final planned path, each second outdoor activity trajectory planned point is used as the outdoor tent erection position.

[0043] Refer to Figure 3 , Figure 3 which is the structural block diagram of the embodiment of the outdoor tent erection position planning device of the present invention.

[0044] As Figure 3As shown in the figure, the outdoor tent erection position planning device proposed in the embodiment of the present invention includes: An acquisition module 10, configured to acquire the outdoor activity planning information of a target user; wherein, the outdoor activity planning information includes a target outdoor activity area and an initial outdoor activity planning path located within the target outdoor activity area; An extraction module 20, configured to extract a plurality of first outdoor activity planning trajectory points arranged in sequence along the path from the initial outdoor activity planning path, and generate a fixed trajectory point planning reference set of the initial outdoor activity planning path by using the first position information and activity time period of each of the first outdoor activity planning trajectory points; A query module 30, configured to query the geographic database of the target outdoor activity area, extract the geographic parameters of each location recorded in the geographic database, and construct a geographic parameter feature set; A cruise module 40, configured to drive a detection drone to perform position planning cruises for a plurality of outdoor tent erection positions between two adjacent first outdoor activity planning trajectory points in the initial outdoor activity planning path based on the fixed trajectory point planning reference set and the geographic parameter feature set; A planning module 50, configured to optimize the initial outdoor activity planning path according to the position planning cruise result, and obtain a final outdoor activity planning path including a plurality of first outdoor activity planning trajectory points and a plurality of second outdoor activity planning trajectory points serving as outdoor tent erection positions.

[0045] Other embodiments or specific implementation manners of the outdoor tent erection position planning device of the present invention may refer to the above method embodiments, and will not be elaborated herein.

[0046] In addition, the present invention also proposes an outdoor tent erection position planning device, where the outdoor tent erection position planning device includes: a memory, a processor, and an outdoor tent erection position planning program stored on the memory and executable on the processor. When the outdoor tent erection position planning program is executed by the processor, the steps of the above-mentioned outdoor tent erection position planning method are implemented.

[0047] The specific implementation manner of the outdoor tent erection position planning device of the present application is basically the same as the above embodiments of the outdoor tent erection position planning method, and will not be elaborated herein.

[0048] In addition, the present invention also proposes a readable storage medium, where the readable storage medium includes a computer-readable storage medium, on which an outdoor tent erection position planning program is stored. The readable storage medium may be Figure 1The memory 1005 in the terminal may also be at least one of ROM (Read-Only Memory), RAM (Random Access Memory), magnetic disk, and optical disk. The readable storage medium includes several instructions for causing an outdoor tent erection position planning device with a processor to execute the outdoor tent erection position planning method described in each embodiment of the present invention.

[0049] The specific implementation manner in the readable storage medium of this application is basically the same as that of each embodiment of the above outdoor tent erection position planning method, and will not be described in detail here.

[0050] It can be understood that in the description of this specification, the description referring to terms such as "one embodiment", "another embodiment", "other embodiments", or "the first embodiment to the Nth embodiment" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0051] It should be noted that in this article, the term "comprising", "including" or any other variant thereof is intended to cover a non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or system. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or system including the element.

[0052] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0053] Through the description of the above embodiments, those skilled in the art can clearly understand that the above embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation manner. Based on such an understanding, the technical solution of the present invention, in essence, or the part that makes a contribution to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above and includes several instructions for causing a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0054] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be similarly included in the patent protection scope of the present invention.

Claims

1. A method for planning the erection location of an outdoor tent, characterized in that, It includes the following steps: Obtain the outdoor activity planning information of the target user; wherein, the outdoor activity planning information includes the target outdoor activity area and the initial planned path of the outdoor activity located within the target outdoor activity area; Extract a number of first outdoor activity planned trajectory points arranged in sequence along the initial planned path of the outdoor activity, and use the first position information and activity time period of each of the first outdoor activity planned trajectory points to generate a fixed trajectory point planning reference set for the initial planned path of the outdoor activity; Query the geographical database of the target outdoor activity area, extract the geographical parameters of each location recorded in the geographical database, and construct a geographical parameter feature set; Based on the fixed trajectory point planning reference set and the geographical parameter feature set, drive the detection drone to perform position planning cruises for a number of outdoor tent erection positions between two adjacent first outdoor activity planned trajectory points in the initial planned path of the outdoor activity; According to the position planning cruise results, optimize the initial planned path of the outdoor activity to obtain a final planned path of the outdoor activity that includes a number of first outdoor activity planned trajectory points and a number of second outdoor activity planned trajectory points that are outdoor tent erection positions.

2. The outdoor tent erection position planning method according to claim 1, wherein The step of obtaining the outdoor activity planning information of the target user specifically includes: In response to the first interaction action of the target user, determine the target outdoor activity area in the electronic map provided by the drone cruise control terminal; wherein, the first interaction action is configured as an area selection action of the target user in the electronic map provided by the drone cruise control terminal; In response to the second interaction action of the user, determine the initial planned path of the outdoor activity in the target outdoor activity area; wherein, the second interaction action is configured as a first outdoor activity trajectory point selection action and an activity time period input action of the target user in the target outdoor activity area; Based on the target outdoor activity area determined by the first interaction action and the initial planned path of the outdoor activity determined by the second interaction action, generate the outdoor activity planning information of the target user.

3. The outdoor tent erection location planning method according to claim 1, characterized in that, The step of extracting a number of first outdoor activity planned trajectory points arranged in sequence along the initial planned path of the outdoor activity, and using the first position information and activity time period of each of the first outdoor activity planned trajectory points to generate a fixed trajectory point planning reference set for the initial planned path of the outdoor activity specifically includes: Extract the first position information and activity time period of a number of first outdoor activity planned trajectory points in the initial planned path of the outdoor activity, and establish the outdoor activity planning association information of each first outdoor activity planned trajectory point according to the first position information and activity time period; Sort and summarize the outdoor activity planning association information of a number of first outdoor activity planned trajectory points in the order of the sequence of the activity time periods to generate a fixed trajectory point planning reference set for the initial planned path of the outdoor activity.

4. The outdoor tent erection position planning method according to claim 1, characterized in that The step of querying the geographical database of the target outdoor activity area, extracting the geographical parameters of each location recorded in the geographical database, and constructing a geographical parameter feature set specifically includes: Call the geographical database of the target outdoor activity area, and extract several geographical parameters of each location in the target outdoor activity area recorded in the geographical database; Select several target geographical parameters that affect the outdoor activity moving speed from the several geographical parameters, and construct a geographical parameter feature set for each location in the target outdoor activity area; wherein, the target geographical parameters include terrain type features, altitude features and vegetation type features.

5. The method for planning the installation location of an outdoor tent according to claim 1, characterized in that, Based on the fixed trajectory point planning reference set and the geographical parameter feature set, drive the detection drone to execute the position planning cruise steps of several outdoor tent erection positions between two adjacent first outdoor activity planning trajectory points in the initial outdoor activity planning path, specifically including: According to the geographical parameter feature set of each location in the target outdoor activity area, divide the target outdoor activity area into several location grids, assign corresponding path cost values to each location grid according to the preset path cost calculation rule, and determine several candidate outdoor activity paths that meet the path cost selection conditions between every two adjacent first outdoor activity planning trajectory points; Among them, the path cost selection condition includes that the path cost value of each location grid is less than the maximum path cost value and the first N candidate outdoor activity paths sorted from small to large according to the sum of the path cost values of all location grids in the candidate outdoor activity path; Based on the start time of the target user's daily outdoor activities and the earliest time limited by the end period of the outdoor activities, considering the geographical parameter feature set of each location in the target outdoor activity area, the fixed trajectory point planning reference set and the mapping comparison table of the target user's moving speed and path features, determine several initial outdoor activity rest points in each candidate outdoor activity path, and use the arrival order of several initial outdoor activity rest points in each candidate outdoor activity path as the cruise sequence relationship of each initial outdoor activity rest point, and generate the cruise route with the shortest cruise distance as the initial cruise route of the target outdoor activity area; Drive the detection drone to perform a position planning traversal cruise based on the initial cruise route, and obtain a list of the second outdoor activity planning trajectory point positions of several candidate outdoor activity paths between every two adjacent first outdoor activity trajectory points; Based on the list of the second outdoor activity planning trajectory point positions of several candidate outdoor activity paths between every two adjacent first outdoor activity trajectory points, perform a first screening action and a second screening action on the several candidate outdoor activity paths to obtain the cruise result of the position planning cruise; Among them, the first screening action includes: screening out the candidate outdoor activity paths in which the time for the target user to reach the next first outdoor activity trajectory point after passing through several second outdoor activity planning trajectory points in the list of the second outdoor activity planning trajectory point positions is earlier than the activity time period corresponding to the first outdoor activity trajectory point; Among them, the second screening action includes: screening out the candidate outdoor activity paths with the smallest standard deviation of the outdoor activity time between every two adjacent second outdoor activity planning trajectory points among all candidate outdoor activity paths, and taking it as the cruise result of the position planning cruise.

6. The method for planning the erection position of an outdoor tent according to claim 5, wherein, Drive the detection UAV to perform a position - planning traversal cruise of a number of initial outdoor activity rest points based on the initial cruise route, and obtain a list of the positions of the second outdoor activity planning trajectory points of a number of candidate outdoor activity paths between every two adjacent first outdoor activity trajectory points. The specific steps are as follows: Drive the detection UAV to perform a position - planning traversal cruise of a number of initial outdoor activity rest points based on the initial cruise route. When obtaining the cruise image of each initial outdoor activity rest point, determine whether the initial outdoor activity rest point corresponding to each cruise image meets the outdoor tent erection condition; If so, write this initial outdoor activity rest point into the second outdoor activity planning trajectory point planning list corresponding to the candidate outdoor activity path; If not, perform a forward - and - backward path - planning cruise along the candidate outdoor activity path corresponding to this initial outdoor activity rest point to determine the associated outdoor activity rest point. Replace the corresponding initial outdoor activity rest point with this associated outdoor activity rest point and write it into the list of the positions of the second outdoor activity planning trajectory points of the candidate outdoor activity path. Take the current position as the starting point, regenerate the initial outdoor activity rest point of the candidate outdoor activity path to which this associated outdoor activity rest point belongs. For the initial outdoor activity rest points that have not been cruised, update the subsequent initial cruise route of the target outdoor activity area and return to perform the position - planning traversal cruise; Among them, the forward - and - backward path - planning cruise includes a forward path - planning cruise and a backward path - planning cruise. The forward path - planning cruise is configured as the cruise action of the outdoor activity path section between the earliest time and the latest time restricted by the target user at the end of each outdoor activity period. The backward path - planning cruise is configured as the cruise action of cruising from the position corresponding to the earliest time restricted by the end of each outdoor activity period to the previous first outdoor activity trajectory point until the collected cruise image meets the outdoor tent erection condition; When replacing the associated outdoor activity rest point with the corresponding initial outdoor activity rest point and writing it into the list of the positions of the second outdoor activity planning trajectory points of the candidate outdoor activity path, determine whether the position information of this associated outdoor activity rest point is the same as that of the previously added associated outdoor activity rest point in the list of the positions of the second outdoor activity planning trajectory points. If so, delete this candidate outdoor activity path; After performing the cruise actions for all the initial outdoor activity rest points in the target outdoor activity area, extract the list of the positions of the second outdoor activity planning trajectory points of a number of candidate outdoor activity paths between every two adjacent first outdoor activity trajectory points.

7. The method for planning the installation location of an outdoor tent according to claim 6, wherein, According to the position - planning cruise result, optimize the initial outdoor activity planning path to obtain the final outdoor activity planning path including a number of first outdoor activity planning trajectory points and a number of second outdoor activity planning trajectory points as the outdoor tent erection positions. The specific steps are as follows: Extract the candidate outdoor activity paths between every two adjacent first outdoor activity trajectory points after two - stage screening in the cruise result of the position - planning cruise; among them, the candidate outdoor activity path includes a number of initial outdoor activity rest points and a number of associated outdoor activity rest points; Use the initial outdoor activity rest point and the second position information corresponding to the associated outdoor activity rest point as several second outdoor activity planning track points, and generate an outdoor activity final planning path that includes several first outdoor activity planning track points and several second outdoor activity planning track points that are the outdoor tent erection positions.

8. An outdoor tent erection position planning device, characterized in that, Including: An acquisition module for acquiring the outdoor activity planning information of the target user; wherein, the outdoor activity planning information includes a target outdoor activity area and an initial outdoor activity planning path located within the target outdoor activity area; An extraction module for extracting several first outdoor activity planning track points arranged in sequence along the path in the initial outdoor activity planning path, and generating a fixed track point planning reference set of the initial outdoor activity planning path by using the first position information and activity time period of each of the first outdoor activity planning track points; A query module for querying the geographical database of the target outdoor activity area, extracting the geographical parameters of each position recorded in the geographical database, and constructing a geographical parameter feature set; A cruising module for driving a detection drone to perform position planning cruising for several outdoor tent erection positions between two adjacent first outdoor activity planning track points in the initial outdoor activity planning path based on the fixed track point planning reference set and the geographical parameter feature set; A planning module for optimizing the initial outdoor activity planning path according to the position planning cruising result, and obtaining an outdoor activity final planning path that includes several first outdoor activity planning track points and several second outdoor activity planning track points that are the outdoor tent erection positions.

9. An outdoor tent erection location planning device, characterized in that, The outdoor tent erection position planning device includes: a memory, a processor, and an outdoor tent erection position planning program stored on the memory and executable on the processor. When the outdoor tent erection position planning program is executed by the processor, it realizes the steps of the outdoor tent erection position planning method according to any one of claims 1 to 7.

10. A storage medium, characterized in that, An outdoor tent erection position planning program is stored on the storage medium. When the outdoor tent erection position planning program is executed by the processor, it realizes the steps of the outdoor tent erection position planning method according to any one of claims 1 to 7.

Images