Strip route planning method, electronic device and computer readable storage medium

Abstract

The application discloses a strip-shaped flight path planning method, an electronic device and a computer readable storage medium. The method comprises the following steps: determining at least a first line segment and a second line segment according to at least three anchor points which are not located on the same straight line and a preset flight strip width, and determining a first parallel line and a second parallel line corresponding to the first line segment and the second line segment respectively; dividing the flight strip according to the first parallel line and the second parallel line, and determining a first flight strip region, a second flight strip region and a third flight strip region which intersect but do not overlap; obtaining a lateral interval for representing a flight path interval according to a shooting focal length and an imaging sensor length of an unmanned aerial vehicle, and a preset lateral overlap rate and a preset flight height; determining a flight point from each flight strip region according to the lateral interval, and alternately connecting the flight points to generate a strip-shaped flight path corresponding to the at least three anchor points. In this way, the aerial photography quality and the three-dimensional modeling quality of the unmanned aerial vehicle can be effectively improved, and the unmanned aerial vehicle can adapt to different flight requirements.

Description

Technical Field

[0001] This invention relates to the field of flight control technology, and in particular to a method for planning a strip route, an electronic device, and a computer-readable storage medium. Background Technology

[0002] Currently, unmanned aerial vehicles (UAVs), with their unique advantages and broad application prospects, have become indispensable tools in many industries. UAVs, in particular, equipped with high-resolution cameras and advanced sensors, can efficiently acquire aerial photographs and perform 3D modeling based on these images, providing strong support for production activities across various industries.

[0003] Taking photos is a prerequisite for 3D modeling, and the correct shooting method determines the lower limit of 3D modeling quality. The shooting method for drones is mainly affected by flight path planning. However, how to plan drone flight paths to improve the quality of drone aerial photography and 3D modeling remains an ongoing research topic. Summary of the Invention

[0004] The purpose of this application is to provide a strip-shaped flight path planning method, electronic device and computer-readable storage medium, which can effectively improve the aerial photography quality and 3D modeling quality of unmanned aerial vehicles (UAVs) and enable UAVs to adapt to different flight requirements.

[0005] To achieve the above objectives:

[0006] In a first aspect, embodiments of this application provide a method for planning a strip-shaped flight path, including:

[0007] Based on at least three anchor points not located on the same straight line and a preset flight strip width, at least the first parallel line and the second parallel line corresponding to the first line segment and the second line segment are determined respectively; wherein, the line connecting two adjacent anchor points constitutes a line segment, and the first parallel line and the second parallel line are symmetrical about the corresponding line segment and the distance between them is the preset flight strip width.

[0008] Based on the first parallel line and the second parallel line, flight strips are divided to determine intersecting but non-overlapping first, second, and third flight strip regions; different flight strip regions cover different anchor points.

[0009] Based on the unmanned aerial vehicle's shooting focal length and imaging sensor length, as well as the preset lateral overlap rate and preset flight altitude, the lateral spacing used to characterize the flight path spacing is obtained.

[0010] Waypoints are determined from each strip area based on the lateral interval, and the waypoints are alternately connected to generate a strip route corresponding to the at least three anchor points.

[0011] Optionally, determining at least the first parallel line and the second parallel line corresponding to the first line segment and the second line segment respectively, based on at least three anchor points not located on the same straight line and a preset flight strip width, includes:

[0012] Obtain the angle between the vector corresponding to the target line segment and the target in a preset direction. The target line segment is either the first line segment or the second line segment. The vector corresponding to the target line segment is the vector formed by the first anchor point and the second anchor point constituting the target line segment.

[0013] Obtain a first position point after moving the first anchor point a preset distance along the first target direction, and a second position point after moving the second anchor point a preset distance along the first target direction; the first target direction is determined based on the target angle, and the preset distance is half of the preset flight strip width;

[0014] Obtain a third position point after moving the first anchor point a preset distance along the second target direction, and a fourth position point after moving the second anchor point a preset distance along the second target direction; the second target direction is the opposite direction to the first target direction;

[0015] The first parallel line of the target line segment is determined based on the first position point and the second position point, and the second parallel line of the target line segment is determined based on the third position point and the fourth position point.

[0016] Optionally, the step of dividing flight strips based on the first parallel line and the second parallel line to determine intersecting but non-overlapping first flight strip region, second flight strip region, and third flight strip region includes:

[0017] Based on the relationship between the first target angle between the vector corresponding to the first line segment and the preset direction and the second target angle between the vector corresponding to the second line segment and the preset direction, the intersection point of the target parallel line in the first parallel line and the second parallel line is determined.

[0018] Based on the points symmetrical about the first and second line segments respectively, the first, second, and third flight strip regions that intersect but do not overlap are determined.

[0019] Optionally, determining the intersection point of the target parallel line in the first parallel line and the second parallel line based on the relationship between the first target angle between the vector corresponding to the first line segment and the preset direction and the second target angle between the vector corresponding to the second line segment and the preset direction includes:

[0020] If the first target angle is greater than the second target angle, then the first parallel line is taken as the target parallel line, and the intersection point of the target parallel line is determined according to the slope and offset of the first parallel line corresponding to the first line segment and the second line segment respectively.

[0021] If the first target angle is smaller than the second target angle, then the second parallel line is taken as the target parallel line, and the intersection point of the target parallel line is determined according to the slope and offset of the second parallel line corresponding to the first line segment and the second line segment, respectively.

[0022] Optionally, determining the intersecting but non-overlapping first flight strip region, second flight strip region, and third flight strip region based on the symmetrical points of the intersection points about the first line segment and the second line segment respectively includes:

[0023] Obtain the first symmetrical point of the intersection point with respect to the first line segment and the second symmetrical point of the intersection point with respect to the second line segment;

[0024] The first flight strip region is determined based on the intersection point, the first symmetrical point, and the first and third position points that are far from the intersection point and symmetrical about the first line segment.

[0025] Based on the intersection point, the first symmetric point, and the second symmetric point, a second flight strip region that intersects with but does not overlap with the first flight strip region is determined.

[0026] Based on the intersection point, the second symmetric point, and the second and fourth position points that are far from the intersection point and symmetrical about the second line segment, a third flight strip region that intersects with but does not overlap with the second flight strip region is determined.

[0027] Optionally, obtaining the lateral spacing to characterize the flight path spacing based on the unmanned aerial vehicle's shooting focal length and imaging sensor length, as well as a preset lateral overlap rate and a preset flight altitude, includes:

[0028] The field of view of the unmanned aerial vehicle is obtained based on its shooting focal length, imaging sensor length, and preset flight altitude.

[0029] Based on the field of view length and the preset lateral overlap rate, the lateral spacing used to characterize the flight path spacing is determined.

[0030] Optionally, before obtaining the field of view length of the unmanned aerial vehicle (UAV) based on its shooting focal length, imaging sensor length, and preset flight altitude, the following steps are included:

[0031] The imaging parameters of the unmanned aerial vehicle are obtained, including the diagonal length of the imaging sensor, the image length, and the width.

[0032] Determine the diagonal length of the image based on its length and width;

[0033] The length of the imaging sensor is determined based on the diagonal length of the image, the diagonal length of the imaging sensor, and the length of the image.

[0034] Optionally, the step of determining waypoints from each strip region according to the lateral interval and alternately connecting the waypoints to generate the strip-shaped route corresponding to the at least three anchor points includes:

[0035] In the target flight strip region, a waypoint is determined at each lateral interval on a parallel line, and the waypoints are connected alternately to obtain the flight route in the target flight strip region; the target flight strip region is either the first flight strip region or the third flight strip region.

[0036] In the second flight strip region, a waypoint is determined at each lateral interval on the target edge, and the waypoints and the intersection points are alternately connected to obtain the flight route in the second flight strip region; the target edge is the edge formed by the intersection point with respect to the symmetrical points of the first line segment and the second line segment respectively;

[0037] By sequentially connecting the routes within the first flight strip area, the routes within the second flight strip area, and the routes within the third flight strip area, a strip-shaped route corresponding to the at least three anchor points is generated.

[0038] Secondly, embodiments of this application provide an electronic device, including: a processor and a memory storing a computer program, wherein when the processor runs the computer program, the above-described strip route planning method is implemented.

[0039] Thirdly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the above-described strip route planning method.

[0040] The method, electronic device, and computer-readable storage medium for planning a strip route provided in this application include: determining at least a first parallel line and a second parallel line corresponding to a first line segment and a second line segment, respectively, based on at least three anchor points not located on the same straight line and a preset strip width; dividing the strip according to the first parallel line and the second parallel line to determine intersecting but non-overlapping first strip region, second strip region, and third strip region; obtaining a lateral interval for characterizing the route spacing based on the shooting focal length and imaging sensor length of the unmanned aerial vehicle, as well as a preset lateral overlap rate and a preset flight altitude; determining waypoints from each strip region according to the lateral interval, and alternately connecting waypoints to generate a strip route corresponding to at least three anchor points. In this way, by acquiring at least three anchor points (i.e. broken line segments) that are not located on the same straight line and a preset flight strip width, flight strip areas corresponding to different anchor points are planned. Then, waypoints are determined from each flight strip area based on lateral intervals to generate a strip-shaped flight path corresponding to at least three anchor points. This allows the UAV to take pictures from all directions and multiple angles during its flight along the planned strip-shaped flight path, thereby effectively improving the aerial photography quality and 3D modeling quality of the UAV and enabling the UAV to adapt to different flight requirements. Attached Figure Description

[0041] Figure 1 A flowchart illustrating the strip route planning method provided in this embodiment of the invention. Figure 1 ;

[0042] Figure 2 This is a schematic diagram of the anchor point location in an embodiment of the present invention;

[0043] Figure 3 This is a schematic diagram for calculating the angle between a vector and the due north direction;

[0044] Figure 4 A schematic diagram illustrating the calculation of latitude and longitude of a point after it has moved a specified distance in a specified direction.

[0045] Figure 5 A diagram illustrating the movement of a point a specified distance in a specified direction.

[0046] Figure 6 This is a schematic diagram showing the positions of the left and right parallel lines of the vector;

[0047] Figure 7 A schematic diagram for calculating the left and right parallel lines of a vector;

[0048] Figure 8 This is a diagram showing the intersection of two straight lines;

[0049] Figure 9 A schematic diagram for calculating the intersection of two straight lines;

[0050] Figure 10 A schematic diagram showing the point symmetrical to a specified point about a specified line;

[0051] Figure 11 Calculate a schematic diagram for the point symmetric to a given point about a given line;

[0052] Figure 12 This is a schematic diagram of a strip-shaped route in an embodiment of the present invention;

[0053] Figure 13 A schematic diagram illustrating the calculation of the length and width of a CMOS sensor;

[0054] Figure 14 This is a schematic diagram of the drone's field of view.

[0055] Figure 15 This is a schematic diagram for calculating the lateral spacing;

[0056] Figure 16 A schematic diagram for calculating the latitude and longitude of a point on a straight line;

[0057] Figure 17 This is a schematic diagram for calculating the distance between two points;

[0058] Figure 18 A schematic diagram of an approximate spherical model of the Earth;

[0059] Figure 19 A flowchart illustrating the strip route planning method provided in this embodiment of the invention. Figure 2 ;

[0060] Figure 20 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0061] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0062] See Figure 1 This application provides a method for planning a strip route, which can be executed by a device provided in this application. The device can be implemented using software and / or hardware, such as a computer or server. In this embodiment, a computer is used as the executing entity for the strip route planning method. The method provided in this embodiment includes:

[0063] Step S101: Based on the at least three anchor points that are not located on the same straight line and the preset flight strip width, at least the first parallel line and the second parallel line corresponding to the first line segment and the second line segment are determined respectively; wherein, the line connecting two adjacent anchor points constitutes a line segment, and the first parallel line and the second parallel line are symmetrical about the corresponding line segment and the distance between them is the preset flight strip width.

[0064] Anchor points can be points input by the user using tools such as Tianditu to control the flight trajectory range of the unmanned aerial vehicle. Since at least three anchor points are not located on the same straight line, adjacent line segments formed by different anchor points are also not located on the same straight line; the line connecting all anchor points can be considered as a broken line segment. For example... Figure 2 As shown, assuming the user inputs anchor points a, b, and c on the map, the line connecting anchor points a and b forms the first line segment, and the line connecting anchor points b and c forms the second line segment. The first and second line segments share a common anchor point b, and the line connecting anchor points a, b, and c forms a broken line segment. It should be noted that the anchor points in this embodiment include their longitude and latitude information.

[0065] The preset flight strip width indicates the width of the ground covered by the imaging equipment (such as a camera) of the unmanned aerial vehicle (UAV) in a single flight. After determining the first and second line segments based on adjacent anchor points, the first and second parallel lines corresponding to the first and second line segments can be obtained through parallel line calculation methods, respectively, using the preset flight strip width. The first and second parallel lines are located on both sides of the corresponding line segments and are symmetrical about the corresponding line segments. The distance between the first and second parallel lines is the preset flight strip width. For example, if the first and second parallel lines of the first line segment are symmetrical about the first line segment, and the distance between the first and second parallel lines is the preset flight strip width, then the distance between the first and second parallel lines and the first line segment is half of the preset flight strip width.

[0066] In one embodiment, step S101 includes:

[0067] Obtain the angle between the vector corresponding to the target line segment and the target in the preset direction. The target line segment is either the first line segment or the second line segment. The vector corresponding to the target line segment is the vector formed by the first anchor point and the second anchor point that constitute the target line segment.

[0068] Obtain the first position point after moving the first anchor point a preset distance along the first target direction, and the second position point after moving the second anchor point a preset distance along the first target direction; the first target direction is determined based on the target angle, and the preset distance is half of the preset flight strip width;

[0069] Obtain a third position point after moving the first anchor point a preset distance along the second target direction, and a fourth position point after moving the second anchor point a preset distance along the second target direction; the second target direction is the opposite direction to the first target direction.

[0070] The first parallel line of the target line segment is determined based on the first and second position points, and the second parallel line of the target line segment is determined based on the third and fourth position points.

[0071] The preset direction can be set according to actual needs, such as due north or due south. For example, taking the target line segment as the first line segment, continue reading... Figure 2 Since anchor points a and b form the first line segment, the vector corresponding to the first line segment is the vector formed by anchor points a and b. Anchor point a can be called the first anchor point of the first line segment, and anchor point b can be called the second anchor point of the first line segment. For example, taking the target line segment as the second line segment, see further... Figure 2 Since anchor points b and c form the second line segment, the vector corresponding to the second line segment is the vector formed by anchor points b and c. Anchor point b can be called the first anchor point of the second line segment, and anchor point c can be called the second anchor point of the second line segment. It should be noted that, for ease of subsequent processing and differentiation, the angle between the vector corresponding to the first line segment and the target in the preset direction can be called the first target angle, and the angle between the vector corresponding to the second line segment and the target in the preset direction can be called the second target angle.

[0072] The following section briefly explains the process of calculating the angle between a vector and the north direction, assuming the preset direction is true north. Please refer to [link / reference needed]. Figure 3 Given the longitude and latitude of points A and B, first convert the longitude and latitude of points A and B into radians. Then calculate the change in longitude ΔLon from point A to point B. Next, calculate the angle in radians (rad) between vector AB and true north. Finally, convert the obtained angle in radians (rad) into degrees (angle). For example, continue to refer to... Figure 2 Taking the target line segment as the first line segment as an example, anchor point a is the first anchor point of the first line segment, and anchor point b is the second anchor point of the first line segment. Based on the longitude and latitude of anchor point a and anchor point b, Figure 3 The angle calculation logic shown can determine the angle between the vector from anchor point a to anchor point b (i.e., the vector corresponding to the first line segment) and the target in the due north direction.

[0073] In this system, given the longitude and latitude of the starting point, the distance traveled, and the direction of movement, the longitude and latitude of the position after moving a specified distance in a specified direction from the starting point can be determined. It should be noted that the first target direction is determined based on the target angle and can be referenced to a preset direction. Specifically, the first target direction is defined as the degree of clockwise or counterclockwise rotation relative to the preset direction, with clockwise rotation being a positive angle and counterclockwise rotation being a negative angle. (See also...) Figure 4 and Figure 5 The process of calculating the latitude and longitude of a point after moving a specified distance in a specified direction is as follows: Given the longitude (lon) and latitude (lat) of the starting point, the angle between the specified direction and true north, the distance (E) of movement from the starting point, and the Earth's central radius (R), firstly, the distance (E) of movement from the starting point (i.e., the distance between the starting point and the destination) is converted to radians (radE). Then, the angle between the specified direction and true north is converted to radians (rad). Finally, the changes in latitude and longitude are calculated using sine and cosine, and these changes are added to the latitude and longitude of the starting point to obtain the longitude (newLon) and latitude (newLat) of the destination. For example, see [link to relevant documentation]. Figure 6 With point A as the starting point and point C as the ending point, the distance traveled from the starting point is half the preset flight strip width (denoted as d). First, calculate the angle between the vector from point A to point B and the due north direction. Then, we can determine that the angle between the specified direction (i.e., the vector direction from point A to point C) and the due north direction is angle-90°. Figure 4 The calculation logic shown can be used to determine the latitude and longitude of point C. Similarly, with point A as the starting point and point E as the ending point, the distance the starting point moves is the distance between points A and E, i.e., d. Based on the angle between the vector from point A to point B and true north, the angle between the specified direction (i.e., the direction of the vector from point A to point E) and true north is calculated as angle + 90°. Therefore, the latitude and longitude of point E can be determined. By analogy, the latitude and longitude of points D and F, with point B as the starting point, can be obtained.

[0074] It is understandable that, given the first and second position points, connecting the first and second position points determines the first parallel line of the target line segment. Similarly, given the third and fourth position points, connecting the third and fourth position points determines the second parallel line of the target line segment. For example, taking the target line segment as... Figure 6 Taking line segment AB as an example, Figure 7The diagram illustrates the detailed calculation process for the left and right parallel lines of the line segment. It should be noted that the first parallel line of the first line segment and the first parallel line of the second line segment are located on the same side of the line segment, and the second parallel line of the first line segment and the second parallel line of the second line segment are also located on the same side of the line segment. For example, the first parallel line of the first line segment and the first parallel line of the second line segment are both located to the left of the corresponding line segment, and the second parallel line of the first line segment and the second parallel line of the second line segment are both located to the right of the corresponding line segment. This allows for accurate and rapid determination of the parallel lines corresponding to each line segment, improving the speed and quality of planning strip routes.

[0075] Step S102: Divide the flight strip according to the first parallel line and the second parallel line, and determine the first flight strip area, the second flight strip area and the third flight strip area that intersect but do not overlap; different flight strip areas cover different anchor points.

[0076] In this system, the first parallel line and the second parallel line corresponding to the first and second line segments define the range of the flight strip area. Since the first and second line segments form a broken line segment, moving from the direction indicated by the first line segment to the direction indicated by the second line segment requires a turn. Therefore, by dividing the flight strip according to the first and second parallel lines, intersecting but non-overlapping first, second, and third flight strip areas can be determined, with the second flight strip area corresponding to the turn position. Each flight strip area can cover different anchor points.

[0077] In one embodiment, step S102 includes:

[0078] Based on the relationship between the angle between the vector corresponding to the first line segment and the first target in the preset direction and the angle between the vector corresponding to the second line segment and the second target in the preset direction, determine the intersection point of the target parallel lines in the first and second parallel lines.

[0079] Based on the points symmetrical about the first and second line segments respectively, determine the first, second, and third flight zones that intersect but do not overlap.

[0080] Specifically, based on the relationship between the angle between the vector corresponding to the first line segment and the first target direction, and the angle between the vector corresponding to the second line segment and the second target direction, the turning direction of the broken line segment formed by the first and second line segments at the intersection of the first and second line segments can be determined. This can also be viewed as the turning direction corresponding to moving from the direction indicated by the first line segment to the direction indicated by the second line segment. After determining the turning direction, the target parallel line in the first and second parallel lines, as well as the intersection point of the target parallel lines, can be determined. For example, taking the first parallel line located to the left of the line segment and the second parallel line located to the right of the line segment as an example, continue reading... Figure 2Since a right turn is required to continue moving along the second line segment from anchor point a to the intersection of the first and second line segments (anchor point b), the target parallel line becomes the second parallel line. This allows for the effective division of the flight strip area, improving the speed and quality of strip-shaped flight plan planning.

[0081] In one embodiment, determining the intersection point of the target parallel lines in the first parallel line and the second parallel line based on the relationship between the angle between the vector corresponding to the first line segment and the first target direction, and the angle between the vector corresponding to the second line segment and the second target direction, includes:

[0082] If the included angle of the first target is greater than the included angle of the second target, then the first parallel line is taken as the target parallel line, and the intersection point of the target parallel line is determined according to the slope and offset of the first parallel line corresponding to the first line segment and the second line segment respectively.

[0083] If the included angle of the first target is smaller than the included angle of the second target, then the second parallel line is taken as the target parallel line, and the intersection point of the target parallel line is determined according to the slope and offset of the second parallel line corresponding to the first line segment and the second line segment, respectively.

[0084] For example, see [link to relevant documentation] Figure 2 Taking a scenario where the first parallel line is located to the left of a line segment, the second parallel line is located to the right of the line segment, and the preset direction is due north, if the angle between the first and second targets is greater than the angle between the second targets, it means that when moving from anchor point a along the first line segment to the intersection of the first and second line segments (anchor point b), a left turn is needed to continue moving along the second line segment. In this case, the first parallel line is taken as the target parallel line, and the intersection of the target parallel lines is determined based on the slope and offset of the first parallel lines corresponding to the first and second line segments, respectively. If the angle between the first and second targets is less than the angle between the second targets, it means that when moving from anchor point a along the first line segment to the intersection of the first and second line segments (anchor point b), a right turn is needed to continue moving along the second line segment. In this case, the second parallel line is taken as the target parallel line, and the intersection of the target parallel lines is determined based on the slope and offset of the second parallel lines corresponding to the first and second line segments, respectively.

[0085] Among them, see Figure 8 and Figure 9 The process of calculating the intersection of two straight lines is as follows: Assume that there are points A and B on the first straight line y1, with latitude and longitude coordinates (lon, y1, y2, y3, y4, y5, y6, y7, y8, y9, y1, y1, y2 ... A ,lat A (lon) B ,lat B Points C and D exist on the second straight line y2, with latitude and longitude coordinates (lon, ln ... C ,lat C (lon) D ,lat DFirst, the latitude and longitude coordinates are approximated as plane rectangular coordinates. Then, using the rule of determining a straight line by two points, the slope and offset (i.e. intercept) of the first and second straight lines are calculated respectively. Finally, based on the slope and offset of the first and second straight lines, the latitude and longitude of the intersection point of the first and second straight lines are calculated.

[0086] Since the first and second parallel lines are symmetrical about their corresponding segments and the spacing is the preset flight strip width, after determining the intersection point of the target parallel lines, the symmetrical points of these intersection points about the first and second segments can be determined based on principles of symmetry. These symmetrical points are located on parallel lines between the first and second parallel lines that are different from the target parallel line. After determining the symmetrical points of the intersection points about the first and second segments, flight strip regions can be divided based on this information to determine the intersecting but non-overlapping first, second, and third flight strip regions.

[0087] In one embodiment, based on the points symmetrical to the intersection points about the first and second line segments respectively, a first flight strip region, a second flight strip region, and a third flight strip region that intersect but do not overlap are determined, including:

[0088] Find the first symmetrical point of the intersection point with respect to the first line segment and the second symmetrical point of the intersection point with respect to the second line segment;

[0089] The first flight strip area is determined based on the intersection point, the first symmetrical point, and the first and third position points that are far from the intersection point and symmetrical about the first line segment.

[0090] Based on the intersection point, the first symmetric point, and the second symmetric point, determine the second flight strip region that intersects with but does not overlap with the first flight strip region;

[0091] Based on the intersection point, the second symmetrical point, and the second and fourth position points that are far from the intersection point and symmetrical about the second line segment, determine the third flight zone area that intersects with but does not overlap with the second flight zone area.

[0092] The first symmetrical point of the intersection point about the first line segment and the second symmetrical point of the intersection point about the second line segment can be obtained based on the method for calculating the symmetrical points of a point about a line. (See [link to relevant documentation]). Figure 10 and Figure 11The calculation process for the symmetrical point of a point about a line can be as follows: Given the latitude and longitude of points A and B on the line, and the latitude and longitude of a fixed point C, firstly, use the latitude and longitude of points A and B to obtain vector AB. Similarly, use the latitude and longitude of points A and C to obtain vector AC. Then, use the dot product and modulus to calculate the projection length of vector AC on the line. Then, calculate the longitude and latitude components of the vector from the symmetrical point to point A based on the projection length, and accumulate them to the latitude and longitude of point A to finally obtain the latitude and longitude of the symmetrical point.

[0093] Specifically, after determining the first symmetrical point of the intersection point about the first line segment and the second symmetrical point of the intersection point about the second line segment, the rectangular area formed by the intersection point, the first symmetrical point of the intersection point about the first line segment, and the first and third position points that are far from the intersection point and symmetrical about the first line segment can be defined as the first flight zone area. The rectangular area formed by the intersection point, the first symmetrical point of the intersection point about the first line segment, and the second symmetrical point of the intersection point about the second line segment can be defined as the second flight zone area that intersects with but does not overlap with the first flight zone area. The rectangular area formed by the intersection point, the second symmetrical point of the intersection point about the second line segment, and the second and fourth position points that are far from the intersection point and symmetrical about the second line segment can be defined as the third flight zone area that intersects with but does not overlap with the second flight zone area. For example, see [reference needed]. Figure 12 Taking anchor points a, b, and c, the first line segment as ab, the second line segment as bc, lines BC and AD as the left and right parallel lines of the first line segment respectively, and lines EF and DG as the left and right parallel lines of the second line segment respectively, for intersection point D, the first symmetrical point about the first line segment is C, the second symmetrical point about the second line segment is E, the first position point far from the intersection point and symmetrical about the first line segment is point A, the third position point is point B, the second position point far from the intersection point and symmetrical about the second line segment is point G, and the fourth position point is F. Therefore, the first flight zone is ABCD, the second flight zone is CDE, and the third flight zone is DEFG. Thus, by dividing the flight zone areas according to the symmetry of points about lines, and by dividing the turning area into a separate flight zone, the unmanned aerial vehicle can smoothly navigate curves.

[0094] Step S103: Based on the shooting focal length and imaging sensor length of the UAV, as well as the preset lateral overlap rate and preset flight altitude, obtain the lateral spacing used to characterize the flight path spacing.

[0095] The focal length indicates the distance between the camera lens and the imaging sensor; the lateral overlap ratio refers to the percentage overlap between two images taken on adjacent flight paths (i.e., different flight paths); and the flight altitude indicates the altitude at which the unmanned aerial vehicle (UAV) is flying. The imaging sensor can be a CMOS image sensor, etc.

[0096] In one embodiment, step S103 includes:

[0097] The field of view of the unmanned aerial vehicle is obtained based on its shooting focal length, imaging sensor length, and preset flight altitude.

[0098] Based on the field of view length and the preset lateral overlap rate, the lateral spacing used to characterize the flight path spacing is determined.

[0099] The focal length and imaging sensor length of an unmanned aerial vehicle (UAV) are related to the device parameters of its imaging equipment, such as cameras. Flight altitude refers to the altitude above the ground when the UAV is flying along its designated flight path. The field of view (FVR) of an UAV refers to the horizontal distance at which its imaging equipment (such as cameras or radar) can effectively observe or detect targets; that is, the furthest range at which targets can be clearly identified, tracked, or analyzed under specific conditions.

[0100] In one embodiment, before obtaining the field of view length of the unmanned aerial vehicle (UAV) based on its shooting focal length, imaging sensor length, and preset flight altitude, the following steps are included:

[0101] Acquire the imaging parameters of the unmanned aerial vehicle, including the diagonal length of the imaging sensor, the image length, and the width.

[0102] Determine the diagonal length of the image based on its length and width;

[0103] The length of the imaging sensor is determined based on the diagonal length of the image, the diagonal length of the imaging sensor, and the image length.

[0104] The imaging parameters of the unmanned aerial vehicle (UAV) can be obtained by querying a preset database. Given the image length and width, the diagonal length can be determined using the Pythagorean theorem. Then, based on the fact that the length and width ratios of the imaging sensor and the image are consistent, the length and width of the imaging sensor can be calculated using the proportionality theorem for similar triangles. For example, taking a drone as the UAV, lens information as the imaging parameters, and a CMOS image sensor as the imaging sensor, see [reference needed]. Figure 13 By querying the drone's lens information from the MySQL database, the CMOS diagonal length (coms_d), image length (photo_h), and image width (photo_w) can be obtained. Based on the image length and width, the diagonal length (photo_d) can be calculated, and subsequently, the CMOS length (coms_h) and width (coms_w) can be calculated. See also... Figure 14 and Figure 15By querying the drone's focal length f from the MySQL database and obtaining the user-inputted lateral overlap rate rate, the CMOS length can be obtained according to the CMOS length calculation formula. Combined with the drone's flight altitude, the drone's field of view length can be calculated, and then the lateral spacing can be calculated.

[0105] Step S104: Determine waypoints from each strip area according to the lateral interval, and alternately connect waypoints to generate strip routes corresponding to at least three anchor points.

[0106] Waypoints are nodes on the flight path of an unmanned aerial vehicle (UAV). By determining waypoints from each flight zone area through lateral spacing and alternately connecting waypoints, it can be ensured that the spacing between flight paths in the non-turning flight zone area is as consistent as possible with the lateral spacing.

[0107] In one embodiment, step S104 includes:

[0108] In the target flight zone, a waypoint is determined at every lateral interval on a parallel line, and the waypoints are connected alternately to obtain the flight path within the target flight zone; the target flight zone can be either the first flight zone or the third flight zone.

[0109] In the second flight zone, a waypoint is determined at every lateral interval on the target edge, and waypoints and intersections are connected alternately to obtain the flight path in the second flight zone; the target edge is the edge formed by the points symmetrical to the intersection with respect to the first and second line segments respectively;

[0110] Connect the routes in the first route zone, the second route zone, and the third route zone in sequence to generate a strip route corresponding to at least three anchor points.

[0111] In this embodiment, for either the first or third flight strip region (i.e., the target flight strip region), a waypoint is determined at intervals along the first and second parallel lines, and these waypoints are alternately connected to obtain the flight path within the target flight strip region. For the second flight strip region, the target edges formed by the symmetrical points of the intersection points about the first and second line segments are first determined. Then, a waypoint is determined at intervals along the target edges in the second flight strip region, and these waypoints are alternately connected to the intersection points to obtain the flight path within the second flight strip region. Finally, the flight paths within the first, second, and third flight strip regions are sequentially connected to generate a strip-shaped flight path corresponding to at least three anchor points. The flight path can be an S-shaped path. It should be noted that the strip-shaped flight path in this embodiment can be a vertical strip-shaped flight path.

[0112] For example, see [link to relevant documentation] Figure 12Assuming the first flight zone is ABCD, the second flight zone is CDE, and the third flight zone is DEFG, for the first flight zone, on line segments AD and BC, take a waypoint at every lateral interval s, and alternately connect the waypoints to form an S-shaped route in the first flight zone. For the second flight zone, on line segment CE, take a waypoint at every lateral interval s, and alternately connect the waypoints with the intersection point D to form an S-shaped route in the turning area, i.e., the S-shaped route in the second flight zone. For the third flight zone, on line segments DG and EF, take a waypoint at every lateral interval s, and alternately connect the waypoints to form an S-shaped route in the third flight zone. Finally, connect the S-shaped routes of the first, second, and third flight zones in sequence to form a complete vertical strip route.

[0113] When determining waypoints within a flight strip area, one can start from the apex of the flight strip area (i.e., the waypoint) and use the latitude and longitude calculation logic of a point on a straight line to determine the waypoint. (See also...) Figure 16 The process of calculating the latitude and longitude of a point on a straight line is as follows: Given the latitude and longitude of point A (lon... A lat A ), latitude and longitude of point B (lon) B lat B Point C lies on line segment AB and is L away from point A. AC In this case, firstly, one can utilize Figure 17 The logic for calculating the distance between two points A and B yields the distance L between them. AB And the distance L between point A and point C AC Then calculate the longitude change ΔLon from point A to point B. AB and latitude variation ΔLat AB Then, the longitude change ΔLon from point A to point C is calculated using the isosceles triangle formula. AC and latitude variation ΔLat AC Finally, by summing the changes at point A, we can obtain the longitude of point C. C ) and latitude (lat) C (See also) Figure 17 This is a schematic diagram for calculating the distance between two points. The Earth can be approximated as a sphere. Figure 18 As shown, the Earth's radius is denoted as R. Two arbitrary points A and B are selected on Earth. Connecting points A and B with the center O of the sphere yields a sector. First, calculate the radius of point A (longitude Lon). A Latitude is Lat A ) to point B (longitude Lon) B Latitude is Lat BThe longitude variation (ΔLon) and latitude variation (ΔLat) of point A are calculated, and the geocentric angle ∠AOB (denoted as θ) between point A and point B is calculated using the Haversine formula. This angle is then converted to radians and denoted as rad. Finally, the arc length formula for a sector is used to calculate the length of the arc side of the sector, i.e., the distance L between points A and B. In this embodiment, please refer to... Figure 12 Given the latitude and longitude of points A and D, the distance between points A and D can be determined first. Combining this with the lateral interval s and the latitude and longitude calculation logic for a point on the aforementioned straight line, multiple waypoints on line segment AD can be determined sequentially. This allows for the accurate and rapid generation of strip-shaped flight paths, further improving the aerial photography and 3D modeling quality of unmanned aerial vehicles (UAVs) flying along these paths.

[0114] In summary, the strip route planning method provided in the above embodiments, by acquiring at least three anchor points (i.e., broken line segments) that are not located on the same straight line and a preset strip width, plans the strip areas corresponding to different anchor points, and then determines waypoints from each strip area based on lateral intervals to generate strip routes corresponding to at least three anchor points. This allows the UAV to take pictures from all directions and multiple angles during its flight along the planned strip route, thereby effectively improving the aerial photography quality and 3D modeling quality of the UAV, and enabling the UAV to adapt to different flight requirements.

[0115] Based on the same inventive concept as the foregoing embodiments, the method provided by the foregoing embodiments will be illustrated by a specific example below. In this example, the unmanned aerial vehicle is a drone, the imaging sensor is a CMOS sensor (which can be simply referred to as CMOS), and the preset direction is due north.

[0116] The implementation process of the strip route planning method provided in this embodiment mainly includes:

[0117] 1. Calculation of lateral spacing.

[0118] Drones have a certain field of view. In order to ensure that the ground scene is covered to a certain extent during flight, and to ensure that the flight path is not too close and the mission takes too long, it is necessary to maintain an appropriate distance between the green segments perpendicular to the zigzag line. This distance is called the lateral spacing.

[0119] The calculation process for the lateral margin is as follows: Figures 13 to 15As shown, firstly, the drone's lens information is queried from the MySQL database, including the CMOS diagonal length cmos_d, photo length photo_h, photo width photo_w, and drone focal length f. Next, the photo diagonal length photo_d is calculated using the Pythagorean theorem. Then, based on the fact that the length and width ratios of the CMOS and the photo are consistent, the CMOS length cmos_h and width cmos_w are calculated using the similar triangle proportionality theorem. Finally, based on the obtained drone flight altitude height and the user-input lateral overlap rate rate, the required lateral spacing space (which can be simply referred to as s) can be calculated.

[0120] 2. Calculation of points and lines in space.

[0121] To generate ribbon-like flight paths by plotting points and lines in space, the following calculation method is proposed:

[0122] 1) Calculation of horizontal distance between two points.

[0123] like Figure 17 and Figure 18 As shown, the Earth is simulated as an approximate sphere with a radius of 6371 kilometers and a center at O. Two points A and B are taken on the surface of the sphere. The length of the arc side of sector AOB is the horizontal distance between points A and B. First, the changes in longitude and latitude between points A and B are calculated. Then, the Haversine formula is used to calculate the angle ∠AOB. Next, ∠AOB is converted to radians. Finally, the horizontal distance between points A and B can be obtained using the formula for calculating the arc length of a sector.

[0124] 2) Calculation of the angle between the vector and the due north direction.

[0125] To determine the direction of a flight path, a reference point is generally needed. In this example, true north is used as the reference frame. A vector rotating clockwise from true north is a positive angle, and rotating counterclockwise is a negative angle. The angle between the vector and true north ranges from -180° to 180°. Figure 3 As shown, the longitude and latitude of points A and B are converted to radians, then the change in longitude from point A to point B is calculated, and finally the formula is used to calculate the angle in radians between vector AB and the due north direction and convert it to degrees.

[0126] 3) Calculate the position of a specified point on a straight line.

[0127] like Figure 16 As shown, given the longitude and latitude of points A and B, the two points determine a straight line. An arbitrary point C is chosen on line AB, and the distance L from point A to point C is known. AC First, use the formula for the horizontal distance between two points to calculate the distance L from point A to point B. ABThen, calculate the changes in longitude and latitude from point A to point B. Finally, use the geometric formula to calculate the changes in longitude and latitude from point A to point C and add them back to point A to obtain the longitude and latitude of point C.

[0128] 4) Calculate the position of the point after it has moved a specified distance in the specified direction.

[0129] In the process of generating a strip route, it is often necessary to move from one waypoint to the next, and it is essential to calculate the precise location of the next waypoint. For example... Figure 4 and Figure 5 As shown, first convert the distance traveled to radians representing the Earth's center of gravity, then convert the angle between the direction of travel and due north to radians. Finally, calculate the changes in longitude and latitude using trigonometric functions, and add them to the longitude and latitude of the current waypoint to obtain the longitude and latitude of the next waypoint.

[0130] 5) Calculation of the location of the intersection of the lines.

[0131] like Figure 2 and Figure 12 As shown, the vertices of the flight path are waypoints. Waypoints do not fall directly on the user-drawn polyline; instead, they form multiple flight strips of a specified width around the polyline. Adjacent flight strips intersect at their boundaries. To facilitate the generation of ribbon-like flight paths, it is necessary to determine the precise locations of these intersections. For example... Figure 8 and Figure 9 As shown, assume that there are points A and B on the first straight line y1, with latitude and longitude coordinates (lon, ln ... A ,lat A (lon) B ,lat B Points C and D exist on the second straight line y2, with latitude and longitude coordinates (lon, ln ... C ,lat C (lon) D ,lat D First, the latitude and longitude coordinates are approximated as plane rectangular coordinates. Then, using the rule of determining a straight line by two points, the slope and offset of the first and second straight lines are calculated respectively. Finally, the latitude and longitude of the intersection point are calculated using the intersection formula.

[0132] 6) Calculate the position of the point symmetric to the point about the line.

[0133] like Figure 12 As shown, each flight strip is symmetrical about the broken line it encloses; therefore, calculations involving the symmetry of points about a straight line are frequently used. For example... Figure 10 and Figure 11As shown, given the latitude and longitude of points A and B on a straight line, and the latitude and longitude of point C, we first obtain vector AB using the latitude and longitude of points A and B, and similarly obtain vector AC. Then, we calculate the length of the projection of vector AC onto the straight line using the dot product and modulus. Next, we calculate the longitude and latitude components of the vector from the symmetrical point to point A, and accumulate them to the latitude and longitude of point A. Finally, we obtain the latitude and longitude of the point symmetrical to point C about the straight line AB.

[0134] 7) Calculation of the left and right parallel lines of a straight line.

[0135] like Figure 6 As shown, each flight strip region is actually composed of two parallel lines to the left and right of a user-drawn polyline. Assuming the user-drawn polyline contains a line segment AB, then two parallel lines CD and EF of AB are drawn with a certain width d. The rectangle CDFE represents the flight strip region corresponding to line segment AB. Figure 7 As shown, the calculation process is as follows: First, the angle θ between vector AB and the due north direction is calculated using the angle calculation algorithm. AB Then, starting from A, head towards θ AB Moving a distance d in the -90° direction, we obtain the starting point C of the left parallel line to vector AB. From B, we move towards θ. AB Moving a distance d in the -90° direction, we obtain the endpoint D of the left parallel line to vector AB. Starting from A, we move towards θ... AB Move a distance d in the +90° direction to obtain the starting point E of the right parallel line to vector AB. From B, move towards θ. AB Moving a distance d in the +90° direction yields the endpoint F of the right parallel line to vector AB.

[0136] 3. Vertical strip route planning.

[0137] Based on the previous series of spatial algorithms, vertical strip routes can be gradually constructed.

[0138] like Figure 12 and Figure 19 As shown, suppose a user marks points a, b, and c in sequence on a map, and connecting these points forms a polyline. First, using the parallel line calculation method, with a certain flight strip width, calculate the left and right parallel lines of vectors ab and bc respectively.

[0139] Next, using the angle algorithm, calculate the angles between vector ab, vector bc and the due north direction respectively, and determine whether the former is greater than the latter. If it is, it proves that the broken line made a left turn at point b, and calculate the intersection point D by taking the left parallel line of vector ab and vector bc; if not, it proves that the broken line made a right turn at point b, and calculate the intersection point D by taking the right parallel line of vector ab and vector bc.

[0140] Next, using the symmetric point algorithm, we construct the symmetric point C of point D with respect to vector ab, and the symmetric point E of point D with respect to vector bc. At this point, we can obtain the first flight strip region ABCD, the second flight strip region DEFG, and the flight strip region CDE (which can also be called the turning area).

[0141] Next, on line segments AD and BC, a waypoint is taken at every lateral interval s, and these waypoints are alternately connected to form an S-shaped route on the first flight strip area ABCD. On line segment CE, a waypoint is taken at every lateral interval s, and these waypoints are alternately connected with point D to form an S-shaped route in the turning area. Similarly, on line segments DG and EF, a waypoint is taken at every lateral interval s, and these waypoints are alternately connected to form an S-shaped route on the second flight strip area DEFG. Finally, the S-shaped routes of each flight strip area are connected sequentially to form a complete vertical patterned ribbon route, i.e., generating an S-shaped ribbon route that generally moves and turns along a broken line.

[0142] In summary, the strip route planning method provided in the above embodiments has the following advantages: (1) It can take pictures not only at waypoints but also along flight segments, solving the problem of missing flight segment photos in panoramic acquisition routes; (2) The UAV does not simply move in a straight line between two points, but adopts an S-shaped circling flight mode, which increases the information density of photos in the flight segment compared with the waypoint route method; (3) The main flight path angle changes dynamically in different flight segments, solving the problem of the main flight path angle being globally fixed in orthogonal and oblique photography routes. Therefore, the strip route planning method provided in the above embodiments enables the UAV to take pictures from all directions and multiple angles during the flight of the planned strip route, thereby effectively improving the aerial photography quality and 3D modeling quality of the UAV, and enabling the UAV to adapt to different flight requirements.

[0143] Based on the same inventive concept as the foregoing embodiments, this invention provides an electronic device, such as... Figure 20 As shown, the electronic device includes: a processor 310 and a memory 311 storing a computer program; wherein, Figure 20 The processor 310 shown in the diagram does not indicate that there is only one processor 310, but only indicates the positional relationship of the processor 310 relative to other devices. In practical applications, there can be one or more processors 310; similarly, Figure 20 The memory 311 shown in the diagram has the same meaning, that is, it is only used to indicate the positional relationship of memory 311 relative to other devices. In practical applications, there can be one or more memories 311. When the processor 310 runs the computer program, it implements the strip route planning method described above.

[0144] The electronic device may also include at least one network interface 312. The various components of the electronic device are coupled together via a bus system 313. It is understood that the bus system 313 is used to implement communication between these components. In addition to a data bus, the bus system 313 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in... Figure 20 The general designated all buses as Bus System 313.

[0145] Based on the same inventive concept as the foregoing embodiments, this embodiment also provides a computer-readable storage medium storing a computer program. The computer-readable storage medium can be a magnetic random access memory (FRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM), etc.; it can also be various devices including one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc. When the computer program stored in the computer-readable storage medium is executed by a processor, it implements the strip route planning method described above. For the specific steps implemented when the computer program is executed by the processor, please refer to [link to relevant documentation]. Figure 1 The description of the illustrated embodiments will not be repeated here.

[0146] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for planning a strip-shaped flight path, characterized in that, include: Based on at least three anchor points not located on the same straight line and a preset flight strip width, at least the first parallel line and the second parallel line corresponding to the first line segment and the second line segment are determined respectively; wherein, the line connecting two adjacent anchor points constitutes a line segment, and the first parallel line and the second parallel line are symmetrical about the corresponding line segment and the distance between them is the preset flight strip width. Based on the first parallel line and the second parallel line, flight strips are divided to determine intersecting but non-overlapping first, second, and third flight strip regions; different flight strip regions cover different anchor points. Based on the unmanned aerial vehicle's shooting focal length and imaging sensor length, as well as the preset lateral overlap rate and preset flight altitude, the lateral spacing used to characterize the flight path spacing is obtained. Waypoints are determined from each strip area according to the lateral interval, and the waypoints are alternately connected to generate a strip route corresponding to the at least three anchor points; The step of dividing flight strips based on the first parallel line and the second parallel line to determine intersecting but non-overlapping first flight strip regions, second flight strip regions, and third flight strip regions includes: Based on the relationship between the first target angle between the vector corresponding to the first line segment and the preset direction and the second target angle between the vector corresponding to the second line segment and the preset direction, the intersection point of the target parallel line in the first parallel line and the second parallel line is determined. Based on the points symmetrical about the first and second line segments respectively, the first, second, and third flight strip regions that intersect but do not overlap are determined.

2. The method according to claim 1, characterized in that, The step of determining at least the first parallel line and the second parallel line corresponding to the first line segment and the second line segment respectively, based on at least three anchor points that are not located on the same straight line and a preset flight strip width, includes: Obtain the angle between the vector corresponding to the target line segment and the target in a preset direction. The target line segment is either the first line segment or the second line segment. The vector corresponding to the target line segment is the vector formed by the first anchor point and the second anchor point constituting the target line segment. Obtain a first position point after moving the first anchor point a preset distance along the first target direction, and a second position point after moving the second anchor point a preset distance along the first target direction; the first target direction is determined based on the target angle, and the preset distance is half of the preset flight strip width; Obtain a third position point after moving the first anchor point a preset distance along the second target direction, and a fourth position point after moving the second anchor point a preset distance along the second target direction; the second target direction is the opposite direction to the first target direction; The first parallel line of the target line segment is determined based on the first position point and the second position point, and the second parallel line of the target line segment is determined based on the third position point and the fourth position point.

3. The method according to claim 1, characterized in that, The step of determining the intersection point of the target parallel line in the first parallel line and the second parallel line based on the relationship between the first target angle between the vector corresponding to the first line segment and the preset direction and the second target angle between the vector corresponding to the second line segment and the preset direction includes: If the first target angle is greater than the second target angle, then the first parallel line is taken as the target parallel line, and the intersection point of the target parallel line is determined according to the slope and offset of the first parallel line corresponding to the first line segment and the second line segment respectively. If the first target angle is smaller than the second target angle, then the second parallel line is taken as the target parallel line, and the intersection point of the target parallel line is determined according to the slope and offset of the second parallel line corresponding to the first line segment and the second line segment, respectively.

4. The method according to claim 1, characterized in that, The step of determining the intersecting but non-overlapping first flight strip region, second flight strip region, and third flight strip region based on the symmetrical points of the intersection points about the first line segment and the second line segment, respectively, includes: Obtain the first symmetrical point of the intersection point with respect to the first line segment and the second symmetrical point of the intersection point with respect to the second line segment; The first flight strip region is determined based on the intersection point, the first symmetrical point, and the first and third position points that are far from the intersection point and symmetrical about the first line segment. Based on the intersection point, the first symmetric point, and the second symmetric point, a second flight strip region that intersects with but does not overlap with the first flight strip region is determined. Based on the intersection point, the second symmetric point, and the second and fourth position points that are far from the intersection point and symmetrical about the second line segment, a third flight strip region that intersects with but does not overlap with the second flight strip region is determined.

5. The method according to claim 1, characterized in that, The step of obtaining the lateral spacing to characterize the flight path spacing based on the unmanned aerial vehicle's shooting focal length and imaging sensor length, as well as a preset lateral overlap rate and a preset flight altitude, includes: The field of view of the unmanned aerial vehicle is obtained based on its shooting focal length, imaging sensor length, and preset flight altitude. Based on the field of view length and the preset lateral overlap rate, the lateral spacing used to characterize the flight path spacing is determined.

6. The method according to claim 5, characterized in that, Before obtaining the field of view length of the unmanned aerial vehicle (UAV) based on its shooting focal length, imaging sensor length, and preset flight altitude, the process includes: The imaging parameters of the unmanned aerial vehicle are obtained, including the diagonal length of the imaging sensor, the image length, and the width. Determine the diagonal length of the image based on its length and width; The length of the imaging sensor is determined based on the diagonal length of the image, the diagonal length of the imaging sensor, and the length of the image.

7. The method according to claim 1, characterized in that, The step of determining waypoints from each strip region according to the lateral interval and alternately connecting the waypoints to generate the strip-shaped route corresponding to the at least three anchor points includes: In the target flight strip region, a waypoint is determined at each lateral interval on a parallel line, and the waypoints are connected alternately to obtain the flight route in the target flight strip region; the target flight strip region is either the first flight strip region or the third flight strip region. In the second flight strip region, a waypoint is determined at each lateral interval on the target edge, and the waypoints and the intersection points are alternately connected to obtain the flight route in the second flight strip region; the target edge is the edge formed by the intersection point with respect to the symmetrical points of the first line segment and the second line segment respectively; By sequentially connecting the routes within the first flight strip area, the routes within the second flight strip area, and the routes within the third flight strip area, a strip-shaped route corresponding to the at least three anchor points is generated.

8. An electronic device, characterized in that, include: A processor and a memory storing a computer program, wherein, when the processor runs the computer program, the strip route planning method according to any one of claims 1 to 7 is implemented.

9. A computer-readable storage medium, characterized in that, The system contains a computer program that, when executed by a processor, implements the strip route planning method according to any one of claims 1 to 7.

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