Method and device for planning flight path of unmanned aerial vehicle

Abstract

The invention discloses a flight path planning method and device for an unmanned aerial vehicle, and the method comprises the steps: extracting two-dimensional topographic profile data according to the starting and ending coordinates of a preset route, taking a two-dimensional topographic profile as a background, and selecting a highest point in a topographic profile to serve as a central axis in the ground direction; superposing the highest points with a preset height to serve as a first mark point, and making a first ascending ray and a first descending ray on the first mark point towards two sides of the central axis along a preset flight angle of the unmanned aerial vehicle; setting a second mark point or a reference point according to the number and the position of the intersection points of the first rising ray and the mountain range in the two-dimensional terrain profile map and the terrain until the mark point appears at the boundary of the two-dimensional terrain profile map; the second mark point makes a second ascending ray and a second descending ray towards the two sides along the preset flight angle of the unmanned aerial vehicle, and the intersection point of the first ascending ray and the second descending ray is a turning point; and connecting all the mark points and the turning points in sequence to serve as a flight path for the unmanned aerial vehicle to rise.

Description

Technical Field

[0001] The present invention belongs to the field of aviation technology, and more specifically, relates to a flight path planning method and device for an unmanned aerial vehicle (UAV). Background Art

[0002] UAV geophysical flight refers to a method in which a drone can adjust its flight altitude along the terrain undulations according to the load requirements of the fuselage during geophysical surveying, maintaining a relatively constant relative height between the drone and the ground. Current geophysical flight technologies are mainly divided into two categories: one relies on radar, lidar, or visual sensors to obtain terrain information in real time, and then adjust the flight altitude in real time; the other uses pre-acquired terrain data to design and plan a geophysical route, and then makes the drone fly along the planned route. However, existing technologies have the following problems:

[0003] First, methods based on real-time terrain acquisition increase the drone's payload, reduce its endurance, and pose safety risks. Terrain-flying methods that rely on real-time terrain information require the addition of radar or visual sensors, which reduces the drone's payload and increases power consumption, significantly reducing its payload capacity and flight time. Furthermore, when the terrain is complex, the terrain is highly fragmented, or the elevation difference exceeds the range of the radar or visual sensors, the acquired terrain information is inaccurate, causing the drone to misjudge and potentially leading to flight accidents.

[0004] Second, there are issues with computational complexity and path planning flexibility. Designing a terrain-mimicking route by pre-acquiring terrain data poses a risk of collision if the terrain is not highly accurate. On the other hand, if the terrain is highly accurate, the resulting dense navigation points and frequent changes in the UAV's navigation system can introduce excessive motion noise interference to the UAV's geophysical payload. Furthermore, the route design fails to consider the attitude requirements of the geophysical payload, especially those with soft links. This can cause the payload's attitude to change during ascent and descent, reducing the accuracy of the observation data.

[0005] Based on the above situation, there is an urgent need for a UAV aerial geophysical exploration flight path planning method that can take into account the aerial geophysical exploration payload, especially the attitude requirements of the soft link, and perform terrain simulation flight with the least number of points. Summary of the Invention

[0006] In response to the above-mentioned defects or improvement needs of the prior art, the present invention provides a flight path planning method and device for an unmanned aerial vehicle (UAV), the purpose of which is to take into account the attitude requirements of the aerial geophysical exploration payload during the flight of the UAV, to ensure that the carried aerial geophysical exploration instrument obtains high-precision detection data; and to generate a terrain-simulating flight path with a minimum number of points, which can reduce the frequent changes of the UAV and reduce the impact of motion noise on the aerial geophysical exploration payload caused by changes in the terrain-simulating navigation points.

[0007] To achieve the above object, according to one aspect of the present invention, a method for planning a flight path of an unmanned aerial vehicle is provided, the method comprising:

[0008] Extract 2D terrain profile data based on the preset route start and end coordinates, use the 2D terrain profile as the background, and select the highest point in the terrain profile as the center axis towards the ground;

[0009] The highest point is superimposed on a preset height as a first marking point, and the first marking point is respectively drawn as a first ascending ray and a first descending ray toward both sides of the central axis along the preset flight angle of the drone;

[0010] Setting a second marking point or reference point according to the number and location of intersections between the first rising ray and the mountain range in the two-dimensional topographic profile and the topography, until the marking point appears at the boundary of the two-dimensional topographic profile;

[0011] The second marking point is respectively formed into a second ascending ray and a second descending ray to both sides along the preset flight angle of the drone, and the intersection of the first ascending ray and the second descending ray is the turning point;

[0012] All the marking points and the turning points are connected in sequence as the flight path of the drone's ascent.

[0013] As a further improvement and supplement to the above solution, the present invention also includes the following additional technical features.

[0014] Preferably, the method of setting the second marking point according to the number and position of intersections between the first rising ray and the mountain range in the two-dimensional topographic profile and the topography includes:

[0015] When the number of intersections between the first rising ray and the mountain range in the two-dimensional terrain profile is 0 or only 1 and is located at the top of the mountain range, the intersection of the first rising ray and the boundary of the two-dimensional terrain profile is superimposed with a preset height mark as a second marking point.

[0016] Preferably, the method of setting the second marking point according to the number and position of intersections between the first rising ray and the mountain range in the two-dimensional topographic profile and the topography further includes:

[0017] When the number of intersections between the first rising ray and the mountain range in the two-dimensional terrain profile is one and is not the vertex of the mountain range, it is marked as the first intersection point, and the highest point between the first intersection point and the boundary of the two-dimensional terrain profile is selected and superimposed with a preset height mark as the second marking point.

[0018] Preferably, the method of setting a reference point according to the number and position of intersections between the first rising ray and the mountain range in the two-dimensional topographic profile and the topography includes:

[0019] When the number of intersections between the first rising ray and the mountain range in the two-dimensional terrain profile is greater than or equal to 2, the two intersections closest to the first marked point are selected and marked as the second intersection and the third intersection. If the terrain between the second intersection and the third intersection is convex, the highest point between the second intersection and the third intersection is selected and marked as the reference point.

[0020] Taking the reference point as a starting point, draw a reference ray toward the sky parallel to the first descending ray;

[0021] A second marking point is set according to the number of intersections between the reference ray and the mountain range in the two-dimensional terrain profile image, until the marking point appears at the boundary of the two-dimensional terrain profile image.

[0022] Preferably, the method of setting the second marking point according to the number and position of intersections between the first rising ray and the mountain range in the two-dimensional topographic profile and the topography includes:

[0023] If the reference ray has no intersection with the mountain range in the two-dimensional terrain profile, the reference point is superimposed with a preset height mark as a second mark point;

[0024] If the reference ray intersects a mountain range in the two-dimensional terrain profile, the highest point between the reference point and the boundary of the two-dimensional terrain profile is selected and superimposed with a preset height mark as the second mark point.

[0025] Preferably, the method for setting a reference point according to the number and position of intersections between the first rising ray and the mountain range in the two-dimensional topographic profile and the topography further comprises:

[0026] If the terrain between the second intersection point and the third intersection point is concave, selecting the highest point between the second intersection point and the third intersection point as the second reference point;

[0027] Taking the second reference point as the starting point, draw a second reference ray in the direction toward the sky and parallel to the first descending ray;

[0028] A second marking point is set according to the number of intersections between the second reference ray and the mountain range in the two-dimensional terrain profile image, until the marking point appears at the boundary of the two-dimensional terrain profile image.

[0029] Preferably, the method of setting a second marking point according to the number of intersections between the second reference ray and the mountain range in the two-dimensional terrain profile until the marking point appears at the boundary of the two-dimensional terrain profile includes:

[0030] If the second reference ray has no intersection with the mountain range in the two-dimensional terrain profile, the second reference point is superimposed with a preset height mark as a second marking point;

[0031] If the second reference ray intersects a mountain range in the two-dimensional terrain profile, the highest point between the second reference point and the boundary of the two-dimensional terrain profile is selected and superimposed with a preset height mark as the second marking point.

[0032] Preferably, the method of setting the second marking point according to the number and position of intersections between the first rising ray and the mountain range in the two-dimensional topographic profile and the topography further includes:

[0033] If the number of intersections between the first rising ray and the mountain range in the two-dimensional terrain profile is greater than or equal to 2 and the distance between the second intersection and the third intersection is less than a preset threshold, the second intersection and the third intersection are merged into one intersection.

[0034] Preferably, the two-dimensional terrain profile data is obtained using the Douglas-Peuker algorithm.

[0035] According to another aspect of the present invention, a flight path planning device for an unmanned aerial vehicle is provided, the device comprising:

[0036] one or more processors;

[0037] A storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, enables the one or more processors to implement the flight path planning method for the drone as described in the first aspect.

[0038] In general, the above technical solutions conceived by the present invention have the following beneficial effects compared with the prior art:

[0039] The present invention can realize the efficient and safe simulation flight of UAV aerial geophysical survey in complex terrain environments, and obtain high-quality UAV aerial geophysical detection data.

[0040] The present invention proposes a highest point method to design the UAV flight route, which can minimize the number of terrain simulation navigation points, reduce the frequent changes of the UAV, reduce the power consumption of the UAV, and minimize the noise caused to the aerial geophysical exploration payload.

[0041] When designing the route angle, the present invention introduces the UAV ceiling angle and the attitude angle of the aerial geophysical exploration payload as constraints. The generated terrain-simulating navigation route can meet the attitude requirements of the UAV and the aerial geophysical exploration payload. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[0043] Figure 1 This is a flow chart of a method for planning a flight path for a UAV provided in the first embodiment;

[0044] Figure 2 This is a UAV aerial geophysical exploration and simulation flight path planning process provided in the first embodiment;

[0045] Figure 3 This is a schematic diagram provided by the first embodiment of the present invention, in which the number of intersections between the first rising ray and the mountain range in the two-dimensional terrain profile is 0;

[0046] Figure 4 This is a schematic diagram provided by the first embodiment of the present invention, in which the number of intersections between the first rising ray and the mountain range in the two-dimensional terrain profile is one;

[0047] Figure 5 This is a schematic diagram provided by the first embodiment of the present invention, in which the number of intersections between the first rising ray and the mountain range in the two-dimensional terrain profile is more than two, and the terrain between the second intersection and the third intersection is convex;

[0048] Figure 6 This is a schematic diagram provided by the first embodiment of the present invention in which the number of intersections between the first rising ray and the mountain range in the two-dimensional terrain profile is greater than 2 and the number of intersections between the reference ray and the mountain range is greater than 1;

[0049] Figure 7 This is a schematic diagram provided by the first embodiment of the present invention, in which the number of intersections between the first rising ray and the mountain range in the two-dimensional terrain profile is more than two, and the terrain between the second intersection and the third intersection is concave;

[0050] Figure 8 This is a schematic diagram of elevation information of a UAV flight area provided in the first embodiment;

[0051] Figure 9 This is a schematic diagram of a UAV flight path result provided in the first embodiment;

[0052] Figure 10This is a schematic diagram of a UAV flight path result provided in the first embodiment;

[0053] Figure 11 This is a schematic diagram of a UAV flight path device provided in the second embodiment. DETAILED DESCRIPTION

[0054] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0055] Example 1

[0056] This embodiment provides a flight path planning method for a UAV. Figure 1 As shown, the method includes:

[0057] S101: extracting two-dimensional terrain profile data according to the start and end coordinates of the preset route, taking the two-dimensional terrain profile as the background, and selecting the highest point in the terrain profile as the central axis towards the ground.

[0058] The process of generating flight path planning for UAV geophysical exploration is as follows: Figure 2 As shown in the figure, first, according to the needs of the airborne geophysical exploration work, the DEM (Digital Elevation Model) or DSM (Digital Surface Model) data of the survey area is obtained to obtain the elevation information of the area. Then, the flight route of the survey area is planned according to the scope of the survey area, and a flight route file is generated, including the route number, route starting point coordinates, and route ending point coordinates, so as to obtain the attitude angle requirements of the UAV and the airborne geophysical exploration payload during flight.

[0059] The DEM data is projected into the Universal Transverse Mercator (UTM) projection, and then the terrain data along each survey line is extracted according to the route number, starting point coordinates, and end point coordinates of the flight route file to form a two-dimensional topographic map of the flight path of each survey line. The two-dimensional topographic map formed at this time has many terrain data points for each survey line and the data is dense.

[0060] The Douglas-Peuker algorithm (DP algorithm) is then used to simplify the terrain data for each survey line, reducing the density of points while maintaining the terrain skeleton. If the terrain data is not highly accurate, the number of terrain data points generated for each survey line is relatively small, so this step can be omitted.

[0061] After simplifying the terrain data, the proposed highest point method is used to generate a terrain-simulating route in combination with the attitude angle requirements of the UAV and the aerial geophysical exploration payload.

[0062] S102: The highest point is superimposed with a preset height as a first marking point, and the first marking point is respectively made into a first ascending ray and a first descending ray toward both sides of the central axis along the preset flight angle of the UAV.

[0063] The process of generating a terrain-simulating route using the highest point method is as follows:

[0064] The highest point is selected from the terrain profile data of each survey line. The highest point at this time is the top of the mountain in the two-dimensional terrain profile. The highest point superimposed on the height above the ground of the payload carried by the UAV is used as the first marking point for path planning. The two-dimensional graph can be divided into the ascending stage and the descending stage with this point as the boundary; the maximum allowable climbing attitude angle of the UAV and the aerial geophysical exploration payload is used as the direction angle, and the first ascending ray and the first descending ray are drawn to the left and right sides respectively.

[0065] S103: Setting a second marking point or reference point according to the number and position of intersections between the first rising ray and the mountain range in the two-dimensional topographic profile, as well as the topography, until the marking point appears at the boundary of the two-dimensional topographic profile.

[0066] The second marker or reference point is the top of a mountain range that the drone may encounter during its ascent, and requires detailed analysis to determine whether a turn is necessary.

[0067] S104: The second marking point makes a second ascending ray and a second descending ray to both sides along the preset flight angle of the drone, and the intersection of the first ascending ray and the second descending ray is the turning point.

[0068] The intersection of the rays indicates that the drone needs to adjust its flight state to ascend or descend, so a detailed analysis is needed to determine whether a turn is necessary.

[0069] S105: Connect all the marking points and the turning points in sequence as the ascending flight path of the UAV.

[0070] The flight path planning method for a UAV provided in the first embodiment can minimize the number of terrain simulation navigation points, reduce the frequent changes of the UAV, reduce the power consumption of the UAV, and minimize the noise caused to the aerial geophysical exploration payload.

[0071] In combination with the embodiment of the present invention, there is also a preferred implementation scheme, specifically, as follows Figure 3 As shown, the method for setting the second marking point according to the number and position of the intersections between the first rising ray and the mountain range in the two-dimensional terrain profile and the terrain includes:

[0072] When the number of intersections between the first rising ray and the mountain range in the two-dimensional terrain profile is 0 or only 1 and is located at the top of the mountain range, the intersection of the first rising ray and the boundary of the two-dimensional terrain profile is superimposed with a preset height mark as a second marking point.

[0073] exist Figure 3 In the figure, the number of intersections between the first rising ray and the mountain range in the two-dimensional terrain profile is 0, and the second marker point appears at the left boundary of the two-dimensional terrain profile. The drone does not need to adjust its flight state or angle.

[0074] In combination with the embodiment of the present invention, there is also a preferred implementation scheme, specifically, as follows Figure 4 As shown, the method for setting the second marking point according to the number, position and terrain of the intersections between the first rising ray and the mountain range in the two-dimensional terrain profile image further includes:

[0075] like Figure 4 As shown, when the number of intersections between the first rising ray and the mountain range in the two-dimensional terrain profile is 1 and is not the vertex of the mountain range, it is marked as the first intersection point, and the highest point between the first intersection point and the boundary of the two-dimensional terrain profile is selected and superimposed with a preset height mark as the second marking point.

[0076] At the second marking point, a second rising ray and a second descending ray are respectively made to both sides along the preset flight angle of the drone, and the second rising ray and the second descending ray use the axis from the second marking point to the ground as the symmetry axis.

[0077] exist Figure 4 In the figure, the intersection of the second descending ray and the first ascending ray is recorded as the turning point, and the second ascending ray continues to look for the intersection with the topographic profile, which is defined as the third marking point. If the second ascending ray still intersects with the topographic profile, the next marking point is selected to make two rays until the marking point appears at the left boundary of the profile.

[0078] In combination with the embodiment of the present invention, there is also a preferred implementation scheme, specifically, as follows Figure 5 As shown, the method for setting a reference point according to the number and position of intersections between the first rising ray and the mountain range in the two-dimensional terrain profile and the terrain includes:

[0079] When the number of intersections between the first rising ray and the mountain range in the two-dimensional terrain profile is greater than or equal to 2, the two intersections closest to the first marked point are selected and marked as the second intersection and the third intersection. If the terrain between the second intersection and the third intersection is convex, the highest point between the second intersection and the third intersection is selected and marked as the reference point.

[0080] Taking the reference point as a starting point, draw a reference ray toward the sky parallel to the first descending ray;

[0081] A third marking point is set according to the number of intersections between the reference ray and the mountain range in the two-dimensional terrain profile image, until the marking point appears at the boundary of the two-dimensional terrain profile image.

[0082] exist Figure 5 In the figure, the terrain between the second and third intersections is convex, and the highest point of the mountain between the second and third intersections is marked as the reference point.

[0083] The reference ray is used to find out whether there are any peaks higher than the reference point between the boundary of the two-dimensional terrain profile and the reference point.

[0084] In combination with the embodiment of the present invention, there is also a preferred implementation scheme, specifically, as follows Figure 5 and Figure 6 As shown, the method for setting the second marking point according to the number and position of the intersections between the first rising ray and the mountain range in the two-dimensional terrain profile and the terrain includes:

[0085] like Figure 5 As shown, if the reference ray has no intersection with a mountain range in the 2D terrain profile, a preset height marker is superimposed on the reference point to serve as a second marker. At the second marker, a second ascending ray and a second descending ray are drawn toward either side along the drone's preset flight angle. The second ascending ray and the second descending ray are symmetrically centered about the axis from the second marker to the ground.

[0086] The number of intersections between the second rising ray and the mountain range in the two-dimensional terrain profile is equal to 2. The two intersections closest to the first marked point are selected and marked as the fourth intersection and the fifth intersection. If the terrain between the fourth intersection and the fifth intersection is convex, the highest point between the fourth intersection and the fifth intersection is selected and marked as the third marked point.

[0087] like Figure 6 As shown, if the reference ray intersects a mountain range in the 2D terrain profile, the highest point between the reference point and the boundary of the 2D terrain profile is selected and superimposed with a preset height mark as the second marker point. At the second marker point, a second ascending ray and a second descending ray are drawn to either side along the drone's preset flight angle. The second ascending ray and the second descending ray are symmetrically centered about the axis from the second marker point to the ground.

[0088] The number of intersections between the second rising ray and the mountain range in the two-dimensional topographic profile is equal to 0, and the third marking point appears at the left boundary of the two-dimensional topographic profile.

[0089] In combination with the embodiment of the present invention, there is also a preferred implementation scheme, specifically, as follows Figure 7As shown, the method for setting a reference point based on the number and position of intersections between the first rising ray and the mountain range in the two-dimensional terrain profile and the terrain also includes:

[0090] If the terrain between the second intersection point and the third intersection point is concave, selecting the highest point between the second intersection point and the third intersection point as the second reference point;

[0091] Taking the second reference point as the starting point, draw a second reference ray in the direction toward the sky and parallel to the first descending ray;

[0092] A second marking point is set according to the number of intersections between the second reference ray and the mountain range in the two-dimensional terrain profile image, until the marking point appears at the boundary of the two-dimensional terrain profile image.

[0093] like Figure 7 As shown, the number of intersections between the first rising ray and the mountain range in the two-dimensional terrain profile is 3, and the highest point between the second intersection and the third intersection is selected as the second reference point, that is, the second reference point is the second intersection.

[0094] In combination with the embodiment of the present invention, there is also a preferred implementation scheme, specifically, as follows Figure 7 As shown, the method of setting a second marking point according to the number of intersections between the second reference ray and the mountain range in the two-dimensional terrain profile until the marking point appears at the boundary of the two-dimensional terrain profile includes:

[0095] exist Figure 7 In the two-dimensional topographic profile, if the second reference ray has no intersection with the mountain range, the second reference point is superimposed with a preset height mark as a second marking point;

[0096] At the second marking point, a second rising ray and a second descending ray are respectively made to both sides along the preset flight angle of the drone, and the second rising ray and the second descending ray use the axis from the second marking point to the ground as the symmetry axis.

[0097] The number of intersections between the second rising ray and the mountain range in the two-dimensional terrain profile is equal to 2. The two intersections closest to the first marked point are selected and marked as the fourth intersection and the fifth intersection. If the terrain between the fourth intersection and the fifth intersection is convex, the highest point between the fourth intersection and the fifth intersection is selected and marked as the third marked point.

[0098] At the third marker point, a third ascending ray and a third descending ray are drawn to either side along the drone's preset flight angle. The third ascending ray and the third descending ray are symmetrical about the axis from the third marker point to the ground. The fourth marker point appears at the boundary of the two-dimensional terrain profile. The intersection of the first ascending ray and the second descending ray is the turning point, and the intersection of the second ascending ray and the third descending ray is also the turning point. Figure 7 In the figure, all the marking points and the turning points are connected in sequence as the flight path of the drone's ascent.

[0099] According to the planning method of the drone's ascending flight path, the drone's terrain-imitating flight path during the right descent phase can also be planned, which will not be described in detail here.

[0100] If the second reference ray intersects a mountain range in the two-dimensional terrain profile, the highest point between the second reference point and the boundary of the two-dimensional terrain profile is selected and superimposed with a preset height mark as the second marking point.

[0101] In conjunction with the embodiment of the present invention, there is also a preferred implementation scheme. Specifically, the method of setting the second marking point based on the number and position of intersections between the first rising ray and the mountain range in the two-dimensional terrain profile and the terrain further includes:

[0102] If the number of intersections between the first rising ray and the mountain range in the two-dimensional terrain profile is greater than or equal to 2 and the distance between the second intersection and the third intersection is less than a preset threshold, the second intersection and the third intersection are merged into one intersection.

[0103] When the distance between two points is very close, less than a certain threshold, such as less than 0.1m, it is considered that the ray has just passed through the top of the mountain and can be considered to be the same point.

[0104] In combination with the embodiment of the present invention, there is also a preferred implementation scheme, specifically, as follows Figure 3 As shown, the method of making a first ascending ray and a first descending ray along the preset flight angle of the drone to both sides of the central axis includes:

[0105] The angle between the first ascending ray or the first descending ray and the ground is a preset angle for the drone to ascend.

[0106] When designing the preset angle of the UAV, the UAV ceiling angle and the attitude angle of the aerial geophysical exploration payload can be introduced as constraints. The generated terrain-simulating navigation route can meet the attitude requirements of the UAV and the aerial geophysical exploration payload.

[0107] In conjunction with the embodiments of the present invention, there is also a preferred implementation scheme in which the two-dimensional terrain profile data is obtained using the Douglas-Peuker algorithm. The DP algorithm is used to reduce the number of terrain points in the survey line profile, thereby reducing the computational effort for subsequent route planning while maintaining the terrain skeleton.

[0108] In the first embodiment, according to the requirements of the aerial geophysical exploration, the DEM data of the survey area is obtained to obtain the elevation information of the area, such as Figure 8As shown in FIG, based on the survey network and survey line design of airborne geophysical prospecting, the line number, starting point longitude and latitude, and end point longitude and latitude information of each survey line are obtained. Based on the starting point and end point of each survey line, the elevation information of each point on the survey line is selected from the DEM file, and a two-dimensional terrain profile on each survey line is drawn. According to the flight path planning method for a UAV provided in the first embodiment, a suitable terrain-simulating flight path is planned based on the topographic map on each survey line, such as Figure 9 and Figure 10 Finally, each point on the terrain-simulating path is recorded in sequence, and the generated terrain-simulating flight path result is exported for UAV flight.

[0109] Example 2:

[0110] A flight path planning device for a UAV, such as Figure 11 As shown, the equipment includes:

[0111] one or more processors;

[0112] A storage device is used to store one or more programs. When the one or more programs are executed by one or more processors, the one or more processors implement the flight path planning method for a drone as described in any one of the first embodiments.

[0113] Figure 11 This is a schematic diagram of the structure of the flight path planning device for the UAV provided in the second embodiment. Figure 11 A block diagram of a flight path planning device for an exemplary UAV suitable for implementing an embodiment of the present invention is shown. Figure 11 The flight path planning device of the UAV shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0114] like Figure 11 As shown, the flight path planning device of the UAV is presented as a general-purpose device. Components of the flight path planning device of the UAV may include, but are not limited to, one or more processors or processing units, memory, and a bus connecting different system components (including the memory and processing unit).

[0115] The term "bus" refers to one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. Examples of these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0116] The flight path planning device of the UAV typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the device that can be used to modify the intelligent well logging interpretation model, including volatile and non-volatile media, removable and non-removable media.

[0117] The memory may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory. The flight path planning device of the drone may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system may be used to read and write non-removable, non-volatile magnetic media ( Figure 11 Not shown, often called a "hard drive"). Although Figure 11 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical medium) may be provided. In these cases, each drive may be connected to the bus via one or more data medium interfaces. The memory may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of various embodiments of the present invention.

[0118] A program / utility having a set (at least one) of program modules, which may be stored, for example, in a memory, includes, but is not limited to, an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may include an implementation of a network environment. The program modules generally implement the functions and / or methods of the embodiments described herein.

[0119] The flight path planning device of the UAV may also communicate with one or more external devices (such as keyboards, pointing devices, displays, etc.), and may also communicate with one or more devices that enable a user to interact with the flight path planning device of the UAV, and / or communicate with any device that enables the flight path planning device of the UAV to communicate with one or more other devices (such as a network card, a modem, etc.). Such communication may be performed through an input / output (I / O) interface. In addition, the device for correcting the intelligent logging interpretation model may also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN) and / or a public network, such as the Internet) through a network adapter. Figure 11As shown, the network adapter communicates with other modules of the UAV's flight path planning device via a bus. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the UAV's flight path planning device, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0120] The processing unit executes various functional applications and data processing by running the programs stored in the memory, such as implementing the flight path planning method for the drone provided in any embodiment of the present invention.

[0121] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A flight path planning method for an unmanned aerial vehicle, characterized in that: Methods include: Extract 2D terrain profile data based on the preset route start and end coordinates, use the 2D terrain profile as the background, and select the highest point in the terrain profile as the center axis towards the ground; The highest point is superimposed on a preset height as a first marking point, and the first marking point is respectively drawn as a first ascending ray and a first descending ray toward both sides of the central axis along the preset flight angle of the drone; Setting a second marking point or reference point according to the number and location of intersections between the first rising ray and the mountain range in the two-dimensional topographic profile and the topography, until the marking point appears at the boundary of the two-dimensional topographic profile; The second marking point is respectively formed into a second ascending ray and a second descending ray to both sides along the preset flight angle of the drone, and the intersection of the first ascending ray and the second descending ray is the turning point; All the marking points and the turning points are connected in sequence as the flight path of the drone's ascent.

2. The flight path planning method for an unmanned aerial vehicle according to claim 1, wherein: The method for setting the second marking point according to the number and position of intersections between the first rising ray and the mountain range in the two-dimensional topographic profile and the topography includes: When the number of intersections between the first rising ray and the mountain range in the two-dimensional terrain profile is 0 or only 1 and is located at the top of the mountain range, the intersection of the first rising ray and the boundary of the two-dimensional terrain profile is superimposed with a preset height mark as a second marking point.

3. The flight path planning method for an unmanned aerial vehicle according to claim 1, wherein: The method for setting a second marking point according to the number and position of intersections between the first rising ray and the mountain range in the two-dimensional topographic profile and the topography also includes: When the number of intersections between the first rising ray and the mountain range in the two-dimensional terrain profile is one and is not the vertex of the mountain range, it is marked as the first intersection point, and the highest point between the first intersection point and the boundary of the two-dimensional terrain profile is selected and superimposed with a preset height mark as the second marking point.

4. The flight path planning method for an unmanned aerial vehicle according to claim 3, wherein: The method for setting a reference point according to the number and position of intersections between the first rising ray and the mountain range in the two-dimensional terrain profile and the terrain includes: When the number of intersections between the first rising ray and the mountain range in the two-dimensional terrain profile is greater than or equal to 2, the two intersections closest to the first marked point are selected and marked as the second intersection and the third intersection. If the terrain between the second intersection and the third intersection is convex, the highest point between the second intersection and the third intersection is selected and marked as the reference point. Taking the reference point as a starting point, draw a reference ray toward the sky parallel to the first descending ray; A second marking point is set according to the number of intersections between the reference ray and the mountain range in the two-dimensional terrain profile image, until the marking point appears at the boundary of the two-dimensional terrain profile image.

5. The flight path planning method for an unmanned aerial vehicle according to claim 4, wherein: The method for setting the second marking point according to the number and position of intersections between the first rising ray and the mountain range in the two-dimensional topographic profile and the topography includes: If the reference ray has no intersection with the mountain range in the two-dimensional terrain profile, the reference point is superimposed with a preset height mark as a second mark point; If the reference ray intersects a mountain range in the two-dimensional terrain profile, the highest point between the reference point and the boundary of the two-dimensional terrain profile is selected and superimposed with a preset height mark as the second mark point.

6. The flight path planning method for an unmanned aerial vehicle according to claim 4, wherein: The method for setting a reference point according to the number and position of intersections between the first rising ray and the mountain range in the two-dimensional terrain profile and the terrain also includes: If the terrain between the second intersection point and the third intersection point is concave, selecting the highest point between the second intersection point and the third intersection point as the second reference point; Taking the second reference point as the starting point, draw a second reference ray in the direction toward the sky and parallel to the first descending ray; A second marking point is set according to the number of intersections between the second reference ray and the mountain range in the two-dimensional terrain profile image, until the marking point appears at the boundary of the two-dimensional terrain profile image.

7. The flight path planning method for an unmanned aerial vehicle according to claim 6, wherein: The method of setting a second marking point according to the number of intersections between the second reference ray and the mountain range in the two-dimensional terrain profile until the marking point appears at the boundary of the two-dimensional terrain profile includes: If the second reference ray has no intersection with the mountain range in the two-dimensional terrain profile, the second reference point is superimposed with a preset height mark as a second marking point; If the second reference ray intersects a mountain range in the two-dimensional terrain profile, the highest point between the second reference point and the boundary of the two-dimensional terrain profile is selected and superimposed with a preset height mark as the second marking point.

8. The flight path planning method for an unmanned aerial vehicle according to claim 4, wherein: The method for setting a second marking point according to the number and position of intersections between the first rising ray and the mountain range in the two-dimensional topographic profile and the topography also includes: If the number of intersections between the first rising ray and the mountain range in the two-dimensional terrain profile is greater than or equal to 2 and the distance between the second intersection and the third intersection is less than a preset threshold, the second intersection and the third intersection are merged into one intersection.

9. The flight path planning method for an unmanned aerial vehicle according to claim 1, wherein: The two-dimensional terrain profile data is obtained using the Douglas-Peuker algorithm.

10. A flight path planning device for an unmanned aerial vehicle, characterized in that the device include: one or more processors; A storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, so that the one or more processors implement the flight path planning method of the drone as described in any one of claims 1-9.

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