Unmanned aerial vehicle route planning method, system and equipment
By demarcating flight segments in the operation area and clustering them, and optimizing drone routes based on heading angles and route spacing, the problems of drone flight out of the area and back-and-forth shuttle are solved, and efficient route planning is achieved.
Patent Information
- Application Number
- CN202510414290.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-03
- Publication Date
- 2025-08-15
AI Technical Summary
The existing drone route planning methods are prone to fly out of the area in the concave polygonal operation area and shuttle back and forth in narrow areas, resulting in safety hazards and inefficiency.
By demarcating the flight segments in the operating area, clustering according to the boundary lines of the flight segments, combining preset heading angles and route spacing, route planning is optimized to avoid flying out of the area and reduce back and forth shuttles, and routes are generated using bow-shaped flight and shortest distance constraints.
Effectively avoid drones flying out of the operating area, reduce back and forth, and improve operational efficiency and safety.
Smart Images
Figure CN120489118A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of route planning, and in particular to a method, system and device for planning a route for an unmanned aerial vehicle (UAV). Background Art
[0002] With the rapid development of drone technology and the increasing popularity of the low-altitude economy, more and more application scenarios require efficient drone route planning methods to support business applications. Existing drone route planning solutions often use greedy algorithms to obtain the shortest total path that covers the operating area.
[0003] However, this method has significant drawbacks. When the operating area is a concave polygon, the drone can easily fly outside the area, entering unknown airspace, which can pose a safety hazard. Furthermore, if the operating area contains many narrow areas, the algorithm may cause the drone to shuttle back and forth between these narrow areas, increasing flight distance and reducing operational efficiency. Summary of the Invention
[0004] The purpose of the embodiments of the present invention is to provide a method, system and device for planning a drone route, which can prevent the drone from flying out of the operating area, reduce the situation of the drone shuttling back and forth, and improve operating efficiency.
[0005] An embodiment of the present invention provides a method for planning a UAV route, comprising:
[0006] According to the preset heading angle and preset route spacing, several flight line segments are delineated within the operation area;
[0007] Clustering the flight line segments according to the boundary lines where the two endpoints of the flight line segments are located to obtain a flight line segment group;
[0008] According to the constraints of flying along the bow shape within the flight line segment group and the shortest distance between the flight line segment groups within the operation area, the UAV route covering all the flight line segment groups is solved.
[0009] As an improvement to the above solution, the method of demarcating a number of flight line segments within the operation area according to the preset heading angle and the preset route spacing includes:
[0010] Take any point inside the operation area or on the boundary line as the initial point;
[0011] Draw a number of equidistant parallel straight lines through the initial point at a preset heading angle and a preset route spacing;
[0012] A flight line segment is obtained according to the line segment of the parallel straight line inside the operation area.
[0013] As an improvement to the above solution, clustering the flight line segments according to the boundary lines where the two endpoints of the flight line segments are located to obtain a flight line segment group includes:
[0014] When the first endpoints of different flight line segments are both on the first boundary line, and the second endpoints are both on the second boundary line, the different flight line segments are considered to be in an equivalent relationship;
[0015] Clustering is performed according to the equivalence relationship between all the flight line segments to obtain a flight line segment group.
[0016] As an improvement to the above solution, the UAV route covering all flight line segment groups is solved based on the constraint that the UAV flies along a bow shape within the flight line segment group and the distance between the flight line segment groups within the operation area is the shortest. The solution includes:
[0017] The first constraint condition is established based on the shortest distance between flight line segments within the operation area;
[0018] According to the flight line segment group along the bow, the second constraint condition is established;
[0019] According to the endpoint of the outermost flight segment in the flight segment group, a candidate entry of the flight segment group is obtained;
[0020] Under the first constraint, calculate the distance from the current takeoff point to the candidate entrances of the unvisited flight segment group, screen out the nearest entrance, and generate the inter-group route;
[0021] Under the second constraint, generating a route within the group according to the nearest entrance, and updating the unvisited flight line segment and the current take-off point;
[0022] According to the inter-group routes and the intra-group routes, a drone route covering all the flight segment groups is obtained.
[0023] As an improvement to the above solution, the first constraint condition is established based on the shortest distance between flight line segments within the operation area, including:
[0024] When all line segments formed by the first point and the second point are located within the operating area, the distance between the first point and the second point is regarded as a straight-line distance to obtain a first distance representation;
[0025] When a line segment formed by a first point and a second point is partially or entirely outside the operating area, the distance between the first point and the second point is considered to be infinite, thereby obtaining a second distance representation;
[0026] A first constraint condition is obtained according to the first distance representation and the second distance representation.
[0027] As an improvement to the above solution, under the first constraint, the distance from the current takeoff point to the candidate entrances of the unvisited flight segment group is calculated, the nearest entrance is screened, and the inter-group route is generated, including:
[0028] Connect the current takeoff point with the candidate entry points of the unvisited flight segment group to determine whether all the formed segments are within the operation area;
[0029] If so, the length of the formed line segment is used as the distance from the current takeoff point to the candidate entry of the unvisited flight line segment group;
[0030] If not, use the shortest path algorithm to calculate the segment group between the current takeoff point and the candidate entry point of the unvisited flight segment group, and use the sum of the lengths of all segments in the segment group as the distance from the current takeoff point to the candidate entry point of the unvisited flight segment group; wherein all segments in the segment group are within the operation area;
[0031] According to the distance from the current take-off point to the candidate entrances of the unvisited flight line segment group, the nearest entrance is selected;
[0032] An inter-group route is generated according to the line segment or line segment group corresponding to the nearest entrance.
[0033] An embodiment of the present invention further provides a UAV route planning system, comprising:
[0034] The flight line segment delineation module is used to delineate a number of flight line segments within the operation area according to the preset heading angle and the preset route spacing;
[0035] A flight line segment clustering module, configured to cluster the flight line segments according to the boundary lines where the two endpoints of the flight line segments are located, to obtain a flight line segment group;
[0036] The route generation module is used to solve the UAV route covering all the flight line segment groups according to the constraints that the UAV flies along the bow shape within the flight line segment group and the distance between the flight line segment groups within the operation area is the shortest.
[0037] As an improvement to the above solution, the flight line segment clustering module is specifically used to:
[0038] When the first endpoints of different flight line segments are both on the first boundary line, and the second endpoints are both on the second boundary line, the different flight line segments are considered to be in an equivalent relationship;
[0039] Clustering is performed according to the equivalence relationship between all the flight line segments to obtain a flight line segment group.
[0040] As an improvement to the above solution, the route generation module includes:
[0041] A first constraint condition establishing unit, configured to establish a first constraint condition based on the shortest distance between flight line segment groups within the operation area;
[0042] A second constraint condition establishing unit is used to establish a second constraint condition according to flying along the bow in the flight line segment group;
[0043] A candidate entry obtaining unit, configured to obtain a candidate entry of the flight line segment group according to the endpoint of the outermost flight line segment in the flight line segment group;
[0044] an inter-group route generating unit, configured to calculate the distance from the current take-off point to the candidate entrances of the unvisited flight segment group under the first constraint condition, screen the nearest entrance, and generate an inter-group route;
[0045] an intra-group route generating unit, configured to generate an intra-group route based on the nearest entrance under the second constraint condition, and update unvisited flight line segments and a current take-off point;
[0046] The overall route generating unit is used to obtain the UAV route covering all the flight segment groups according to the inter-group routes and the intra-group routes.
[0047] An embodiment of the present invention also provides a drone route planning device, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, the drone route planning method described above is implemented.
[0048] Compared to existing technologies, the present invention discloses a method, system, and device for planning drone routes. These methods define several flight segments within an operating area based on preset heading angles and route spacing. These segments are clustered according to the boundary lines where their endpoints lie to generate flight segment groups. Finally, a drone route covering all flight segment groups is calculated, based on the constraints that the flight segments within the group must follow a bow-shaped trajectory and that the distance between the segments within the operating area must be the shortest. This embodiment of the present invention prevents drones from flying outside the operating area, reduces the number of drones shuttling back and forth, and improves operational efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0049] Figure 1 This is a schematic flow chart of the steps of a method for planning a drone route provided by an embodiment of the present invention;
[0050] Figure 2 This is a schematic diagram of delineating a flight line segment provided by an embodiment of the present invention;
[0051] Figure 3 This is a schematic diagram of clustering to generate flight line segment groups provided by an embodiment of the present invention;
[0052] Figure 4 This is a schematic diagram of generating a drone route provided by an embodiment of the present invention.
[0053] Figure 5 This is a schematic diagram of the structure of a UAV route planning system provided by an embodiment of the present invention. DETAILED DESCRIPTION
[0054] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.
[0055] In the description of the specification and claims, it should be understood that the terms "first," "second," etc., are used solely for descriptive purposes to distinguish between identical technical features and are not to be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to, nor do they necessarily describe a sequential or chronological order. The terms are interchangeable where appropriate. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one of those features.
[0056] The embodiment of the present invention provides a method for planning a UAV route. Figure 1 In this embodiment, the UAV route planning method is specifically performed through steps S1 to S3:
[0057] S1. Based on the preset heading angle and the preset route spacing, several flight line segments are delineated within the operation area.
[0058] It should be noted that the preset heading angle is related to the direction of the drone's flight, and the preset route spacing is the distance between adjacent flight line segments, ensuring that the operation area is evenly covered and avoiding overlapping or missing areas. Delineating flight line segments can improve the accuracy and efficiency of operations and ensure the consistency and integrity of collected data.
[0059] S2. Clustering the flight line segments according to the boundary lines where the two endpoints of the flight line segments are located to obtain a flight line segment group.
[0060] Clustering flight line segments with the same boundary lines into groups helps to plan and manage the operation area in more detail. This is especially helpful for subsequent route planning in polygonal operation areas. Decomposing large-scale route planning problems into multiple smaller sub-problems helps reduce the complexity of planning.
[0061] S3. According to the constraints that the UAV flies along a bow shape within the flight line segment group and the distance between the flight line segment groups within the operation area is the shortest, solve and obtain the UAV route covering all the flight line segment groups.
[0062] It's important to note that flying along a curved line within a flight path can reduce the number of turns and flight distance within a sub-area, while ensuring coverage of the operational area, thereby improving flight efficiency. By constraining the distance between flight path groups within the operational area to be the shortest, this optimizes the flight path layout within the entire operational area, making transitions between sub-areas more efficient and further saving time and energy. This also ensures that all flight paths remain within the operational area, reducing safety risks.
[0063] As a preferred embodiment, step S1, demarcating a number of flight line segments within the operation area according to a preset heading angle and a preset route spacing, includes:
[0064] Take any point inside the operation area or on the boundary line as the initial point;
[0065] Draw a number of equidistant parallel straight lines through the initial point at a preset heading angle and a preset route spacing;
[0066] A flight line segment is obtained according to the line segment of the parallel straight line inside the operation area.
[0067] In a preferred embodiment, see Figure 2 The operating area is a concave polygonal area, expressed as P = {P1(x1, y1), P2(x2, y2), ..., P5(x5, y5)}, the preset heading angle is α, and the preset route spacing is d. Take any point inside the operating area or on the boundary line as the initial point Q. Preferably, the polygon vertex can be taken as the initial point. Then draw a series of equally spaced parallel straight lines through the initial point Q with α as the inclination angle and d as the spacing, and only retain all the line segments of each parallel straight line that fall within the polygonal area. The resulting flight line segments are as follows Figure 2 As shown by the red line in .
[0068] It should be noted that the drone mainly flies along the flight line segment during flight, and according to the preset route spacing, it can ensure that the inspection, monitoring and other operational requirements between two adjacent flight line segments are covered when flying along the flight route.
[0069] It should also be noted that in some cases, boundary lines can be line segments or curves. For an operation area, at least two boundary lines are included, and the two boundary lines can be connected at the first position. For example, for a circular operation area, two points are first randomly selected on the boundary of the operation area as boundary dividing points. The two semicircles formed by the two dividing points are then used as boundary lines to implement subsequent flight line segment clustering using the method of the embodiment of the present invention.
[0070] It can be seen that the flight line segment delineation method described in the embodiment of the present invention is applicable to various scenarios and has good adaptability.
[0071] As a preferred embodiment, step S2, clustering the flight line segments according to the boundary lines where the two endpoints of the flight line segments are located to obtain a flight line segment group, includes:
[0072] When the first endpoints of different flight line segments are both on the first boundary line, and the second endpoints are both on the second boundary line, the different flight line segments are considered to be in an equivalent relationship;
[0073] Clustering is performed according to the equivalence relationship between all the flight line segments to obtain a flight line segment group.
[0074] See Figure 3 In a preferred embodiment of the present invention, all flight line segments are clustered into four flight line segment groups, and different colors are used to distinguish them for ease of understanding.
[0075] It should be noted that the number of flight segments in each flight segment group must be at least one. Furthermore, if a flight segment group contains one flight segment, the group has two candidate entrances and exits; if a flight segment group contains more than one flight segment, the group has four candidate entrances and exits. When entering a flight segment group, a drone can enter through any candidate entrance and exit, and the exit is determined based on its flight logic and the number of flight segments. It should be understood that the exit also corresponds to a candidate entrance and exit, but is different from the actual entrance.
[0076] As a preferred embodiment, step S3, according to the constraint that the flight line segment groups are to fly along a bow shape and the distance between the flight line segment groups within the operation area is the shortest, solves and obtains a UAV route covering all the flight line segment groups, including:
[0077] The first constraint condition is established based on the shortest distance between flight line segments within the operation area;
[0078] According to the flight line segment group along the bow, the second constraint condition is established;
[0079] According to the endpoint of the outermost flight segment in the flight segment group, a candidate entry of the flight segment group is obtained;
[0080] Under the first constraint, calculate the distance from the current takeoff point to the candidate entrances of the unvisited flight segment group, screen out the nearest entrance, and generate the inter-group route;
[0081] Under the second constraint, generating a route within the group according to the nearest entrance, and updating the unvisited flight line segment and the current take-off point;
[0082] According to the inter-group routes and the intra-group routes, a drone route covering all the flight segment groups is obtained.
[0083] It should be noted that the current takeoff point in the initial phase can be pre-set or obtained through an optimization algorithm. For example, based on the actual takeoff location of the drone, n candidate entrances closest to the actual takeoff location are selected, and a route is generated from each candidate entrance. The candidate entrance corresponding to the shortest route is set as the current takeoff point, and the drone is controlled to fly from the actual takeoff location to the current takeoff point to begin the mission.
[0084] In an embodiment of the present invention, the first constraint condition can minimize the distance between flight line segment groups within the operating area, thereby preventing the drone from taking detours between different operating areas and from flying out of the operating area; the second constraint condition can ensure that the drone's flight path within each flight line group is orderly and efficient. In addition, in the process of generating inter-group routes and intra-group routes, a dynamic update mechanism that continuously updates unvisited flight line segments and current take-off points can ensure that the drone visits each flight line segment group in the planned order, without repeated visits or omissions, further ensuring complete coverage of all flight line segment groups.
[0085] Furthermore, preferably, the first constraint condition is established based on the shortest distance between flight line segments within the operation area, including:
[0086] When all line segments formed by the first point and the second point are located within the operating area, the distance between the first point and the second point is regarded as a straight-line distance to obtain a first distance representation;
[0087] When a line segment formed by a first point and a second point is partially or entirely outside the operating area, the distance between the first point and the second point is considered to be infinite, thereby obtaining a second distance representation;
[0088] A first constraint condition is obtained according to the first distance representation and the second distance representation.
[0089] In some preferred embodiments, the shortest path within the working area from A to B is required, by The first constraint condition is obtained, where the values of x and y are all {A,B}∪{P1,…,P n}.
[0090] Furthermore, under the first constraint, the distance from the current takeoff point to the candidate entrances of the unvisited flight segment group is calculated, the nearest entrance is screened, and the inter-group route is generated, including:
[0091] Connect the current takeoff point with the candidate entry points of the unvisited flight segment group to determine whether all the formed segments are within the operation area;
[0092] If so, the length of the formed line segment is used as the distance from the current takeoff point to the candidate entry of the unvisited flight line segment group;
[0093] If not, use the shortest path algorithm to calculate the segment group between the current takeoff point and the candidate entry point of the unvisited flight segment group, and use the sum of the lengths of all segments in the segment group as the distance from the current takeoff point to the candidate entry point of the unvisited flight segment group; wherein all segments in the segment group are within the operation area;
[0094] According to the distance from the current take-off point to the candidate entrances of the unvisited flight line segment group, the nearest entrance is selected;
[0095] An inter-group route is generated according to the line segment or line segment group corresponding to the nearest entrance.
[0096] Compared to simply ignoring operational area restrictions, this embodiment of the present invention provides more accurate data for selecting the nearest entry point, thereby optimizing inter-group routes and enabling drones to fly more rationally between different flight segment groups. Furthermore, the shortest path algorithm can flexibly adapt to complex operational area shapes, ensuring the feasibility and effectiveness of the solution in various operating environments.
[0097] In some preferred embodiments, the shortest path algorithm is Dijkstra algorithm. In practical applications, A* algorithm, Floyd algorithm or Bellman-Ford algorithm etc. can also be used, and the specific algorithm does not affect the beneficial effects produced by the embodiment of the present invention.
[0098] For example, in a specific embodiment, the route of the drone generated by the embodiment of the present invention is as follows: Figure 4 It is worth noting that after the drone completes its visit to the purple flight path group, due to the characteristics of concave polygons, directly connecting it with any candidate entrance of the unvisited flight line group to generate a route will cause the drone to fly out of the operation area. Therefore, this embodiment of the present invention uses the Dijkstra algorithm combined with the first constraint to generate a line segment group consisting of two line segments, so that the drone flies along the line segment group to the yellow flight line segment group, ensuring that the drone flies completely within the operation area and the flight path is the shortest.
[0099] It should also be noted that, through the embodiments of the present invention, it is possible to ensure that unvisited flight segment groups are selected during flight, and the nearest flight segment group can be selected to start flight, thereby reducing the possibility of shuttling back and forth in a narrow operating area.
[0100] The method for planning a drone route provided by an embodiment of the present invention can prevent the drone from flying out of the operating area, reduce the drone's back-and-forth movement, and improve operating efficiency.
[0101] The present invention provides a system for planning a UAV route. Figure 5 The UAV route planning system includes a flight line segment delineation module 11, a flight line segment clustering module 12 and a route generation module 13, wherein:
[0102] The flight line segment delineation module 11 is used to delineate a number of flight line segments within the operation area according to a preset heading angle and a preset route spacing;
[0103] The flight line segment clustering module 12 is configured to cluster the flight line segments according to the boundary lines where the two endpoints of the flight line segments are located to obtain a flight line segment group;
[0104] The route generation module 13 is used to solve the UAV route covering all the flight line segment groups according to the constraints that the UAV flies along the bow shape within the flight line segment group and the distance between the flight line segment groups within the operation area is the shortest.
[0105] As a preferred embodiment, the flight line segment delineation module 11 is specifically used to:
[0106] Take any point inside the operation area or on the boundary line as the initial point;
[0107] Draw a number of equidistant parallel straight lines through the initial point at a preset heading angle and a preset route spacing;
[0108] A flight line segment is obtained according to the line segment of the parallel straight line inside the operation area.
[0109] As a preferred embodiment, the flight line segment clustering module 12 is specifically configured to:
[0110] When the first endpoints of different flight line segments are both on the first boundary line, and the second endpoints are both on the second boundary line, the different flight line segments are considered to be in an equivalent relationship;
[0111] Clustering is performed according to the equivalence relationship between all the flight line segments to obtain a flight line segment group.
[0112] As a preferred embodiment, the route generation module 13 includes:
[0113] A first constraint condition establishing unit, configured to establish a first constraint condition based on the shortest distance between flight line segment groups within the operation area;
[0114] A second constraint condition establishing unit is used to establish a second constraint condition according to flying along the bow in the flight line segment group;
[0115] A candidate entry obtaining unit, configured to obtain a candidate entry of the flight line segment group according to the endpoint of the outermost flight line segment in the flight line segment group;
[0116] an inter-group route generating unit, configured to calculate the distance from the current take-off point to the candidate entrances of the unvisited flight segment group under the first constraint condition, screen the nearest entrance, and generate an inter-group route;
[0117] an intra-group route generating unit, configured to generate an intra-group route based on the nearest entrance under the second constraint condition, and update unvisited flight line segments and a current take-off point;
[0118] The overall route generating unit is used to obtain the UAV route covering all the flight segment groups according to the inter-group routes and the intra-group routes.
[0119] Furthermore, preferably, the first constraint condition establishing unit is specifically configured to:
[0120] When all line segments formed by the first point and the second point are located within the operating area, the distance between the first point and the second point is regarded as a straight-line distance to obtain a first distance representation;
[0121] When a line segment formed by a first point and a second point is partially or entirely outside the operating area, the distance between the first point and the second point is considered to be infinite, thereby obtaining a second distance representation;
[0122] A first constraint condition is obtained according to the first distance representation and the second distance representation.
[0123] Furthermore, preferably, the inter-group route generating unit is specifically configured to:
[0124] Connect the current takeoff point with the candidate entry points of the unvisited flight segment group to determine whether all the formed segments are within the operation area;
[0125] If so, the length of the formed line segment is used as the distance from the current takeoff point to the candidate entry of the unvisited flight line segment group;
[0126] If not, use the shortest path algorithm to calculate the segment group between the current takeoff point and the candidate entry point of the unvisited flight segment group, and use the sum of the lengths of all segments in the segment group as the distance from the current takeoff point to the candidate entry point of the unvisited flight segment group; wherein all segments in the segment group are within the operation area;
[0127] According to the distance from the current take-off point to the candidate entrances of the unvisited flight line segment group, the nearest entrance is selected;
[0128] An inter-group route is generated according to the line segment or line segment group corresponding to the nearest entrance.
[0129] The drone route planning system provided by the embodiment of the present invention can prevent the drone from flying out of the operation area, reduce the situation of the drone shuttling back and forth, and improve operation efficiency.
[0130] An embodiment of the present invention also provides a drone route planning device, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, the drone route planning method as described above is implemented. The working principles and beneficial effects of the two correspond one to one, and therefore will not be repeated here.
[0131] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing related hardware through a computer program. The program can be stored in a computer-readable storage medium, and when executed, the program can include the processes in the above-described method embodiments. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).
[0132] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.
Claims
1. A method for planning a UAV route, characterized in that: include: According to the preset heading angle and preset route spacing, several flight line segments are delineated within the operation area; Clustering the flight line segments according to the boundary lines where the two endpoints of the flight line segments are located to obtain a flight line segment group; According to the constraints of flying along the bow shape within the flight line segment group and the shortest distance between the flight line segment groups within the operation area, the UAV route covering all the flight line segment groups is solved.
2. A method for planning a UAV route according to claim 1, characterized in that: The method of demarcating a number of flight line segments within the operation area based on the preset heading angle and the preset route spacing includes: Take any point inside the operation area or on the boundary line as the initial point; Draw a number of equidistant parallel straight lines through the initial point at a preset heading angle and a preset route spacing; A flight line segment is obtained according to the line segment of the parallel straight line inside the operation area.
3. The method for planning a UAV route according to claim 1, wherein: Clustering the flight line segments according to the boundary lines where the two endpoints of the flight line segments are located to obtain a flight line segment group includes: When the first endpoints of different flight line segments are both on the first boundary line, and the second endpoints are both on the second boundary line, the different flight line segments are considered to be in an equivalent relationship; Clustering is performed according to the equivalence relationship between all the flight line segments to obtain a flight line segment group.
4. The method for planning a UAV route according to claim 1, wherein: The method of solving the UAV route covering all flight line segment groups according to the constraint that the UAV flies along a bow shape within the flight line segment group and the distance between the flight line segment groups within the operation area is the shortest is as follows: The first constraint condition is established based on the shortest distance between flight line segments within the operation area; According to the flight line segment group along the bow, the second constraint condition is established; According to the endpoint of the outermost flight segment in the flight segment group, a candidate entry of the flight segment group is obtained; Under the first constraint, calculate the distance from the current takeoff point to the candidate entrances of the unvisited flight segment group, screen out the nearest entrance, and generate the inter-group route; Under the second constraint, generating a route within the group according to the nearest entrance, and updating the unvisited flight line segment and the current take-off point; According to the inter-group routes and the intra-group routes, a drone route covering all the flight segment groups is obtained.
5. A method for planning a UAV route according to claim 4, characterized in that: The first constraint condition is established based on the shortest distance between flight line segments within the operation area, including: When all line segments formed by the first point and the second point are located within the operating area, the distance between the first point and the second point is regarded as a straight-line distance to obtain a first distance representation; When a line segment formed by a first point and a second point is partially or entirely outside the operating area, the distance between the first point and the second point is considered to be infinite, thereby obtaining a second distance representation; A first constraint condition is obtained according to the first distance representation and the second distance representation.
6. A method for planning a UAV route according to claim 4 or 5, characterized in that: Under the first constraint, the distance from the current takeoff point to the candidate entrances of the unvisited flight segment group is calculated, the nearest entrance is screened, and the inter-group route is generated, including: Connect the current takeoff point with the candidate entry points of the unvisited flight segment group to determine whether all the formed segments are within the operation area; If so, the length of the formed line segment is used as the distance from the current takeoff point to the candidate entry of the unvisited flight line segment group; If not, use the shortest path algorithm to calculate the segment group between the current takeoff point and the candidate entry point of the unvisited flight segment group, and use the sum of the lengths of all segments in the segment group as the distance from the current takeoff point to the candidate entry point of the unvisited flight segment group; wherein all segments in the segment group are within the operation area; According to the distance from the current take-off point to the candidate entrances of the unvisited flight line segment group, the nearest entrance is selected; An inter-group route is generated according to the line segment or line segment group corresponding to the nearest entrance.
7. A UAV route planning system, characterized in that: include: The flight line segment delineation module is used to delineate a number of flight line segments within the operation area according to the preset heading angle and the preset route spacing; A flight line segment clustering module, configured to cluster the flight line segments according to the boundary lines where the two endpoints of the flight line segments are located, to obtain a flight line segment group; The route generation module is used to solve the UAV route covering all the flight line segment groups according to the constraints that the UAV flies along the bow shape within the flight line segment group and the distance between the flight line segment groups within the operation area is the shortest.
8. The UAV route planning system according to claim 7, characterized in that: The flight line segment clustering module is specifically used to: When the first endpoints of different flight line segments are both on the first boundary line, and the second endpoints are both on the second boundary line, the different flight line segments are considered to be in an equivalent relationship; Clustering is performed according to the equivalence relationship between all the flight line segments to obtain a flight line segment group.
9. The UAV route planning system according to claim 7, characterized in that: The route generation module includes: A first constraint condition establishing unit, configured to establish a first constraint condition based on the shortest distance between flight line segment groups within the operation area; A second constraint condition establishing unit is used to establish a second constraint condition according to flying along the bow in the flight line segment group; A candidate entry obtaining unit, configured to obtain a candidate entry of the flight line segment group according to the endpoint of the outermost flight line segment in the flight line segment group; an inter-group route generating unit, configured to calculate the distance from the current take-off point to the candidate entrances of the unvisited flight segment group under the first constraint condition, screen the nearest entrance, and generate an inter-group route; an intra-group route generating unit, configured to generate an intra-group route based on the nearest entrance under the second constraint condition, and update unvisited flight line segments and a current take-off point; The overall route generating unit is used to obtain the UAV route covering all the flight segment groups according to the inter-group routes and the intra-group routes.
10. A drone route planning device, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, the method for planning a drone route according to any one of claims 1 to 6 is implemented.