Unmanned aerial vehicle route automatic planning method
Through real-time environmental segmentation processing, dual feature set parallel matching and dynamic threshold decision-making, the problems of computing resource redundancy and dynamic obstacle identification in drone route planning are solved, and efficient and fast route planning is achieved.
Patent Information
- Application Number
- CN202510583441.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-07
- Publication Date
- 2025-08-08
AI Technical Summary
The existing UAV route planning methods in complex environments calculate resource redundant occupation, misjudgment or misjudgment of dynamic obstacle identification, and inability to dynamically adjust routes lead to low planning efficiency.
Through real-time environmental segmentation processing, dual feature set parallel matching, dynamic threshold decision-making and modular database storage, real-time segmentation, marking and encryption of environmental data can be achieved, and route planning is dynamically adjusted.
It improves the efficiency of drone route planning, reduces computing complexity, reduces redundant calculations and resource consumption, and supports rapid route generation and dynamic environmental adaptation.
Smart Images
Figure CN120447580A_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the technical field of automatic route planning for unmanned aerial vehicles (UAVs), and in particular to a method for automatic route planning for unmanned aerial vehicles (UAVs). Background Art
[0002] With the rapid development of drone technology, drone applications are becoming increasingly diverse. From express delivery and logistics to agricultural and environmental monitoring, and even military reconnaissance, the advantages of drones are self-evident. Automatic drone route planning uses computer algorithms and intelligent technologies to automatically generate drone flight routes within given mission requirements and environmental constraints. Automatic route planning can effectively improve the efficiency of drone flight missions. Automatic planning can quickly generate the optimal route that meets the requirements, saving time and improving operational efficiency. Automated route planning can accurately avoid risks such as ground obstacles, air traffic, and inclement weather. The automatic route planning system can acquire environmental information and dynamically adjust based on the latest data to ensure flight safety. Automatic drone route planning not only optimizes flight paths and reduces unnecessary flight distances, but also effectively controls energy consumption and reduces flight costs. Furthermore, automatic planning can adjust flight parameters based on different mission requirements and environmental changes, avoiding resource waste caused by improper route planning and significantly reducing operating costs. Therefore, automatic drone route planning is of great significance.
[0003] At present, in the existing technology, UAV route planning usually relies on static analysis of global environmental data and performs safety assessment of the flight path through a single-dimensional obstacle recognition algorithm. This method has the following defects: (1) The traditional solution processes the flight environment globally and continuously, and does not dynamically segment it according to environmental characteristics, resulting in redundant computing resources. In particular, the real-time performance is significantly reduced in complex scenarios; (2) The existing technology mostly uses a static obstacle feature library for matching, and lacks a hierarchical processing mechanism for dynamic obstacles. Single feature matching is prone to misjudgment or omission, requiring multiple manual interventions to correct the route, which reduces planning efficiency; (3) Traditional methods usually determine the route adjustment strategy based on fixed rules, and cannot dynamically select deletion, warning or encryption operations according to the local risk level of the real-time environmental segment, resulting in invalid data occupying storage resources for a long time, affecting the speed of subsequent route generation, and resulting in low efficiency of UAV route planning. Summary of the Invention
[0004] The present disclosure provides a method for automatically planning a drone route. The method includes:
[0005] S1, collecting the UAV flight environment data in real time through the environment collection module, segmenting the collected environment data in real time through the route processing module to form real-time environment segments; and storing each real-time environment segment in the route database;
[0006] S2, performing feature matching on the real-time environment segment stored in the route database using the first obstacle feature set set in the safety analysis module, and marking the matching portion of the real-time environment segment; performing feature matching on the real-time environment segment using the second obstacle feature set set in the safety analysis module, and encrypting the matching portion of the real-time environment segment;
[0007] S3, determining the proportion of the marked area of the real-time environment segment by the safety analysis module, and determining whether to issue a warning for the real-time environment segment or delete the real-time environment segment from the route database based on the proportion of the marked area of the real-time environment segment;
[0008] S4, receiving flight mission information through the route generation module, and selecting a real-time environment segment in the route database to generate a route according to the flight mission information.
[0009] Furthermore, a standard segment length Db is set in the route processing module. When the environment acquisition module acquires the flight environment data B in real time, the route processing module acquires the real-time acquisition length Ds of the flight environment data B and compares the real-time acquisition length Ds with the standard segment length Db.
[0010] When Ds<Db, the route processing module determines that the real-time collection length of the flight environment data B is less than the standard segment length, and the route processing module will determine the real-time collection length of the flight environment data B to determine whether to segment and store the flight environment data B;
[0011] When Ds≥Db, the route processing module determines that the real-time collection length of the flight environment data B has reached the standard segment length. The route processing module intercepts the flight environment data B collected in the environment collection module to form a real-time environment segment Bu of the flight environment data B, and stores the real-time environment segment Bu in the route database.
[0012] Furthermore, the route processing module is provided with a maximum acquisition adjustment time Fz. When the route processing module determines that the real-time acquisition length of the flight environment data B is less than the standard segment length, the route processing module obtains the real-time acquisition time Fs of the flight environment data B by the environment acquisition module, and compares the real-time acquisition time Fs with the maximum acquisition adjustment time Fz.
[0013] When Fs<Fz, the route processing module determines that the real-time collection duration has not reached the maximum adjustment duration, and the route processing module does not intercept the flight environment data B collected by the environment collection module;
[0014] When Fs≥Fz, the route processing module determines that the real-time collection time has reached the maximum adjustment time. The route processing module will intercept the flight environment data B collected in the environment collection module to form a real-time environment segment Bu of the flight environment data B, and store the real-time environment segment Bu in the route database.
[0015] Furthermore, the safety analysis module is provided with a first obstacle feature set, which includes a number of dangerous area features. When the route processing module stores the real-time environment segment into the route database, the safety analysis module performs feature matching on the real-time environment segment according to the first obstacle feature set, wherein:
[0016] If the real-time environment segment does not contain a matching portion of any dangerous area feature in the first obstacle feature set, the safety analysis module does not mark the real-time environment segment, and performs feature matching on the real-time environment segment according to the second obstacle feature set to determine whether to encrypt the real-time environment segment;
[0017] If there is a matching part of any dangerous area feature in the first obstacle feature set in the real-time environment segment, the safety analysis module will mark the part of the real-time environment segment that matches the dangerous area feature, and determine the proportion of the marked area to determine whether to delete the real-time environment segment from the route database.
[0018] Furthermore, the safety analysis module is provided with a first safety ratio Z1 and a second safety ratio Z2, wherein Z1<Z2. After the safety analysis module marks the portion of the real-time environment segment that matches the dangerous area feature, the safety analysis module obtains the total area Mz and the marked area Mj of the real-time environment segment, calculates the marked area ratio Ze of the real-time environment segment, Ze=Mj / Mz, and compares the marked area ratio Ze with the first safety ratio Z1 and the second safety ratio Z2.
[0019] When Ze<Z1, the security analysis module determines that the marked area ratio of the real-time environment segment is lower than the first security ratio, and the security analysis module performs feature matching on the real-time environment segment according to the second obstacle feature set to determine whether to encrypt the real-time environment segment;
[0020] When Z1≤Ze≤Z2, the security analysis module determines that the marked area ratio of the real-time environment segment is between the first safety ratio and the second safety ratio, the security analysis module will alert the real-time environment segment, and perform feature matching on the real-time environment segment according to the second obstacle feature set to determine whether to encrypt the real-time environment segment;
[0021] When Ze>Z2, the safety analysis module determines that the marked area ratio of the real-time environment segment is higher than the second safety ratio, and the safety analysis module deletes the real-time environment segment from the route database.
[0022] Furthermore, the safety analysis module is provided with a second obstacle feature set, wherein the second obstacle feature set includes a plurality of restricted area features. When the safety analysis module performs feature matching on the real-time environment segment according to the second obstacle feature set, the module performs feature matching on the unmarked portion of the real-time environment segment according to the second obstacle feature set, wherein:
[0023] If there is no matching portion of any restricted area feature in the second obstacle feature set in the unmarked portion of the real-time environment segment, the security analysis module does not encrypt the real-time environment segment;
[0024] If the unmarked portion of the real-time environment segment contains a matching portion of any restricted area feature in the second obstacle feature set, the security analysis module will encrypt the matching portion of the real-time environment segment and the restricted area feature.
[0025] Furthermore, the route generation module is provided with a standard route similarity Pb. The route generation module receives the flight mission information H and calculates the environmental segment similarity Pi based on the flight mission information H and any real-time environmental segment stored in the route database. The route generation module compares the environmental segment similarity Pi with the standard route similarity Pb.
[0026] When Pi<Pb, the route generation module determines that the environmental segment similarity does not reach the standard route similarity, and the route generation module does not generate the corresponding real-time environmental segment route;
[0027] When Pi≥Pb, the route generation module determines that the environmental segment similarity has reached the standard route similarity, and the route generation module will determine the warning status of the corresponding real-time environmental segment to determine whether to generate a route for the real-time environmental segment.
[0028] Further: when the route generation module determines that the environmental segment similarity has reached the standard route similarity, the route generation module will determine the warning status of the corresponding real-time environmental segment,
[0029] If there is no warning in the corresponding real-time environment segment, the route generation module generates a route for the real-time environment segment;
[0030] If there is an alert in the corresponding real-time environment segment, the route generation module reserves the real-time environment segment and determines whether to generate the route based on the number of the reserved real-time environment segments.
[0031] Furthermore, the route generation module is provided with a first preset retention number R1 and a second preset retention number R2, wherein R1<R2. When the route generation module compares the calculated environmental segment similarity of all real-time environmental segments stored in the route database with the standard route similarity, the route generation module obtains the number Rc of retained real-time environmental segments and compares the number Rc of retained real-time environmental segments with the first preset retention number R1 and the second preset retention number R2.
[0032] When Rc<R1, the route generation module determines that the number of the reserved real-time environment segments is lower than the first preset reserved number, and the route generation module generates a route for the reserved real-time environment segments;
[0033] When R1≤Rc≤R2, the route generation module determines that the number of the retained real-time environment segments is between the first preset retained number and the second preset retained number, and the route generation module determines the total encrypted area within the retained real-time environment segment to determine whether to generate a route for the retained real-time environment segment;
[0034] When Rc>R2, the route generation module determines that the number of the reserved real-time environment segments is higher than the second preset reserved number, the route generation module does not generate a route for the reserved real-time environment segments, and marks the flight mission information H as an invalid flight mission.
[0035] Furthermore, the route generation module is further provided with a warning encryption area Jx. When the route generation module determines that the number of retained real-time environment segments is between a first preset retention number and a second preset retention number, the route generation module obtains a total encryption area Jm within all retained real-time environment segments, and compares the total encryption area Jm with the warning encryption area Jx.
[0036] When Jm≤Jx, the route generation module determines that the total encrypted area of the retained real-time environment segment does not exceed the warning encrypted area, and the route generation module generates a route for the retained real-time environment segment;
[0037] When Jm>Jx, the route generation module determines that the total encrypted area of the reserved real-time environment segment exceeds the warning encrypted area, and the route generation module does not generate a route for the reserved real-time environment segment.
[0038] The present invention breaks down complex environments into independently analyzable modular data units through real-time environmental segmentation processing, thereby reducing the complexity of global calculations. Through the dual-feature set parallel matching and the dual screening mechanism of marking and encryption, obstacle identification and security reinforcement are simultaneously completed in the data preprocessing stage. Through the dynamic threshold decision mechanism, intelligent filtering based on the proportion of marked areas is carried out to eliminate high-risk or invalid environmental segments in advance, reducing redundant calculations in subsequent planning. Through the modular database calling the preprocessed standardized environmental segment storage structure, rapid route splicing driven by mission requirements is supported, repeated environmental analysis is avoided, and the efficiency of UAV route planning is thereby improved.
[0039] It should be understood that the contents described in the Summary of the Invention are not intended to limit the key or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS
[0040] The above and other features, advantages, and aspects of the various embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. The accompanying drawings are provided for a better understanding of the present disclosure and do not constitute a limitation of the present disclosure. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, wherein:
[0041] Figure 1 A flowchart of a method for automatically planning a drone route according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION
[0042] To make the purpose, technical solutions, and advantages of the embodiments of the present disclosure more clear, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present disclosure.
[0043] In this document, the term "and / or" simply describes a relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the related objects are in an "or" relationship.
[0044] Figure 1 A flowchart of a method for automatically planning a drone route according to an embodiment of the present disclosure is shown, the method comprising:
[0045] S1, collecting the UAV flight environment data in real time through the environment collection module, segmenting the collected environment data in real time through the route processing module to form real-time environment segments; and storing each real-time environment segment in the route database;
[0046] S2, performing feature matching on the real-time environment segment stored in the route database using the first obstacle feature set set in the safety analysis module, and marking the matching portion of the real-time environment segment; performing feature matching on the real-time environment segment using the second obstacle feature set set in the safety analysis module, and encrypting the matching portion of the real-time environment segment;
[0047] S3, determining the proportion of the marked area of the real-time environment segment by the safety analysis module, and determining whether to issue a warning for the real-time environment segment or delete the real-time environment segment from the route database based on the proportion of the marked area of the real-time environment segment;
[0048] S4, receiving flight mission information through the route generation module, and selecting a real-time environment segment in the route database to generate a route according to the flight mission information.
[0049] According to an embodiment of the present invention, a complex environment is decomposed into independently analyzable modular data units through real-time environment segmentation processing, thereby reducing the complexity of global calculations; obstacle identification and security reinforcement are simultaneously completed in the data preprocessing stage through a dual screening mechanism of marking and encryption through parallel matching of dual feature sets; intelligent filtering based on the proportion of marked areas through a dynamic threshold decision mechanism is used to eliminate high-risk or invalid environment segments in advance, thereby reducing redundant calculations in subsequent planning; the modular database calls the preprocessed standardized environment segment storage structure to support rapid route splicing driven by mission requirements, avoid repeated environmental analysis, and thereby improve the efficiency of UAV route planning.
[0050] In some embodiments, a standard segment length Db (such as 10 minutes) is set in the route processing module. When the environment acquisition module performs real-time acquisition of the flight environment data B, the route processing module obtains the real-time acquisition length Ds of the flight environment data B, and compares the real-time acquisition length Ds with the standard segment length Db. When Ds<Db, the route processing module determines that the real-time acquisition length of the flight environment data B is lower than the standard segment length, and the route processing module will determine the real-time acquisition time of the flight environment data B to determine whether to segment and store the flight environment data B; when Ds≥Db, the route processing module determines that the real-time acquisition length of the flight environment data B has reached the standard segment length, and the route processing module will intercept the flight environment data B collected in the environment acquisition module to form the real-time environment segment Bu of the flight environment data B, and store the real-time environment segment Bu in the route database. According to an embodiment of the present invention, by comparing the collection length with the preset standard in real time, the timing of data segmentation is determined, delays caused by waiting for complete data collection are avoided, and real-time processing is improved; environmental data is cut into standard length segments, the amount of data processed at a single time is reduced, the algorithm operation time is shortened, and the pressure on hardware resources is relieved; standardized segmentation enables different environmental segments to be stored and analyzed independently, providing structural support for subsequent multi-threaded / distributed processing; timely interception and storage of qualified data segments releases the cache of the environmental collection module, and avoids system freezes caused by big data accumulation; the segmentation mechanism localizes the impact of data anomalies, and if the processing of a single environmental segment fails, only the segment needs to be re-collected; real-time judgment logic ensures quick decision-making when data is incomplete, reduces invalid waiting time, and thereby improves the efficiency of drone route planning.
[0051] In some embodiments, a maximum collection adjustment time Fz (such as 30 seconds) is set in the route processing module. When the route processing module determines that the real-time collection length of the flight environment data B is lower than the standard segment length, the route processing module obtains the real-time collection time Fs of the flight environment data B by the environment collection module, and compares the real-time collection time Fs with the maximum collection adjustment time Fz. When Fs<Fz, the route processing module determines that the real-time collection time has not reached the maximum adjustment time, and the route processing module does not intercept the flight environment data B collected in the environment collection module; when Fs≥Fz, the route processing module determines that the real-time collection time has reached the maximum adjustment time, and the route processing module will intercept the flight environment data B collected in the environment collection module to form a real-time environment segment Bu of the flight environment data B, and store the real-time environment segment Bu in the route database. According to an embodiment of the present invention, by setting the maximum acquisition adjustment time, there will be no indefinite waiting due to insufficient data, ensuring timely processing; intercepting available data within a limited time, giving priority to ensuring the timeliness of route planning; preventing long-term occupation of memory or computing resources, reducing performance degradation caused by data accumulation; by generating real-time environment segments, the data is segmented for processing, reducing the complexity of single calculations and improving response speed; and storing the latest environment data segments in a timely manner, so that the route planning module can quickly adjust the path and adapt to dynamic environmental changes, thereby improving the efficiency of drone route planning.
[0052] In some embodiments, a first obstacle feature set is provided in the safety analysis module, and the first obstacle feature set includes several dangerous area features. When the route processing module stores the real-time environment segment to the route database, the safety analysis module will perform feature matching on the real-time environment segment according to the first obstacle feature set. If there is no matching part of any dangerous area feature in the first obstacle feature set in the real-time environment segment, the safety analysis module will not mark the real-time environment segment, and perform feature matching on the real-time environment segment according to the second obstacle feature set to determine whether to encrypt the real-time environment segment; if there is a matching part of any dangerous area feature in the first obstacle feature set in the real-time environment segment, the safety analysis module will mark the part of the real-time environment segment that matches the dangerous area feature, and determine the proportion of the marked area to determine whether to delete the real-time environment segment from the route database. According to an embodiment of the present invention, high-risk areas are preferentially screened through the first obstacle feature set, and non-dangerous environmental segments are quickly excluded, reducing the computational burden of subsequent processing; only dangerous areas that match the first set are marked and deleted, avoiding redundant analysis of safe areas and saving computing power; the first set processes core dangerous features, and the second set processes secondary or complex features, optimizing the processing order; high-risk environmental segments are deleted based on the proportion of marked areas, keeping the route database concise and reducing invalid data from interfering with subsequent planning; the second set check is enabled only when there is no match with the first set, avoiding double calculation, and encrypting key areas on demand, thereby improving the efficiency of drone route planning.
[0053] In some embodiments, the safety analysis module is provided with a first safety ratio Z1 (e.g., 30%) and a second safety ratio Z2 (e.g., 60%), wherein Z1 < Z2. After the safety analysis module marks the portion of the real-time environment segment that matches the dangerous area feature, the safety analysis module obtains the total area Mz (e.g., 1000m2) of the real-time environment segment. 2) and the marked area Mj, the safety analysis module calculates the marked area ratio Ze of the real-time environment segment, Ze=Mj / Mz, and compares the marked area ratio Ze with the first safety ratio Z1 and the second safety ratio Z2. When Ze<Z1, the safety analysis module determines that the marked area ratio of the real-time environment segment is lower than the first safety ratio, and the safety analysis module performs feature matching on the real-time environment segment according to the second obstacle feature set to determine whether to encrypt the real-time environment segment; when Z1≤Ze≤Z2, the safety analysis module determines that the marked area ratio of the real-time environment segment is between the first safety ratio and the second safety ratio, the safety analysis module will issue a warning to the real-time environment segment, and perform feature matching on the real-time environment segment according to the second obstacle feature set to determine whether to encrypt the real-time environment segment; when Ze>Z2, the safety analysis module determines that the marked area ratio of the real-time environment segment is higher than the second safety ratio, and the safety analysis module deletes the real-time environment segment from the -route database. According to an embodiment of the present invention, a three-level response strategy is implemented by dividing the danger level through dual thresholds, avoiding computational redundancy of unified in-depth analysis of all areas; when Ze>Z2, the flight segment is deleted immediately, and the invalid path planning is terminated in advance through the threshold fuse mechanism to avoid time consumption of the subsequent obstacle avoidance algorithm; the flight segment is retained and a warning is issued in the Z1-Z2 interval, which not only prevents repeated planning caused by overly conservative path deletion, but also reduces the risk of system misjudgment through human-machine collaboration, thereby improving the efficiency of UAV route planning.
[0054] In some embodiments, a second obstacle feature set is provided in the security analysis module, and the second obstacle feature set includes several restricted area features. When the security analysis module performs feature matching on the real-time environment segment according to the second obstacle feature set, the security analysis module performs feature matching on the unmarked part of the real-time environment segment according to the second obstacle feature set. If there is no matching part of any restricted area feature in the second obstacle feature set in the unmarked part of the real-time environment segment, the security analysis module will not encrypt the real-time environment segment; if there is a matching part of any restricted area feature in the second obstacle feature set in the unmarked part of the real-time environment segment, the security analysis module will encrypt the part of the real-time environment segment that matches the restricted area feature. According to an embodiment of the present invention, non-threatening areas are quickly filtered out through a predefined "second obstacle feature set", thereby avoiding redundant encryption operations on risk-free environmental segments and reducing the amount of calculation; by encrypting only the environmental segments that match the restricted area features, the overall data processing volume is reduced and the computing power consumption of full-segment encryption is avoided; by dynamically adjusting the security policy based on real-time matching results, on-demand allocation of computing resources is achieved through a conditional judgment mechanism, thereby improving the algorithm response speed; the matching and comparison process is accelerated through a pre-stored restricted area feature library, and the time complexity of pattern recognition is reduced compared to real-time environmental analysis; by dividing the environmental segments into marked / unmarked areas for differentiated processing, repeated verification of confirmed safe areas is avoided, the parallel processing efficiency is improved, and the efficiency of drone route planning is thereby improved.
[0055] In some embodiments, a standard route similarity Pb is set in the route generation module. The route generation module receives flight mission information H and calculates the environment segment similarity Pi based on the flight mission information H and any real-time environment segment stored in the route database. The route generation module compares the environment segment similarity Pi with the standard route similarity Pb. When Pi<Pb, the route generation module determines that the environment segment similarity does not reach the standard route similarity, and the route generation module does not generate the corresponding real-time environment segment route; when Pi≥Pb, the route generation module determines that the environment segment similarity has reached the standard route similarity, and the route generation module will determine the warning status of the corresponding real-time environment segment to determine whether to generate a route for the real-time environment segment. According to an embodiment of the present invention, by comparing the similarity of calculated environmental segments with a threshold, real-time environmental segments that do not meet the conditions are quickly filtered out, thereby avoiding redundant calculations of low-similarity areas and reducing the amount of invalid planning operations. When the similarity of environmental segments meets the standards, the standard route data in the database is directly called instead of regenerating the complete route, which significantly reduces the consumption of computing resources. On the premise that the similarity meets the standards, the warning status is further judged to implement dual condition constraints, thereby avoiding repeated planning decisions for high-risk or complex environmental segments, and thus improving the efficiency of UAV route planning.
[0056] In some embodiments, when the route generation module determines that the environmental segment similarity has reached the standard route similarity, the route generation module will determine the warning status of the corresponding real-time environmental segment. If the corresponding real-time environmental segment does not have a warning, the route generation module will generate a route for the real-time environmental segment; if the corresponding real-time environmental segment has a warning, the route generation module will retain the real-time environmental segment and determine whether to generate a route based on the number of retained real-time environmental segments. According to an embodiment of the present invention, existing routes are reused through environmental similarity determination to reduce repeated calculations and optimize resource consumption; through warning status classification processing, routes in safe areas are quickly generated first to avoid redundant risk verification, thereby improving the efficiency of drone route planning.
[0057] In some embodiments, the route generation module is provided with a first preset retention number R1 and a second preset retention number R2, wherein R1 < R2. When the route generation module completes the comparison of the calculated environment segment similarity with the standard route similarity for all real-time environment segments stored in the route database, the route generation module obtains the number Rc of the retained real-time environment segments, and compares the number Rc of the retained real-time environment segments with the first preset retention number R1 and the second preset retention number R2. When Rc < R1, the route generation module determines that the number of the retained real-time environment segments is lower than the first preset retention number, and the route is retained. The route generation module generates routes for the retained real-time environment segments. When R1≤Rc≤R2, the route generation module determines that the number of retained real-time environment segments is between a first preset number and a second preset number. The route generation module then determines the total area of the encrypted region within the retained real-time environment segments to determine whether to generate routes for the retained real-time environment segments. When Rc>R2, the route generation module determines that the number of retained real-time environment segments exceeds the second preset number. The route generation module does not generate routes for the retained real-time environment segments and marks the flight mission information H as an invalid flight mission. According to an embodiment of the present invention, the processing mode is dynamically switched based on the number of retained real-time environment segments, avoiding indiscriminate calculation of invalid or redundant data. A dual threshold is used to achieve three-level filtering, namely, real-time processing of small data volumes, avoiding overcalculation, and accurately screening key data. When Rc>R2, the task is directly marked as invalid, avoiding subsequent resource consumption such as invalid route optimization and obstacle avoidance calculation, thereby improving the efficiency of UAV route planning.
[0058] In some embodiments, a warning encryption area Jx is also provided in the route generation module. When the route generation module determines that the number of retained real-time environment segments is between the first preset retention number and the second preset retention number, the route generation module will obtain the total encryption area Jm in all retained real-time environment segments, and compare the total encryption area Jm with the warning encryption area Jx. When Jm≤Jx, the route generation module determines that the total encryption area of the retained real-time environment segments does not exceed the warning encryption area, and the route generation module will generate a route for the retained real-time environment segments; when Jm>Jx, the route generation module determines that the total encryption area of the retained real-time environment segments has exceeded the warning encryption area, and the route generation module will not generate a route for the retained real-time environment segments. According to an embodiment of the present invention, the area check of the encrypted area is triggered by a preset range of the number of real-time environment segments, thereby avoiding redundant calculations for all situations and starting verification only in a critical number interval to reduce invalid processing; when the total encrypted area exceeds the warning value, the generation of the route is directly abandoned to avoid the path detour calculation caused by the complex encrypted area, thereby saving computing resources; the obstacle avoidance complexity is directly reflected by the area of the encrypted area, and the in-depth planning of high-complexity scenarios is blocked by the area threshold, thereby shortening the average processing time and improving the efficiency of the UAV route planning.
[0059] It should be noted that, for simplicity of description, the aforementioned method embodiments are presented as a series of combined actions. However, those skilled in the art should be aware that the present disclosure is not limited by the order of the actions described, as certain steps may be performed in a different order or simultaneously, according to the present disclosure. Furthermore, those skilled in the art should also be aware that the embodiments described in this specification are all optional embodiments, and the actions and modules involved are not necessarily required for the present disclosure. In the technical solutions of the present disclosure, the acquisition, storage, and application of user personal information involved comply with relevant laws and regulations and do not violate public order and good morals. It should be understood that the various forms of the above-mentioned processes can be used, and steps can be reordered, added, or deleted. For example, the steps described in this disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions of the present disclosure are achieved. This is not intended to limit the scope of protection of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of protection of the present disclosure.
Claims
1. A method for automatically planning a UAV route, characterized in that: include: S1, collecting the UAV flight environment data in real time through the environment collection module, segmenting the collected environment data in real time through the route processing module to form real-time environment segments; and storing each real-time environment segment in the route database; S2, performing feature matching on the real-time environment segment stored in the route database using the first obstacle feature set set in the safety analysis module, and marking the matching portion of the real-time environment segment; performing feature matching on the real-time environment segment using the second obstacle feature set set in the safety analysis module, and encrypting the matching portion of the real-time environment segment; S3, determining the proportion of the marked area of the real-time environment segment by the safety analysis module, and determining whether to issue a warning for the real-time environment segment or delete the real-time environment segment from the route database based on the proportion of the marked area of the real-time environment segment; S4, receiving flight mission information through the route generation module, and selecting a real-time environment segment in the route database to generate a route according to the flight mission information.
2. The method for automatically planning a UAV route according to claim 1, characterized in that: The route processing module is provided with a standard segment length Db. When the environment acquisition module acquires the flight environment data B in real time, the route processing module acquires the real-time acquisition length Ds of the flight environment data B and compares the real-time acquisition length Ds with the standard segment length Db. When Ds<Db, the route processing module determines that the real-time collection length of the flight environment data B is less than the standard segment length, and the route processing module will determine the real-time collection length of the flight environment data B to determine whether to segment and store the flight environment data B; When Ds≥Db, the route processing module determines that the real-time collection length of the flight environment data B has reached the standard segment length. The route processing module intercepts the flight environment data B collected in the environment collection module to form a real-time environment segment Bu of the flight environment data B, and stores the real-time environment segment Bu in the route database.
3. The method for automatically planning a UAV route according to claim 2, characterized in that: The route processing module is provided with a maximum acquisition adjustment time Fz. When the route processing module determines that the real-time acquisition length of the flight environment data B is less than the standard segment length, the route processing module obtains the real-time acquisition time Fs of the flight environment data B by the environment acquisition module and compares the real-time acquisition time Fs with the maximum acquisition adjustment time Fz. When Fs<Fz, the route processing module determines that the real-time collection duration has not reached the maximum adjustment duration, and the route processing module does not intercept the flight environment data B collected by the environment collection module; When Fs≥Fz, the route processing module determines that the real-time collection time has reached the maximum adjustment time. The route processing module will intercept the flight environment data B collected in the environment collection module to form a real-time environment segment Bu of the flight environment data B, and store the real-time environment segment Bu in the route database.
4. The method for automatically planning a UAV route according to claim 3, characterized in that: The safety analysis module is provided with a first obstacle feature set, which includes several dangerous area features. When the route processing module stores the real-time environment segment into the route database, the safety analysis module performs feature matching on the real-time environment segment according to the first obstacle feature set, wherein: If the real-time environment segment does not contain a matching portion of any dangerous area feature in the first obstacle feature set, the safety analysis module does not mark the real-time environment segment, and performs feature matching on the real-time environment segment according to the second obstacle feature set to determine whether to encrypt the real-time environment segment; If there is a matching part of any dangerous area feature in the first obstacle feature set in the real-time environment segment, the safety analysis module will mark the part of the real-time environment segment that matches the dangerous area feature, and determine the proportion of the marked area to determine whether to delete the real-time environment segment from the route database.
5. The method for automatically planning a UAV route according to claim 4, characterized in that: The safety analysis module is provided with a first safety ratio Z1 and a second safety ratio Z2, wherein Z1<Z2. After the safety analysis module marks the portion of the real-time environment segment that matches the dangerous area feature, the safety analysis module obtains the total area Mz and the marked area Mj of the real-time environment segment, calculates the marked area ratio Ze of the real-time environment segment, Ze=Mj / Mz, and compares the marked area ratio Ze with the first safety ratio Z1 and the second safety ratio Z2. When Ze<Z1, the security analysis module determines that the marked area ratio of the real-time environment segment is lower than the first security ratio, and the security analysis module performs feature matching on the real-time environment segment according to the second obstacle feature set to determine whether to encrypt the real-time environment segment; When Z1≤Ze≤Z2, the security analysis module determines that the marked area ratio of the real-time environment segment is between the first safety ratio and the second safety ratio, the security analysis module will alert the real-time environment segment, and perform feature matching on the real-time environment segment according to the second obstacle feature set to determine whether to encrypt the real-time environment segment; When Ze>Z2, the safety analysis module determines that the marked area ratio of the real-time environment segment is higher than the second safety ratio, and the safety analysis module deletes the real-time environment segment from the route database.
6. The method for automatically planning a UAV route according to claim 5, characterized in that: The safety analysis module is provided with a second obstacle feature set, which includes a plurality of restricted area features. When the safety analysis module performs feature matching on the real-time environment segment according to the second obstacle feature set, the module performs feature matching on the unmarked portion of the real-time environment segment according to the second obstacle feature set, wherein: If there is no matching portion of any restricted area feature in the second obstacle feature set in the unmarked portion of the real-time environment segment, the security analysis module does not encrypt the real-time environment segment; If the unmarked portion of the real-time environment segment contains a matching portion of any restricted area feature in the second obstacle feature set, the security analysis module will encrypt the matching portion of the real-time environment segment and the restricted area feature.
7. The method for automatically planning a UAV route according to claim 6, characterized in that: The route generation module is provided with a standard route similarity Pb. The route generation module receives the flight mission information H and calculates the environmental segment similarity Pi based on the flight mission information H and any real-time environmental segment stored in the route database. The route generation module compares the environmental segment similarity Pi with the standard route similarity Pb. When Pi<Pb, the route generation module determines that the environmental segment similarity does not reach the standard route similarity, and the route generation module does not generate the corresponding real-time environmental segment route; When Pi≥Pb, the route generation module determines that the environmental segment similarity has reached the standard route similarity, and the route generation module will determine the warning status of the corresponding real-time environmental segment to determine whether to generate a route for the real-time environmental segment.
8. The method for automatically planning a UAV route according to claim 7, characterized in that: When the route generation module determines that the environmental segment similarity has reached the standard route similarity, the route generation module will determine the warning status of the corresponding real-time environmental segment. If there is no warning in the corresponding real-time environment segment, the route generation module generates a route for the real-time environment segment; If there is an alert in the corresponding real-time environment segment, the route generation module reserves the real-time environment segment and determines whether to generate the route based on the number of the reserved real-time environment segments.
9. The method for automatically planning a UAV route according to claim 8, characterized in that: The route generation module is provided with a first preset reserved number R1 and a second preset reserved number R2, wherein R1<R2. When the route generation module calculates the environmental segment similarity of all real-time environmental segments stored in the route database and compares it with the standard route similarity, the route generation module obtains the number Rc of retained real-time environmental segments and compares the number Rc of retained real-time environmental segments with the first preset reserved number R1 and the second preset reserved number R2. When Rc<R1, the route generation module determines that the number of the reserved real-time environment segments is lower than the first preset reserved number, and the route generation module generates a route for the reserved real-time environment segments; When R1≤Rc≤R2, the route generation module determines that the number of the retained real-time environment segments is between the first preset retained number and the second preset retained number, and the route generation module determines the total encrypted area within the retained real-time environment segment to determine whether to generate a route for the retained real-time environment segment; When Rc>R2, the route generation module determines that the number of the reserved real-time environment segments is higher than the second preset reserved number, the route generation module does not generate a route for the reserved real-time environment segments, and marks the flight mission information H as an invalid flight mission.
10. The method for automatically planning a UAV route according to claim 9, characterized in that: The route generation module is further provided with a warning encryption area Jx. When the route generation module determines that the number of retained real-time environment segments is between a first preset retention number and a second preset retention number, the route generation module obtains a total encryption area Jm within all retained real-time environment segments and compares the total encryption area Jm with the warning encryption area Jx. When Jm≤Jx, the route generation module determines that the total encrypted area of the retained real-time environment segment does not exceed the warning encrypted area, and the route generation module generates a route for the retained real-time environment segment; When Jm>Jx, the route generation module determines that the total encrypted area of the reserved real-time environment segment exceeds the warning encrypted area, and the route generation module does not generate a route for the reserved real-time environment segment.