A flight path planning method and device for a UAV

Abstract

The application discloses a flight path planning method and device of a UAV, and the method comprises the following steps: extracting two-dimensional terrain profile data according to preset starting and ending coordinates of a route; taking the two-dimensional terrain profile as a background, and selecting a highest point in the terrain profile to make a central axis in the ground direction; superimposing a preset height on the highest point to obtain a first marker point; making a first rising ray and a first falling ray on both sides of the central axis along a preset flight angle of the UAV; setting a second marker point or a reference point according to the number, position and terrain of the intersection of the first rising ray and a mountain in the two-dimensional terrain profile until the marker point appears on the boundary of the two-dimensional terrain profile; making a second rising ray and a second falling ray on both sides of the second marker point along the preset flight angle of the UAV, and taking the intersection of the first rising ray and the second falling ray as a turning point; and connecting all the marker points and the turning points in sequence to obtain a flight path of the UAV.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of aviation technology, and more particularly, relates to a flight path planning method and device for a UAV. BACKGROUND

[0002] The ground-simulating flight of a UAV aerial geophysical exploration refers to a flight method in which the UAV adjusts the flight height according to the requirements of the body load during the flight of aerial geophysical exploration, and keeps the relative height between the UAV and the ground basically unchanged. The current ground-simulating flight technology mainly falls into two categories: one category is to rely on radar, laser radar or visual sensor to obtain the terrain information in real time, and then adjust the flight height in real time; the other category is to design and plan the ground-simulating flight route through the terrain data obtained in advance, and then make the UAV fly according to the planned flight route. However, the existing technology has the following problems:

[0003] Firstly, the method based on real-time terrain acquisition increases the load of the UAV, reduces the endurance of the UAV, and has safety hazards. The ground-simulating flight method relying on real-time acquisition of terrain information needs to increase the load of radar or visual sensor, which reduces the load capacity of the UAV, increases the power consumption, and greatly reduces the load capacity and endurance time of the UAV. On the other hand, when the terrain is complex, the cutting is severe, or the height difference exceeds the range of the radar or visual sensor, the terrain information obtained is inaccurate, which may cause the UAV to make a wrong judgment and easily cause a flight safety accident.

[0004] Secondly, there are problems of calculation complexity and flexibility of path planning. The method of designing a ground-simulating flight route through pre-acquired terrain data has the following problems: on the one hand, if the terrain precision is not high, the UAV may collide when flying; and on the other hand, if the terrain precision is high, the navigation points obtained are dense, and the UAV frequently changes, which will bring too much motion noise interference to the aerial geophysical exploration load. In addition, the attitude requirements of the aerial geophysical exploration load, especially the soft link aerial geophysical exploration load, are not considered in the design of the flight route, which may cause the attitude of the aerial geophysical exploration load to change when the UAV rises and falls, resulting in a decrease in the precision of the observation data.

[0005] Based on the above situation, there is an urgent need for a UAV aerial geophysical exploration ground-simulating flight path planning method that can consider the attitude requirements of the aerial geophysical exploration load, especially the soft link aerial geophysical exploration load, and perform ground-simulating flight with the least number of points. SUMMARY

[0006] In view of the above defects or improvement needs of the prior art, the present application provides a flight path planning method and device for a UAV, which aims to consider the attitude requirements of an airborne geophysical prospecting load during UAV flight, ensure that the airborne geophysical prospecting instrument carried obtains high-precision detection data, and generate a flight path simulating the ground with the least points, thereby reducing the frequent changes of the UAV and reducing the motion noise influence on the airborne geophysical prospecting load due to the changes of the ground-simulating navigation points.

[0007] To achieve the above-mentioned purpose, according to one aspect of the present application, a flight path planning method for a UAV is provided, the method comprising:

[0008] extracting two-dimensional terrain profile data according to preset start and end coordinates of the flight path, selecting the highest point in the terrain profile as the center axis in the direction of the ground with the two-dimensional terrain profile as the background;

[0009] stacking the highest point with a preset height as a first marker point, and making a first rising ray and a first falling ray on both sides of the center axis along the preset flight angle of the UAV;

[0010] setting a second marker point or a reference point according to the number, position and terrain of the intersection of the first rising ray and the mountain in the two-dimensional terrain profile until the marker point appears at the boundary of the two-dimensional terrain profile;

[0011] making a second rising ray and a second falling ray on both sides of the second marker point along the preset flight angle of the UAV, and the intersection of the first rising ray and the second falling ray is a turning point;

[0012] connecting all the marker points and the turning point in sequence as the flight path of the UAV ascending.

[0013] As a further improvement and supplement to the above-mentioned scheme, the present application further includes the following additional technical features.

[0014] Preferably, the method for setting the second marker point according to the number, position and terrain of the intersection of the first rising ray and the mountain in the two-dimensional terrain profile comprises:

[0015] when the number of the intersection of the first rising ray and the mountain in the two-dimensional terrain profile is 0 or only 1 and located at the top of the mountain, the intersection of the first rising ray and the boundary of the two-dimensional terrain profile is stacked with a preset height as the second marker point.

[0016] Preferably, the method for setting the second marker point according to the number, position and terrain of the intersection of the first rising ray and the mountain in the two-dimensional terrain profile further comprises:

[0017] When the number of intersections of the first rising ray with the mountains in the two-dimensional topographic profile is one and is not the top of the mountain, mark the first intersection point, and select the highest point between the first intersection point and the boundary of the two-dimensional topographic profile as a second mark point.

[0018] Preferably, the method for setting the reference point according to the number, position and topography of the intersections of the first rising ray with the mountains in the two-dimensional topographic profile comprises:

[0019] When the number of intersections of the first rising ray with the mountains in the two-dimensional topographic profile is greater than or equal to two, select the two closest intersections to the first mark point as the second intersection point and the third intersection point, and if the topography between the second intersection point and the third intersection point is convex, select the highest point between the second intersection point and the third intersection point as the reference point.

[0020] Draw a reference ray parallel to the first descending ray in the direction towards the sky with the reference point as the starting point.

[0021] Set the second mark point according to the number of intersections of the reference ray with the mountains in the two-dimensional topographic profile until the mark point appears at the boundary of the two-dimensional topographic profile.

[0022] Preferably, the method for setting the second mark point according to the number, position and topography of the intersections of the first rising ray with the mountains in the two-dimensional topographic profile comprises:

[0023] If the reference ray has no intersection with the mountains in the two-dimensional topographic profile, the reference point is marked as the second mark point with a preset height.

[0024] If the reference ray has an intersection with the mountains in the two-dimensional topographic profile, select the highest point between the reference point and the boundary of the two-dimensional topographic profile as the second mark point with a preset height.

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

[0026] If the topography between the second intersection point and the third intersection point is concave, select the highest point between the second intersection point and the third intersection point as a second reference point.

[0027] Draw a second reference ray parallel to the first descending ray in the direction towards the sky with the second reference point as the starting point.

[0028] Set the second mark point according to the number of intersections of the second reference ray with the mountains in the two-dimensional topographic profile until the mark point appears at the boundary of the two-dimensional topographic profile.

[0029] Preferably, the method of setting the second mark point according to the number of intersections of the second reference ray with the mountains in the two-dimensional topographic profile includes:

[0030] If the second reference ray has no intersection with the mountains in the two-dimensional topographic profile, the second reference point is superimposed with a preset height mark as the second mark point.

[0031] If the second reference ray has intersection with the mountains in the two-dimensional topographic profile, the highest point between the second reference point and the boundary of the two-dimensional topographic profile is selected to be superimposed with a preset height mark as the second mark point.

[0032] Preferably, the method of setting the second mark point according to the number, position and terrain of the intersections of the first rising ray with the mountains in the two-dimensional topographic profile further includes:

[0033] If the number of intersections of the first rising ray with the mountains in the two-dimensional topographic 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 topographic profile data is obtained by using the Douglas-Peuker algorithm.

[0035] According to another aspect of the present application, a flight path planning device of a UAV is provided, and the device includes:

[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, the one or more processors implement the flight path planning method of the UAV as described in the first aspect.

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

[0039] The present application can realize efficient and safe flight simulation of UAV aerial geophysical exploration in complex terrain environment, and obtain high-quality UAV aerial geophysical exploration data.

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

[0041] The unmanned aerial vehicle altitude angle and the attitude angle of the airborne geophysical prospecting load are introduced as constraints when designing a route angle, and the generated ground simulation navigation route can meet the attitude requirements of the unmanned aerial vehicle and the airborne geophysical prospecting load. BRIEF DESCRIPTION OF DRAWINGS

[0042] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0043] Figure 1 is a flight path planning method flowchart of an unmanned aerial vehicle provided by the first embodiment of the present application;

[0044] Figure 2 is an airborne geophysical simulation flight path planning flowchart of an unmanned aerial vehicle provided by the first embodiment of the present application;

[0045] Figure 3 is a schematic diagram of the number of intersection points of a first rising ray and a mountain in a two-dimensional terrain profile being 0 provided by the first embodiment of the present application;

[0046] Figure 4 is a schematic diagram of the number of intersection points of a first rising ray and a mountain in a two-dimensional terrain profile being 1 provided by the first embodiment of the present application;

[0047] Figure 5 is a schematic diagram of the number of intersection points of a first rising ray and a mountain in a two-dimensional terrain profile being more than 2 and the terrain between the second intersection point and the third intersection point being convex provided by the first embodiment of the present application;

[0048] Figure 6 is a schematic diagram of the number of intersection points of a first rising ray and a mountain in a two-dimensional terrain profile being more than 2 and the number of intersection points of a reference ray and the mountain being greater than 1 provided by the first embodiment of the present application;

[0049] Figure 7 is a schematic diagram of the number of intersection points of a first rising ray and a mountain in a two-dimensional terrain profile being more than 2 and the terrain between the second intersection point and the third intersection point being concave provided by the first embodiment of the present application;

[0050] Figure 8 is a schematic diagram of the elevation information of an unmanned aerial vehicle flight area provided by the first embodiment of the present application;

[0051] Figure 9 is a schematic diagram of the flight path result of an unmanned aerial vehicle provided by the first embodiment of the present application;

[0052] Figure 10is a flight path result schematic diagram of a UAV provided by embodiment one;

[0053] Figure 11 is a UAV flight path device schematic diagram provided by embodiment two. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application. In addition, the technical features involved in each embodiment of the present application described below can be combined with each other as long as they do not conflict with each other.

[0055] Embodiment one

[0056] Embodiment one provides a flight path planning method of a UAV, as shown in Figure 1 The method comprises the following steps:

[0057] S101: Extract two-dimensional terrain profile data according to the preset starting and ending coordinates of the flight path, and select the highest point in the terrain profile as the center axis in the direction of the ground based on the two-dimensional terrain profile map.

[0058] The UAV airborne geophysical survey flight path planning generation process is as shown in Figure 2 First, according to the requirements of the airborne geophysical survey, 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, and then the flight route of the survey area is planned according to the range of the survey area to generate a flight route file, including route number, starting point coordinates, and ending point coordinates, so as to obtain the attitude angle requirements of the UAV and the airborne geophysical survey load during flight.

[0059] The DEM data is subjected to general transverse Mercator projection (UTM projection), and then the terrain data along each survey line is extracted according to the route number, starting point coordinates and ending point coordinates of the flight route file to form a two-dimensional terrain map under the flight path of each survey line. At this time, the terrain data points of each survey line in the two-dimensional terrain map formed are multiple and dense.

[0060] Then, the Douglas-Peuker algorithm (DP algorithm for short) is used to simplify the terrain data of each survey line, and the density of points is reduced on the basis of maintaining the terrain skeleton. If the terrain data precision is not high, the generated terrain data points of each survey line are relatively few, and this step can be omitted.

[0061] After the terrain data is simplified, the proposed highest point method is used to generate the flight path of the UAV according to the attitude angle requirements of the UAV and the airborne geophysical load.

[0062] In S102, the highest point is superimposed with a preset height as a first marker point, and the first marker point is used to draw a first rising ray and a first falling ray to the left and right of the central axis along the preset flight angle of the UAV.

[0063] The process of generating the flight path of the UAV by the highest point method is as follows:

[0064] In the terrain profile data of each survey line, the highest point is selected, which is the peak of the two-dimensional terrain profile. The first marker point is obtained by superimposing the height of the airborne load on the UAV with the height of the UAV from the ground. The two-dimensional graph is divided into an ascending stage and a descending stage according to the first marker point. The first rising ray and the first falling ray are drawn to the left and right of the central axis according to the maximum allowed climbing attitude angle of the UAV and the airborne geophysical load.

[0065] In S103, the second marker point or the reference point is set according to the number, position and terrain of the intersection points of the first rising ray and the mountain range in the two-dimensional terrain profile.

[0066] The second marker point or the reference point is the peak of the mountain range that the UAV may encounter during the ascending process, and it is necessary to analyze whether the UAV needs to turn.

[0067] In S104, the second rising ray and the second falling ray are drawn to the left and right of the central axis along the preset flight angle of the UAV according to the second marker point, and the intersection point of the first rising ray and the second falling ray is the turning point.

[0068] The intersection of the rays proves that the UAV needs to adjust the flight state to ascend or descend, so it is necessary to analyze whether the UAV needs to turn.

[0069] In S105, the flight path of the UAV is obtained by connecting the marker points and the turning points in sequence.

[0070] The flight path planning method of the UAV provided in the embodiment one can reduce the number of flight path points to the greatest extent, reduce the frequent changes of the UAV, reduce the power consumption of the UAV, and reduce the noise caused by the airborne geophysical load to the greatest extent.

[0071] In combination with the embodiment of the application, there is also a preferred implementation scheme, as shown in Figure 3 The method for setting the second marker point according to the number, position and terrain of the intersection points of the first rising ray and the mountain range in the two-dimensional terrain profile includes:

[0072] When the number of intersections of the first rising ray with the mountains in the two-dimensional topographic profile is 0 or only 1 and is located at the mountain peak, the intersection of the first rising ray with the boundary of the two-dimensional topographic profile is marked as the second mark point at a preset height.

[0073] In Figure 3 , the number of intersections of the first rising ray with the mountains in the two-dimensional topographic profile is 0, the second mark point is located at the left boundary of the two-dimensional topographic profile, and the unmanned aerial vehicle does not need to adjust the flight state or angle.

[0074] In combination with the embodiments of the present application, there is also a preferred implementation scheme, specifically, as shown in Figure 4 , the method for setting the second mark point according to the number of intersections of the first rising ray with the mountains in the two-dimensional topographic profile, the position, and the topography further comprises:

[0075] As shown in Figure 4 , when the number of intersections of the first rising ray with the mountains in the two-dimensional topographic profile is 1 and is not the mountain peak, the first intersection point is marked, and the highest point between the first intersection point and the boundary of the two-dimensional topographic profile is marked as the second mark point at a preset height.

[0076] At the second mark point, a second rising ray and a second descending ray are made to the left and right sides along the preset flight angle of the unmanned aerial vehicle, and the second rising ray and the second descending ray are symmetrical about the axis of the second mark point in the direction of the ground.

[0077] In Figure 4 , the intersection of the second descending ray and the first rising ray is marked as a turning point, the second rising ray continues to find the intersection with the topographic profile, and the third mark point is defined; if the second rising ray still has an intersection with the topographic profile, the next mark point is selected to make two rays, until the mark point appears at the left boundary of the profile.

[0078] In combination with the embodiments of the present application, there is also a preferred implementation scheme, specifically, as shown in Figure 5 , the method for setting the reference point according to the number of intersections of the first rising ray with the mountains in the two-dimensional topographic profile, the position, and the topography comprises:

[0079] When the number of intersections of the first rising ray with the mountains in the two-dimensional topographic profile is greater than or equal to 2, the two closest intersections to the first mark point are selected and marked as the second intersection point and the third intersection point, and if the topography between the second intersection point and the third intersection point is convex, the highest point located between the second intersection point and the third intersection point is selected and marked as the reference point.

[0080] The reference ray parallel to the first descending ray is made in the direction toward the sky with the reference point as the starting point.

[0081] According to the number of intersection points of the reference ray and the mountains in the two-dimensional topographic profile, a third mark point is set until the mark point appears at the boundary of the two-dimensional topographic profile.

[0082] In Figure 5 , the topography between the second intersection point and the third intersection point is convex, and the highest point between the second intersection point and the third intersection point is marked as a reference point.

[0083] The reference ray is used to find whether there is a mountain higher than the reference point between the boundary of the two-dimensional topographic profile and the reference point.

[0084] In combination with the embodiments of the present application, there is also a preferred implementation scheme, specifically, as shown in Figure 5 and Figure 6 , the method for setting the second mark point according to the number, position and topography of the intersection points of the first rising ray and the mountains in the two-dimensional topographic profile comprises:

[0085] As shown in Figure 5 , if the reference ray has no intersection point with the mountains in the two-dimensional topographic profile, the reference point is marked as the second mark point by superimposing a preset height. At the second mark point, a second rising ray and a second falling ray are made to the two sides along the preset flight angle of the unmanned aerial vehicle, and the second rising ray and the second falling ray take the axis of the second mark point in the ground direction as the axis of symmetry.

[0086] The number of intersection points of the second rising ray and the mountains in the two-dimensional topographic profile is equal to 2, the two closest intersection points to the first mark point are selected and marked as the fourth intersection point and the fifth intersection point, and the topography between the fourth intersection point and the fifth intersection point is convex, then the highest point between the fourth intersection point and the fifth intersection point is selected and marked as the third mark point.

[0087] As shown in Figure 6 , if the reference ray has intersection points with the mountains in the two-dimensional topographic profile, the highest point between the reference point and the boundary of the two-dimensional topographic profile is selected and marked as the second mark point by superimposing a preset height. At the second mark point, a second rising ray and a second falling ray are made to the two sides along the preset flight angle of the unmanned aerial vehicle, and the second rising ray and the second falling ray take the axis of the second mark point in the ground direction as the axis of symmetry.

[0088] The number of intersection points of the second rising ray and the mountains in the two-dimensional topographic profile is equal to 0, and the third mark point appears at the left boundary of the two-dimensional topographic profile.

[0089] In combination with the embodiments of the present application, there is also a preferred implementation scheme, specifically, as shown in Figure 7As shown, the method for setting terrain reference points based on the number and location of intersections between the first ascending ray and the mountain ranges in the two-dimensional terrain profile also includes:

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

[0091] Starting from the second reference point, draw a second reference ray parallel to the first descending ray in the direction towards the sky;

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

[0093] like Figure 7 As shown, the first ascending ray intersects with the mountain range in the two-dimensional topographic profile at three points. The highest point between the second and third intersections is selected as the second reference point, i.e., the second reference point is the second intersection point.

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

[0095] exist Figure 7 In the two-dimensional terrain profile, if the second reference ray does not intersect with the mountain range, then the second reference point is superimposed with a preset height mark as the second mark point;

[0096] At the second marker point, a second ascending ray and a second descending ray are drawn to both sides along the preset flight angle of the UAV. The second ascending ray and the second descending ray are symmetrical about the axis from the second marker point toward the ground.

[0097] The second ascending ray intersects with the mountain range in the two-dimensional topographic profile at two points. Select the two intersection points closest to the first marker point and mark them as the fourth and fifth intersection points. Since the terrain between the fourth and fifth intersection points is convex, select the highest point located between the fourth and fifth intersection points and mark it as the third marker point.

[0098] At the third marker point, a third ascending ray and a third descending ray are drawn to both sides along the preset flight angle of the UAV. The third ascending ray and the third descending ray are symmetrical about the axis from the third marker point toward 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 a turning point, and the intersection of the second ascending ray and the third descending ray is also a turning point.Figure 7 In the method, all the marking points and the turning points are sequentially connected as the flight path of the UAV ascending.

[0099] According to the method for planning the flight path of the UAV ascending, the UAV's ground-hugging flight path in the right descending phase can also be planned, which will not be repeated here.

[0100] If the second reference ray intersects with the mountains 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 marked as a second marking point after being superimposed with a preset height.

[0101] In combination with the embodiment of the application, there is also a preferred implementation scheme, specifically, the method for setting the second marking point according to the number, position and terrain of the intersection points of the first ascending ray and the mountains in the two-dimensional terrain profile further comprises:

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

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

[0104] In combination with the embodiment of the application, there is also a preferred implementation scheme, specifically, as shown in Figure 3 The method for setting the first marking point to make the first ascending ray and the first descending ray to the two sides of the central axis along the preset flight angle of the UAV comprises:

[0105] The included angle between the first ascending ray or the first descending ray and the ground is the preset angle when the UAV ascends.

[0106] When designing the preset angle of the UAV, the UAV's angle of climb and the attitude angle of the airborne geophysical prospecting load can be introduced as constraints, and the generated ground-hugging navigation route can meet the attitude requirements of the UAV and the airborne geophysical prospecting load.

[0107] In combination with the embodiment of the application, there is also a preferred implementation scheme, specifically, the two-dimensional terrain profile data is obtained by using the Douglas-Peuker algorithm. The number of terrain points in the survey line profile is reduced by the DP algorithm, and on the basis of maintaining the terrain skeleton, the calculation amount for subsequent planning of the navigation route can be reduced.

[0108] In the first embodiment, DEM data of the survey area is obtained according to the requirements of airborne geophysical prospecting work, and elevation information of the region is obtained, as shown in Figure 8As shown, based on the design of the airborne geophysical survey network and survey lines, the line number, starting latitude and longitude, and ending latitude and longitude information of each survey line are obtained. Based on the starting and ending points of each survey line, the elevation information of each point on the survey line is selected from the DEM file, and a two-dimensional topographic profile map of each survey line is drawn. According to the UAV flight path planning method provided in Embodiment 1, a suitable terrain-following flight path is planned based on the topographic map of each survey line, such as... Figure 9 and Figure 10 As shown. Finally, the points on the terrain-following path are recorded sequentially, and the generated terrain-following flight path result is exported for use in UAV flight.

[0109] Example 2:

[0110] A flight path planning device for unmanned aerial vehicles, such as Figure 11 As shown, the device includes:

[0111] One or more processors;

[0112] A storage device for storing one or more programs that, when executed by one or more processors, enable the one or more processors to implement a flight path planning method for a drone as described in any of Embodiment 1.

[0113] Figure 11 This is a schematic diagram of the flight path planning device for the UAV provided in Embodiment 2. Figure 11 A block diagram of an exemplary flight path planning device suitable for implementing embodiments of the present invention is shown. Figure 11 The flight path planning device for the drone shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.

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

[0115] A bus refers to one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various 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 UAV flight path planning device typically includes a computer system readable media. These media can be any available media that is accessible by the intelligent well interpretation model modification device, including both volatile and non-volatile media, removable and non-removable media.

[0117] The memory can include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory. The UAV flight path planning device can further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system can be provided for reading from and writing to a non-removable, non-volatile magnetic media (e.g., a "hard drive") Figure 11 (not shown, generally referred to as a "hard disk drive"). Although Figure 11 (not shown, generally referred to as a "hard disk drive"). Although

[0118] Program / utility, having a set (at least one) of program modules, can be stored in, for example, memory (e.g., RAM 30, ROM 32, or a combination of the two), including an operating system, one or more application programs, other program modules, and program data. Each of these examples (or some combination thereof) can include an implementation of a networking environment. Program modules generally carry out the functions and / or methodologies of embodiments of the present application.

[0119] The UAV flight path planning device can also communicate with one or more external devices (e.g., a keyboard, a pointing device, a display, etc.) and can communicate with one or more devices that enable a user to interact with the UAV flight path planning device (e.g., a microphone, a camera, a television, a satellite set top box, etc.) and / or any devices (e.g., a network card, a modem, etc.) that enable the UAV flight path planning device to communicate with one or more other devices. Such communication can occur via Input / Output (I / O) interface(s). Still yet, the intelligent well interpretation model modification device can communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or the Internet) through a network adapter. Figure 11As shown, the network adapter communicates with other modules of the flight path planning device of the UAV over the bus. It should be appreciated that other hardware and / or software modules can be used in connection with the flight path planning device of the UAV, although not shown, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0120] The processing unit performs various function applications and data processing by running programs stored in the memory, such as implementing the flight path planning method of the UAV according to any of the embodiments of the present application.

[0121] The above description is merely illustrative of the application, and is not to be taken in a limiting sense. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the application should be included in the protection scope of the application.

Claims

1. A flight path planning method for an unmanned aerial vehicle (UAV), characterized in that, The methods include: Two-dimensional terrain profile data is extracted based on the preset route start and end coordinates. Using the two-dimensional terrain profile as a background, the highest point in the terrain profile is selected and the central axis is drawn towards the ground. The highest point is superimposed with a preset height as the first marker point, and the first marker point is extended along the preset flight angle of the UAV to both sides of the central axis by a first upward ray and a first downward ray respectively. Based on the number and location of the intersections between the first ascending ray and the mountains in the two-dimensional terrain profile, and the terrain, a second marker point or reference point is set until the marker point appears at the boundary of the two-dimensional terrain profile. The second marker point extends to both sides along the preset flight angle of the UAV, forming a second ascending ray and a second descending ray respectively. The intersection of the first ascending ray and the second descending ray is the turning point. Connect all the marked points and the turning points in sequence to form the flight path for the UAV's ascent; The method for setting reference points for the terrain based on the number and location of intersections between the first ascending ray and the mountain range in the two-dimensional terrain profile includes: When the number of intersections between the first ascending ray and the mountain in the two-dimensional terrain profile is 0 or only 1 and is located at the mountain apex, the intersection of the first ascending ray and the boundary of the two-dimensional terrain profile is superimposed with a preset height and marked as a second marker point. When the first ascending ray intersects with the mountain in the two-dimensional terrain profile at one point and is not the mountain apex, it is marked as the first intersection point. The highest point between the first intersection point and the boundary of the two-dimensional terrain profile is superimposed with a preset height and marked as the second mark point. The method for setting reference points for the terrain based on the number and location of intersections between the first ascending ray and the mountain range in the two-dimensional terrain profile includes: When the number of intersections between the first ascending 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 marker point are selected and marked as the second intersection point and the third intersection point. If the terrain between the second intersection point and the third intersection point is convex, the highest point located between the second intersection point and the third intersection point is selected and marked as the reference point. If the terrain between the second intersection point and the third intersection point is concave, then the highest point between the second intersection point and the third intersection point is selected as the reference point.

2. The flight path planning method for a UAV as described in claim 1, characterized in that, The method for setting reference points for terrain based on the number and location of intersections between the first ascending ray and the mountain range in the two-dimensional terrain profile also includes: Starting from the reference point, draw a reference ray parallel to the first descending ray in the direction towards the sky; A second marker point is set based on the number of intersections between the reference ray and the mountain range in the two-dimensional terrain profile, until the marker point appears at the boundary of the two-dimensional terrain profile.

3. The flight path planning method for a UAV as described in claim 2, characterized in that, If the reference ray does not intersect with the mountain range in the two-dimensional terrain profile, then the reference point is superimposed with a preset height mark as a second mark point; If the reference ray intersects with the mountain range in the two-dimensional terrain profile, then the highest point between the reference point and the boundary of the two-dimensional terrain profile is superimposed with a preset height mark as the second mark point.

4. The flight path planning method for a UAV as described in claim 1, characterized in that, The method for setting a second marker point based on the number and location of intersections between the first ascending ray and the mountain range in the two-dimensional terrain profile, as well as the terrain, further includes: If the number of intersections between the first ascending 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 will be merged into one intersection.

5. The flight path planning method for a UAV as described in claim 1, characterized in that, The two-dimensional terrain profile data was obtained using the Douglas-Peuker algorithm.

6. A flight path planning device for an unmanned aerial vehicle (UAV), characterized in that the device... include: One or more processors; A storage device for storing one or more programs, which, when executed by one or more processors, cause the one or more processors to implement the flight path planning method for the UAV as described in any one of claims 1 to 5.

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