A method and system for unmanned aerial vehicle route planning for low altitude airspace

Abstract

The application relates to a low-altitude airspace-oriented unmanned aerial vehicle (UAV) route planning method and system, wherein the method comprises the following steps: constructing a global airspace model for UAV flight; a fan-shaped grid airspace model in the global airspace model is constructed based on a terminal area airspace; a uniform grid airspace model is constructed based on an air route airspace; if the UAV is in the range of the fan-shaped grid airspace model, a GOA* algorithm is used to plan a route for the UAV; and if the UAV is in the range of the uniform grid airspace model, an A* algorithm is used to plan a route for the UAV. According to the application, dynamic fan-shaped grid modeling is realized for a terminal area airspace with large UAV density and complex air-ground elements, optimal route planning can be effectively carried out in a narrow available airspace during the process that the UAV gradually approaches a take-off and landing point, the flight safety of the UAV is greatly improved, and the problem of how to improve the safety of a UAV flight route is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle route planning method and system for low-altitude airspace. BACKGROUND

[0002] The existing airspace modeling scheme usually determines the grid resolution according to the task requirements, divides the continuous airspace along the x-axis, y-axis and z-axis into discrete cubic cell grids, establishes the mapping relationship between each cell grid and the continuous space, generates a grid model with uniform granularity, and then completes the optimal path search of the unmanned aerial vehicle in the grid model.

[0003] However, the existing scheme has many problems, for example: in the terminal area airspace of the unmanned aerial vehicle, the airspace presents a columnar structure, and multiple unmanned aerial vehicles converge to the take-off and landing field, the air-ground elements are complex and interlaced, and the modeling accuracy requirement of the airspace closer to the take-off and landing field is higher, so that the uniform grid model constructed based on the spatial orthogonal coordinate system is difficult to apply to the terminal area airspace of the unmanned aerial vehicle.

[0004] At present, there is no effective solution to how to improve the safety of the flight route of the unmanned aerial vehicle in the related art. SUMMARY

[0005] The embodiments of the present application provide an unmanned aerial vehicle route planning method and system for low-altitude airspace, to at least solve the problem of how to improve the safety of the flight route of the unmanned aerial vehicle in the related art.

[0006] In a first aspect, the embodiments of the present application provide an unmanned aerial vehicle route planning method for low-altitude airspace, the method comprising:

[0007] constructing a global airspace model containing a fan-shaped grid airspace model and a uniform grid airspace model for unmanned aerial vehicle flight, wherein the fan-shaped grid airspace model is constructed based on the terminal area airspace of the unmanned aerial vehicle, and the uniform grid airspace model is constructed based on the air route airspace of the unmanned aerial vehicle;

[0008] if the unmanned aerial vehicle is in the range of the fan-shaped grid airspace model, performing route planning for the unmanned aerial vehicle by a GOA* algorithm; and if the unmanned aerial vehicle is in the range of the uniform grid airspace model, performing route planning for the unmanned aerial vehicle by an A* algorithm.

[0009] In some embodiments, the fan-shaped grid airspace model constructed based on the terminal area airspace of the unmanned aerial vehicle comprises:

[0010] A terminal area airspace of the unmanned aerial vehicle is modeled by a cylindrical coordinate system to obtain a sector grid airspace model, wherein the cylindrical coordinate system takes a center projection point of the unmanned aerial vehicle take-off and landing field as an origin of the coordinate system.

[0011] In some embodiments, modeling the terminal area airspace of the unmanned aerial vehicle by the cylindrical coordinate system to obtain the sector grid airspace model comprises:

[0012] Taking the center projection point of the unmanned aerial vehicle take-off and landing field as the origin of the cylindrical coordinate system, an area with a range of in the cylindrical coordinate system is taken as the terminal area airspace of the unmanned aerial vehicle, wherein represents a horizontal projection domain range of the terminal area airspace, represents a vertical range of the terminal area airspace.

[0013] The terminal area airspace of the cylinder is longitudinally divided, circumferentially divided and radially divided to obtain a sector grid airspace model comprising a plurality of sector grid units, wherein the longitudinal division and the circumferential division are uniform step divisions, and the radial division is a dynamic step division.

[0014] In some embodiments, the longitudinal division and the circumferential division of the terminal area airspace of the cylinder comprise:

[0015] The terminal area airspace is longitudinally divided along a height direction of the cylinder into equal parts, wherein is a division height step, is a ceiling function.

[0016] The terminal area airspace is circumferentially divided along a central angle direction of the cylinder into equal parts, wherein , is a division angle step.

[0017] In some embodiments, the radial division of the terminal area airspace of the cylinder comprises:

[0018] The terminal area airspace is radially divided along a radius of the cylinder from outside to inside into layers, if a unit arc length of an i-th layer is greater than a preset arc length threshold , a division radius step of the i-th layer is equal to a dynamic unit arc length , wherein is a fixed angle step of the circumferential division, is a radius of the i-th layer.

[0019] If the unit arc length of the i-th layer is less than the preset arc length threshold the division radius step of the ith layer is equal to a fixed preset arc length threshold .

[0020] In some embodiments, before path planning for the UAV, the method comprises:

[0021] establishing a discretization mapping and a continuous mapping between each sector grid cell of the sector grid airspace model and the terminal airspace, to obtain a mapping relationship corresponding to each sector grid cell;

[0022] assigning a risk attribute value to each sector grid cell, wherein the risk attribute value of 0 indicates that the sector grid cell is a no-fly area with obstacles, and the risk attribute value of 1 indicates that the sector grid cell is a flyable area.

[0023] In some embodiments, establishing a discretization mapping and a continuous mapping between each sector grid cell of the sector grid airspace model and the terminal airspace comprises:

[0024] under the cylindrical coordinate system, the index of the sector grid cell in the sector grid airspace model is represented as , and the coordinates of the continuous space point in the terminal airspace are represented as .

[0025] establishing a discretization mapping of the coordinates of the continuous space point to the index of the sector grid cell .

[0026] establishing a continuous mapping of the index of the sector grid cell to the geometric center point of the sector grid cell .

[0027] In some embodiments, path planning for the UAV by the GOA* algorithm comprises:

[0028] taking the sector grid cell as a path search node, based on the mapping relationship of the sector grid cell, calculating the flight cost of the UAV from the starting node to the target node by the cost function of the GOA* algorithm, and selecting the path with the minimum flight cost as the target path of the UAV.

[0029] In some embodiments, the uniform grid airspace model is constructed based on the aerial path airspace of the UAV, comprising:

[0030] performing uniform grid modeling on the aerial path airspace of the UAV by the spatial rectangular coordinate system, to obtain a uniform grid airspace model.

[0031] ​In a second aspect, the embodiments of the present application provide a UAV route planning system for low-altitude airspace, which is used to execute the method of the first aspect, and comprises an airspace division modeling module and a route planning module.

[0032] The airspace division modeling module is configured to construct a global airspace model for UAV flight, which comprises a fan-shaped grid airspace model and a uniform grid airspace model, wherein the fan-shaped grid airspace model is constructed based on the terminal area airspace of the UAV, and the uniform grid airspace model is constructed based on the air route airspace of the UAV.

[0033] The route planning module is configured to, when the UAV is flying in the range of the global airspace model: if the UAV is in the range of the fan-shaped grid airspace model, perform route planning for the UAV by using a GOA* algorithm; and if the UAV is in the range of the uniform grid airspace model, perform route planning for the UAV by using an A* algorithm.

[0034] Compared with the related art, the UAV route planning method and system for low-altitude airspace provided by the embodiments of the present application construct a global airspace model for UAV flight, which comprises a fan-shaped grid airspace model and a uniform grid airspace model, wherein the fan-shaped grid airspace model is constructed based on the terminal area airspace of the UAV, and the uniform grid airspace model is constructed based on the air route airspace of the UAV; when the UAV is flying in the range of the global airspace model: if the UAV is in the range of the fan-shaped grid airspace model, perform route planning for the UAV by using a GOA* algorithm; and if the UAV is in the range of the uniform grid airspace model, perform route planning for the UAV by using an A* algorithm, which realizes specific modeling of the UAV flight airspace, dynamically models the terminal area airspace with large UAV density and complex air-ground elements, effectively utilizes the narrow available airspace to perform optimal route planning when the UAV gradually approaches the take-off and landing point, greatly improves the flight safety of the UAV, and at the same time, by adaptively using different route planning algorithms in different airspaces, the solving accuracy and efficiency of the planning are taken into account, and the problem of how to improve the safety of the UAV flight route is solved. BRIEF DESCRIPTION OF DRAWINGS

[0035] The accompanying drawings, which are included to provide a further understanding of the present application, constitute a part of the present application, illustrate the exemplary embodiments of the present application and their description serves to explain the present application, and do not constitute improper limitations on the present application. In the drawings:

[0036] Figure 1 is a step flowchart of the UAV route planning method for low-altitude airspace according to the embodiments of the present application;

[0037] Figure 2 is a schematic diagram of a global airspace of a UAV according to an embodiment of the present application;

[0038] Figure 3 is a schematic diagram of terminal airspace division according to an embodiment of the present application;

[0039] Figure 4 is a schematic diagram of GOA* algorithm space search according to an embodiment of the present application;

[0040] Figure 5 is a schematic diagram of a flow of a VOA* algorithm according to an embodiment of the present application;

[0041] Figure 6 is a schematic diagram of an internal structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0042] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be described and illustrated below in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of the present application.

[0043] Obviously, the drawings in the following description are only some examples or embodiments of the present application, and for those of ordinary skill in the art, the present application can be applied to other similar scenarios without creative efforts based on these drawings. In addition, it can be understood that although the efforts made in this development process can be complex and lengthy, for those of ordinary skill in the art related to the content disclosed in the present application, some designs, manufacturing or production changes based on the technical content disclosed in the present application are only routine technical means and should not be understood as insufficient disclosure of the present application.

[0044] In the present application, "embodiments" means that the specific features, structures or characteristics described in conjunction with the embodiments can be included in at least one embodiment of the present application. The phrase appears at various places in the specification does not necessarily all refer to the same embodiment, nor is it necessarily independent or alternative embodiments to other embodiments. It is explicitly and implicitly understood by those of ordinary skill in the art that the embodiments described in the present application can be combined with other embodiments without conflict.

[0045] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms “a,” “an,” “an,” “the,” and similar words used in this application do not indicate quantity limitation and may indicate singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units not listed, or may include other steps or units inherent to these processes, methods, products, or devices. The terms “connected,” “linked,” “coupled,” and similar words used in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. “Multiple” used in this application refers to two or more. “And / or” describes the relationship between related objects, indicating that three relationships may exist; for example, “A and / or B” can represent: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following objects are in an "or" relationship. The terms "first," "second," and "third" used in this application are merely to distinguish similar objects and do not represent a specific ordering of the objects.

[0046] This application provides a method for unmanned aerial vehicle (UAV) route planning for low-altitude airspace. Figure 1 This is a flowchart illustrating the steps of a UAV route planning method for low-altitude airspace according to an embodiment of this application, as follows: Figure 1 As shown, the method includes the following steps:

[0047] Step S102: Construct a global airspace model for UAV flight that includes a sector grid airspace model and a uniform grid airspace model. The sector grid airspace model is constructed based on the UAV's terminal area airspace, and the uniform grid airspace model is constructed based on the UAV's airway airspace.

[0048] It should be noted that the global airspace corresponding to the global airspace model of the UAV in step S102, Figure 2 This is a schematic diagram of the global airspace of a drone according to an embodiment of this application, as shown below. Figure 2 As shown, the airspace to be studied is selected. As the global airspace for drones, Indicates its horizontal range, This indicates its vertical range; the global airspace includes the terminal area airspace. and air routes and airspace ;like Figure 2 As shown, the terminal area airspace The corresponding fan-shaped grid airspace model is obtained based on a cylindrical coordinate system, and the center projection point of the unmanned aerial vehicle landing field is taken as the origin of the coordinate system.

[0049] The step S102 specifically includes the following steps:

[0050] In step S1021, the terminal area airspace of the unmanned aerial vehicle is modeled by a cylindrical coordinate system to obtain a fan-shaped grid airspace model.

[0051] In step S1021, the center projection point of the unmanned aerial vehicle landing field is taken as the origin of the cylindrical coordinate system, and the area with a range of in the cylindrical coordinate system is taken as the terminal area airspace of the unmanned aerial vehicle, wherein represents the horizontal projection domain range of the terminal area airspace, represents the vertical range of the terminal area airspace.

[0052] The terminal area airspace of the cylinder is divided longitudinally, circumferentially and radially to obtain a fan-shaped grid airspace model containing a plurality of fan-shaped grid units, wherein the longitudinal division and the circumferential division are uniform step divisions, and the radial division is a dynamic step division.

[0053] In step S1021, the terminal area airspace of the cylinder is divided longitudinally, circumferentially and radially, which specifically includes:

[0054] ① Longitudinal division: the terminal area airspace is longitudinally divided along the height direction of the cylinder into equal parts, wherein is the division height step, is a ceiling function;

[0055] ② Circumferential division: the terminal area airspace is circumferentially divided along the central angle direction of the cylinder into equal parts, wherein , is the division angle step.

[0056] ③ Radial division: the terminal area airspace is radially divided along the radius of the cylinder from outside to inside into layers, if the unit arc length of the i-th layer is greater than a preset arc length threshold , then the division radius step of the i-th layer is equal to the dynamic unit arc length , wherein is a fixed angle step of the circumferential division, is the radius of the i-th layer.

[0057] If the unit arc length of the i-th layer is less than the preset arc length threshold the division radius step of the i-th layer is equal to a fixed preset arc length threshold .

[0058] It should be noted that, Figure 3 is a schematic diagram of terminal area airspace division according to an embodiment of the present application, as Figure 3 shown, after the airspace division in step S1021, the continuous airspace is discretized into a grid model composed of a fan-shaped grid unit. Among them, the unmanned aerial vehicle operation density around the unmanned aerial vehicle take-off and landing point in the terminal area airspace gradually increases, and the air-ground elements are complex and interlaced, so the airspace is divided in a radial manner, the grid granularity of radial division is gradually refined from outside to inside, and by dynamically selecting the radial interval, the airspace modeling accuracy is gradually increased, and by introducing a preset arc length threshold, unlimited division of the airspace is avoided, which can effectively utilize the narrow available airspace for optimal path planning during the process of the unmanned aerial vehicle gradually approaching the take-off point, greatly improving the flight safety of the unmanned aerial vehicle.

[0059] Step S1022, the airspace of the unmanned aerial vehicle is uniformly gridded by a space rectangular coordinate system, and a uniform grid airspace model is obtained.

[0060] It should be noted that the construction of the uniform grid airspace model is based on the conventional space rectangular coordinate system to uniformly divide the grid. Unlike the above-mentioned fan-shaped grid airspace model, the airspace is divided in a radial manner, the grid granularity of radial division is gradually refined from outside to inside, and by dynamically selecting the radial interval, the fan-shaped grid airspace model modeling accuracy is gradually increased, which ensures the safety of the unmanned aerial vehicle flight.

[0061] Before step S104, the method further includes step S103 of establishing a mapping relationship between the airspace model and the space point coordinates. Step S103 specifically includes the following steps:

[0062] Step S1031, a discretization mapping and a continuous mapping between each fan-shaped grid unit of the fan-shaped grid airspace model and the terminal area airspace are established, and a mapping relationship corresponding to each fan-shaped grid unit is obtained;

[0063] Specifically, in the cylindrical coordinate system, the index of the fan-shaped grid unit in the fan-shaped grid airspace model is expressed as , and the coordinates of the continuous space point in the terminal area airspace are expressed as ;

[0064] The discretization mapping of the coordinates of the continuous space point to the index of the fan-shaped grid unit , and the specific calculation formula is as follows:

[0065]

[0066] establishing a continuous mapping of the index of the sector grid cell to the geometric center point of the sector grid cell The specific calculation formula is as follows:

[0067]

[0068] In the above two specific calculation formulas, is a radius list of the radially divided cylindrical surface, represents the i-th element in the radius list, represents the maximum value function, represents the floor function, is a fixed angular step size of the circumferential division, is a fixed height step size of the longitudinal division.

[0069] Step S1032, each sector grid cell is assigned a risk attribute value, wherein the risk attribute value of 0 indicates that the sector grid cell is a no-fly area with obstacles, and the risk attribute value of 1 indicates that the sector grid cell is a flyable area, and the formula is as follows:

[0070]

[0071] wherein, represents the grid cell is a flyable free grid, represents the grid cell is a no-fly grid occupied by obstacles.

[0072] It should be noted that in the subsequent step S104 of the unmanned aerial vehicle route planning, the sector grid cell is taken as the route search node, Figure 4 is a schematic diagram of the GOA* algorithm space search according to the embodiment of the present application, as shown in Figure 4 Each grid point has 26 adjacent grids , and satisfies the following constraints:

[0073]

[0074] The Euclidean distance between any two sector grid cells and can be expressed as:

[0075]

[0076] In the formula, and are grid points and The corresponding spatial point coordinates in the cylindrical coordinate system can be obtained through the continuous mapping described above .

[0077] In step S104, if the UAV is flying within the range of the global airspace model and within the range of the fan-shaped grid airspace model, the GOA* algorithm is used to plan a flight path for the UAV.

[0078] In step S104, the fan-shaped grid unit is used as a flight path search node, and the flight cost of the UAV from the starting node to the target node is calculated based on the mapping relationship of the fan-shaped grid unit through the cost function of the GOA* algorithm. The flight path with the minimum flight cost is selected as the target flight path of the UAV.

[0079] In step S104, the cost function of the GOA* algorithm can be expressed as:

[0080]

[0081] where n is the current node; is the target node; represents the cumulative existing cost from the starting node to the current node; is the estimated cost from the current node to the target node; the subscript T represents the calculation in the fan-shaped grid airspace model constructed based on the cylindrical coordinate system.

[0082] It should be noted that since the fan-shaped grid modeling method constructs a fan-shaped grid airspace model based on the cylindrical coordinate system, when the terminal airspace is continuous in the circumferential direction and the adjacent node and the current node cross the radial axis during the search process, the adjacent node will be incorrectly judged as being outside the airspace range. Therefore, in this case, the adjacent node index needs to be corrected to return to the global airspace. Specifically, when , the adjacent node index is corrected to ; when , the adjacent node index is corrected to .

[0083] In step S106, if the UAV is flying within the range of the global airspace model and within the range of the uniform grid airspace model, the A* algorithm is used to plan a flight path for the UAV.

[0084] It should be noted that the A* (A-Star) algorithm is also a conventional heuristic search algorithm, which is generally used to find the shortest path from the starting point to the target point in a simple static road network. However, it is difficult to cope with the complex and interlaced terminal airspace. The GOA* algorithm proposed in this embodiment can overcome the limitations of A* in the terminal airspace, flexibly cope with the complex and interlaced terminal airspace, and realize the optimal path search of the UAV terminal airspace, which has strong robustness and superiority in complex UAV terminal airspace.

[0085] It needs to be further explained that the step S104 and the step S106 are essentially the steps of the VGA* algorithm based on the variable grid proposed in the embodiment. Specifically, the air route airspace of the unmanned aerial vehicle is modeled by using the traditional uniform grid, and the terminal area airspace is modeled by using the fan-shaped grid, and the two algorithms are fused by adjusting the access and exit conditions of the A* algorithm and the GOA* algorithm to obtain the VGA* algorithm based on the variable grid. The algorithm fully considers the characteristics and requirements of different airspaces, uses a uniform grid model with a relatively coarse granularity in the air route airspace, effectively improves the solving efficiency under the premise of not significantly affecting the path planning result, uses a fan-shaped grid model optimized based on the cylindrical coordinate system in the terminal area airspace of the unmanned aerial vehicle, realizes efficient use of the airspace, and thus optimizes the flight path. Overall, the VGA* algorithm effectively alleviates the inherent contradiction between solving accuracy and solving efficiency of the traditional method, and can search for an optimal path by using fewer computing resources.

[0086] Specifically, Figure 5 is a flowchart of the VGA* algorithm according to the embodiment of the application, as Figure 5 shown, in the route search stage of the unmanned aerial vehicle, the A* algorithm based on the traditional grid method is used in the air route airspace, and once the search node enters the terminal area airspace, the GOA* algorithm is switched to continue the path search until the target node is searched.

[0087] The cost function of the VGA* algorithm can be expressed as:

[0088]

[0089] wherein, is a transition coefficient, is the cumulative cost in the air route airspace, when the path search is in the air route airspace , = 1; when the path planning is in the terminal area airspace , = 0.

[0090] Table 1 is a pseudo code example table of the VGA* algorithm according to the embodiment of the application, as shown in Table 1, the A* algorithm is first executed in the air route airspace, if the current node enters the terminal area airspace of the unmanned aerial vehicle, the open_list and the close_list are emptied, the A* algorithm is ended, the current node is updated as the starting point of the terminal area airspace of the unmanned aerial vehicle and stored in the open_list, and the GOA* algorithm is started to be executed until the target node is searched. Wherein, represents a function of obtaining the adjacent feasible nodes of the current node n.

[0091] Table 1

[0092]

[0093] Through the above steps in the embodiments of the present application, the specific modeling of the flight airspace of the unmanned aerial vehicle is realized, the dynamic fan-shaped grid modeling is performed on the terminal area airspace with large density of unmanned aerial vehicles and complex air-ground elements, the optimal route planning can be effectively performed by using the narrow available airspace in the process that the unmanned aerial vehicle gradually approaches the take-off and landing point, the flight safety of the unmanned aerial vehicle is greatly improved, and meanwhile, by adaptively using different route planning algorithms in different airspaces, the solving accuracy and efficiency of the planning are considered, and the problem of how to improve the safety of the flight route of the unmanned aerial vehicle is solved.

[0094] It should be noted that the steps shown in the above flow or the flowchart of the accompanying drawings can be executed in a computer system such as a group of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that here.

[0095] The embodiments of the present application provide a low-altitude airspace-oriented unmanned aerial vehicle route planning system, which comprises an airspace division modeling module and a route planning module;

[0096] The airspace division modeling module is configured to construct a global airspace model comprising a fan-shaped grid airspace model and a uniform grid airspace model for the flight of the unmanned aerial vehicle, wherein the fan-shaped grid airspace model is constructed based on the terminal area airspace of the unmanned aerial vehicle, and the uniform grid airspace model is constructed based on the air route airspace of the unmanned aerial vehicle.

[0097] The route planning module is configured to, in the case that the unmanned aerial vehicle flies in the range of the global airspace model: if the unmanned aerial vehicle is in the range of the fan-shaped grid airspace model, performing route planning for the unmanned aerial vehicle by using the GOA* algorithm; and if the unmanned aerial vehicle is in the range of the uniform grid airspace model, performing route planning for the unmanned aerial vehicle by using the A* algorithm.

[0098] Through the airspace division modeling module and the route planning module in the embodiments of the present application, the specific modeling of the flight airspace of the unmanned aerial vehicle is realized, the dynamic fan-shaped grid modeling is performed on the terminal area airspace with large density of unmanned aerial vehicles and complex air-ground elements, the optimal route planning can be effectively performed by using the narrow available airspace in the process that the unmanned aerial vehicle gradually approaches the take-off and landing point, the flight safety of the unmanned aerial vehicle is greatly improved, and meanwhile, by adaptively using different route planning algorithms in different airspaces, the solving accuracy and efficiency of the planning are considered, and the problem of how to improve the safety of the flight route of the unmanned aerial vehicle is solved.

[0099] It should be noted that the above various modules can be functional modules or program modules, which can be implemented by software or hardware. For the modules implemented by hardware, the above various modules can be located in the same processor; or the above various modules can also be located in different processors in any combination.

[0100] The embodiment provides an electronic device, comprising a memory and a processor, the memory stores a computer program, and the processor is configured to run the computer program to perform the steps in any one of the method embodiments.

[0101] Optionally, the electronic device can further comprise a transmission device and an input and output device, wherein the transmission device is connected with the processor, and the input and output device is connected with the processor.

[0102] Optionally, the electronic device can further comprise a processor, a memory, a network interface, a display screen and an input device connected through a system bus. The processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device comprises a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The network interface of the electronic device is used to communicate with external terminals through network connection. The computer program is executed by the processor to implement a low-altitude airspace-oriented UAV route planning method. The display screen of the electronic device can be a liquid crystal display screen or an electronic ink display screen. The input device of the electronic device can be a touch layer overlaid on the display screen, or a key, trackball or touchpad arranged on the shell of the electronic device, or an external keyboard, touchpad or mouse, etc.

[0103] It should be noted that the specific examples in the embodiment can refer to the examples described in the above embodiments and optional implementation manners, which will not be described here in detail.

[0104] In addition, in combination with the low-altitude airspace-oriented UAV route planning method in the above embodiments, the embodiment of the application can provide a storage medium to implement. The storage medium stores a computer program; the computer program is executed by the processor to implement any one of the low-altitude airspace-oriented UAV route planning methods in the above embodiments.

[0105] In one embodiment, Figure 6 is a schematic diagram of the internal structure of an electronic device according to the embodiment of the application, as Figure 6 shown, an electronic device is provided, which can be a server, and the internal structure diagram thereof can be as Figure 6As shown in the figure. The electronic device includes a processor, a network interface, an internal memory and a non-volatile memory connected by an internal bus, wherein the non-volatile memory stores an operating system, a computer program and a database. The processor is used to provide computing and control capability, the network interface is used to communicate with external terminals through network connection, the internal memory is used to provide an environment for the operation of the operating system and the computer program, the computer program is executed by the processor to implement a low-altitude airspace-oriented UAV route planning method, and the database is used to store data.

[0106] Those skilled in the art can understand that, Figure 6 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the electronic device to which the scheme of the present application is applied. The specific electronic device can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0107] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer readable storage medium. When the computer program is executed, it can include the processes of the above-mentioned embodiments. Any reference to memory, storage, database or other medium used in the embodiments provided by the present application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM) and the like.

[0108] Those skilled in the art should understand that each technical feature of the above-mentioned embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of each technical feature in the above-mentioned embodiments are not described, however, as long as the combination of technical features does not exist contradictory, it should be considered as the scope of the present application.

[0109] The above-described embodiments are merely illustrative of several embodiments of the present application, which are described in more detail and in a specific and detailed manner, but should not be construed as limiting the scope of the patent. It should be noted that for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, and these are all within the scope of the present application. Therefore, the scope of protection of the patent of the present application should be subject to the appended claims.

Claims

1. A method for UAV route planning for low altitude airspace, characterized in that, The method comprises: constructing a global airspace model for unmanned aerial vehicle flight, the global airspace model comprising a fan-shaped grid airspace model and a uniform grid airspace model, wherein the uniform grid airspace model is constructed based on an overflight airspace of the unmanned aerial vehicle, and the fan-shaped grid airspace model is constructed by: Taking a center projection point of the unmanned aerial vehicle landing site as an origin of a cylindrical coordinate system, taking a region with a range of in the cylindrical coordinate system as a terminal area airspace of the unmanned aerial vehicle, wherein, represents a horizontal projection domain range of the terminal area airspace, represents a vertical range of the terminal area airspace. longitudinally, circumferentially and radially dividing the terminal airspace of the cylinder to obtain a fan-shaped grid airspace model comprising a plurality of fan-shaped grid cells, wherein the longitudinal and circumferential divisions are uniform step divisions, and the radial division is a dynamic step division comprising: The terminal area space is radially divided along the radius of the cylinder from the outside to the inside. If the unit arc length of the i-th layer is... Greater than the preset arc length threshold Then the step size of the partition radius of the i-th layer Equal to the unit arc length Wherein, the unit arc length of the i-th layer Equal to the circumferential division angle step size Multiplied by the radius of the i-th layer If the unit arc length of the i-th layer Less than the preset arc length threshold Then the step size of the partition radius of the i-th layer Equal to a fixed preset arc length threshold ; establishing a discretization mapping and a continuous mapping between each fan-shaped grid cell of the fan-shaped grid airspace model and the terminal airspace to obtain a mapping relationship corresponding to each fan-shaped grid cell; assigning a risk attribute value to each fan-shaped grid cell, wherein a risk attribute value of 0 indicates that the fan-shaped grid cell is a no-fly zone with obstacles, and a risk attribute value of 1 indicates that the fan-shaped grid cell is a flyable zone; in the case where the unmanned aerial vehicle is flying within the range of the global airspace model: if the unmanned aerial vehicle is within the range of the fan-shaped grid airspace model, then taking a fan-shaped grid cell as a route search node, calculating a flight cost of the unmanned aerial vehicle from a start node to a target node based on the mapping relationship of the fan-shaped grid cell through a cost function of a GOA* algorithm, and selecting a route with the minimum flight cost as the target route of the unmanned aerial vehicle; if the unmanned aerial vehicle is within the range of the uniform grid airspace model, then planning a route for the unmanned aerial vehicle through an A* algorithm.

2. The method of claim 1, wherein, the longitudinal and circumferential divisions of the terminal airspace of the cylinder comprise: dividing the terminal area airspace along a height direction of the cylinder into height steps uniform longitudinal division; dividing the terminal area airspace along the direction of the central angle of the cylinder by an angular step size of uniform circumferential division.

3. The method of claim 1, wherein, the establishment of the discretization mapping and the continuous mapping between each fan-shaped grid cell of the fan-shaped grid airspace model and the terminal airspace comprises: In the cylindrical coordinate system, the index of the fan-shaped grid cell in the fan-shaped grid space model is expressed as The coordinates of the continuous spatial points in the terminal area space are expressed as ; establishing a discretized mapping of coordinates of the continuous spatial points to indices of the sector grid cells ; establishing a continuous mapping of indices of the fan-shaped grid cells to geometric center points of the fan-shaped grid cells .

4. The method of claim 1, wherein, the uniform grid airspace model is constructed based on an overflight airspace of the unmanned aerial vehicle comprises: uniform grid modeling of the overflight airspace of the unmanned aerial vehicle is performed through a spatial rectangular coordinate system to obtain a uniform grid airspace model.

5. A low-altitude airspace-oriented UAV route planning system, characterized in that, The system is used to perform the method of any one of claims 1 to 4, and the system comprises an airspace division modeling module and a route planning module; the airspace division modeling module is configured to construct a global airspace model for unmanned aerial vehicle flight, the global airspace model comprising a fan-shaped grid airspace model and a uniform grid airspace model, wherein the fan-shaped grid airspace model is constructed based on a terminal airspace of the unmanned aerial vehicle, and the uniform grid airspace model is constructed based on an overflight airspace of the unmanned aerial vehicle; the route planning module is configured to, in the case where the unmanned aerial vehicle is flying within the range of the global airspace model: if the unmanned aerial vehicle is within the range of the fan-shaped grid airspace model, then planning a route for the unmanned aerial vehicle through a GOA* algorithm; if the unmanned aerial vehicle is within the range of the uniform grid airspace model, then planning a route for the unmanned aerial vehicle through an A* algorithm.

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