CN120506957B - Method, system, device and storage medium for generating and planning UAV flight paths - Google Patents
Method, system, device and storage medium for generating and planning UAV flight pathsInfo
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- CN120506957B CN120506957B CN202511006179.6A CN202511006179A CN120506957B CN 120506957 B CN120506957 B CN 120506957B CN 202511006179 A CN202511006179 A CN 202511006179A CN 120506957 B CN120506957 B CN 120506957B
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Abstract
The application provides a generation planning method, a system, equipment and a storage medium of an unmanned aerial vehicle navigation band route, wherein the method comprises the steps of obtaining a direction vector of each route segment P iPi+1 by obtaining each route point P i in an initial route, respectively rotating the direction vector clockwise and anticlockwise by 90 degrees to obtain a normal vector and a unit normal vector, carrying out outward expansion on each route segment P iPi+1 in two outward expansion directions according to the unit normal vector and an outward expansion distance d to respectively obtain a first outward expansion boundary A iAi+1'、BiBi+1', judging whether an intersection point exists between two adjacent outward expansion boundaries, if yes, calculating coordinates of the intersection point and taking the intersection point as a new boundary point, if not, connecting the two adjacent boundary points to generate a new outward expansion boundary to obtain final navigation band, and uploading route data, wherein the route data comprises a plurality of parallel routes parallel to the initial route, and the parallel routes are connected end to obtain a target route. The method for generating and planning the navigation belt route is simple in calculation, depends on a basic vector operation library only, and is high in universality.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicle track planning, in particular to a generation planning method, a system, equipment and a storage medium for an unmanned aerial vehicle navigation belt route.
Background
At present, unmanned aerial vehicles are widely applied to the fields of agricultural plant protection, topographic mapping, electric power inspection and the like. The navigation belt route planning is to automatically draw a mapping banded region (navigation belt) according to an original route planned by a user under a specific constraint condition, and then generate a plurality of routes in the banded region to realize mapping and photographing.
The conventional banded region planning generally adopts an angle offset method, for example, chinese patent with application publication number CN107154066A discloses a two-dimensional display method of a parallel line buffer patrol route, and the method utilizes a map platform to quantitatively analyze a secondary development interface according to the longitude and latitude information of a pass point of the patrol route and the buffer distance, and calculates to obtain the line segment direction angle of the patrol route, the longitude and latitude information of a parallel line position point and the longitude and latitude information of an adjacent parallel line intersection point; and drawing the patrol route and the buffer area range by using a map platform graph to plot a secondary development interface to obtain a banded region.
However, the method needs to calculate the direction angle through trigonometric functions and angle modulo, is complex in calculation, needs to analyze the angle difference of adjacent line segments according to 4 conditions, is complex in logic branch, needs to call a calculation interface of a map platform, and is poor in universality.
Disclosure of Invention
In order to solve the technical problems of angle calculation, logic redundancy and platform dependence of a zonal area planning method in the prior art, the application provides a generation planning method, a system, equipment and a storage medium of an unmanned aerial vehicle zonal route.
According to a first aspect of the present application, a method for generating and planning a navigation belt route of an unmanned aerial vehicle is provided, including:
Obtaining each path point P i of a user in an initial route planned by a two-dimensional coordinate system to obtain a direction vector of each navigation segment P iPi+1, wherein i is [1, n-1], and n is the number of path points;
Respectively rotating the direction vector of each navigation segment P iPi+1 clockwise and anticlockwise by 90 degrees to obtain a normal vector and a unit normal vector of two outward expansion directions, and according to the unit normal vector and a preset outward expansion distance d, performing outward expansion on each navigation segment P iPi+1 in the two outward expansion directions to respectively obtain a first outward expansion boundary A iAi+1 'and a second outward expansion boundary B iBi+1';
Judging whether two adjacent first outer expansion boundaries A iAi+1 'and/or second outer expansion boundaries B iBi+1' have intersection points, if so, calculating coordinates of the intersection points and taking the coordinates as new boundary points, and cutting off the two outer expansion boundaries;
Uploading route data, wherein the route data comprises a plurality of parallel routes parallel to the initial route in the navigation band, and the parallel routes are connected end to obtain a target route.
Preferably, the determining whether the intersection point exists between the two adjacent first outer expansion boundaries a iAi+1 'and/or the second outer expansion boundary B iBi+1' specifically includes:
and calculating whether an intersection point exists by adopting a linear equation, wherein the specific formula is as follows:
D=(x1-x2)*(y3-y4)-(y1-y2)*(x3-x4)
t = ((x1-x3)*(y3-y4)-(y1-y3)*(x3-x4))/D
u = ((x1-x3)*(y1-y2)-(y1-y3)*(x1-x2))/D
Wherein (x 1, y 1), (x 2, y 2) and (x 3, y 3), (x 4, y 4) are coordinates of two boundary points of two adjacent first outer expansion boundaries a iAi+1 'and/or second outer expansion boundaries B iBi+1', respectively;
When d=0, judging that there is no intersection point;
when D is not equal to 0, t is not less than 0 and not more than 1, u is not less than 0 and not more than 1, the intersection point is judged to exist, and the coordinate I (x, y) of the intersection point is as follows:
x=x1+t*(x2-x1)
y=y1+t*(y2-y1)。
preferably, the uploading route data includes a plurality of parallel routes parallel to the initial route in the aerial zone, and the plurality of parallel routes are connected end to obtain a target route, including:
Cutting the navigation belt to obtain a plurality of subareas;
uploading the route data of each subarea, and connecting a plurality of parallel routes in each subarea end to obtain the target route of each subarea.
Preferably, the cutting the ribbon to obtain a plurality of sub-areas includes:
Acquiring the current battery electric quantity of the unmanned aerial vehicle and the battery electric quantity consumed per kilometer under the current load, and calculating the cruising range;
Calculating to obtain a recommended cutting length according to the number of the continuous voyages and the parallel voyages;
And cutting the navigation belt based on the recommended cutting length to obtain a plurality of subareas.
Preferably, the method further comprises:
Acquiring click point coordinates of a user in the navigation band;
and judging the subarea to which the click point belongs, and uploading the route data of the subarea.
Preferably, the determining the sub-region to which the click point belongs includes:
The clicking point is used for extending rays along any one direction of the horizontal direction or the vertical direction, and a ray equation is obtained;
expressing each side of each sub-region by using a linear equation according to the vertex coordinates of each sub-region;
Substituting the ray equation into the linear equation for solving, and if a unique solution exists, the ray and the edge have a unique intersection point;
And counting the number N of intersection points of the rays and the edges of each subarea respectively, and if N is an odd number, the clicking point is in the corresponding subarea.
Preferably, the determining the sub-region to which the click point belongs includes:
according to the vertex coordinates of each sub-region, respectively connecting the clicking point with each vertex of each sub-region to obtain a plurality of triangle regions;
and comparing the sum of the areas of the triangular areas with the area of each subarea respectively, and if the areas are equal, the clicking point is in the corresponding subarea.
According to a second aspect of the present application, a generation planning system for a unmanned aerial vehicle ribbon route is provided, including:
The acquisition unit is configured to acquire each path point P i of the user in the initial route planned by the two-dimensional coordinate system, and obtain a direction vector of each navigation segment P iPi+1, wherein i epsilon [1, n-1], n is the number of path points;
The outward expansion unit is configured to rotate the direction vector of each leg P iPi+1 clockwise and anticlockwise by 90 degrees respectively to obtain two normal vectors of outward expansion directions and a unit normal vector, and outward expand each leg P iPi+1 in the two outward expansion directions according to the unit normal vector and a preset outward expansion distance d to obtain a first outward expansion boundary a iAi+1 'and a second outward expansion boundary B iBi+1' respectively;
The navigation belt generation unit is configured to judge whether two adjacent first outer expansion boundaries A iAi+1 'and/or second outer expansion boundaries B iBi+1' have intersection points, if yes, calculate coordinates of the intersection points and serve as new boundary points, and intercept the two outer expansion boundaries;
And the route planning unit is configured to upload route data, wherein the route data comprises a plurality of parallel routes parallel to the initial route in the navigation zone, and the parallel routes are connected end to obtain a target route.
According to a third aspect of the application, an electronic device is provided, which comprises one or more processors and a memory, wherein the memory is used for storing one or more programs, and when the one or more programs are executed by the one or more processors, the electronic device is enabled to realize the generation planning method of the unmanned aerial vehicle carrier route provided by any embodiment of the first aspect.
According to a fourth aspect of the present application, a computer readable storage medium is provided, on which a computer program is stored, which when executed by a processor implements a method for generating and planning a unmanned aerial vehicle ribbon route as provided in any of the embodiments of the first aspect.
The application provides a generation planning method, a system, equipment and a storage medium for an unmanned aerial vehicle navigation belt route, which are used for carrying out expansion on an initial route through a vector cross product and solving boundary intersection points through a linear equation to draw an ideal navigation belt. Further cutting the navigation belt into a plurality of subareas according to the cruising ability of the unmanned aerial vehicle, judging the subarea to which the clicking point belongs according to the clicking point coordinates of the user, and realizing the function of uploading the route data according to the subareas.
Drawings
The accompanying drawings are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments and together with the description serve to explain the principles of the invention. Many of the intended advantages of other embodiments and embodiments will be readily appreciated as they become better understood by reference to the following detailed description. The elements of the drawings are not necessarily to scale relative to each other. Like reference numerals designate corresponding similar parts.
FIG. 1 is a flow chart of a method for generating and planning a unmanned aerial vehicle ribbon route in accordance with a specific embodiment of the present application;
FIG. 2 is a schematic illustration of an initial route in accordance with a specific embodiment of the present application;
FIG. 3 is a schematic illustration of leg flaring in accordance with an embodiment of the present application;
FIG. 4 is a schematic representation of the generation of a ribbon according to one embodiment of the present application;
FIG. 5 is a schematic illustration of a ribbon according to one embodiment of the application;
FIG. 6 is a schematic plan view of an airline in accordance with a specific embodiment of the present application;
FIG. 7 is a schematic plan view of an airline in accordance with another embodiment of the present application;
FIG. 8 is a schematic plan view of an airline in accordance with yet another embodiment of the present application;
FIG. 9 is a schematic diagram of determining a sub-region to which a click point belongs by a method according to an embodiment of the present application;
FIG. 10 is a schematic diagram of determining a sub-region to which a click point belongs by a second method according to an embodiment of the present application;
FIG. 11 is a diagram illustrating a second determination of the sub-region to which the click point belongs by a second method according to an embodiment of the present application;
FIG. 12 is a schematic diagram of a generation planning system for a unmanned aerial vehicle ribbon line in accordance with an embodiment of the present application;
fig. 13 is a schematic diagram of an electronic device according to one embodiment of the application.
Detailed Description
Features and exemplary embodiments of various aspects of the present invention will be described in detail below, and in order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely configured to illustrate the invention and are not configured to limit the invention. It will be apparent to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the invention by showing examples of the invention.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising" does not exclude the presence of additional identical elements in a process, method, article, or apparatus that comprises an element.
The application provides a generation planning method for an unmanned aerial vehicle navigation belt route. FIG. 1 shows a flowchart of a method for generating and planning a unmanned aerial vehicle ribbon route, according to one embodiment of the application, as shown in FIG. 1, the method comprising the steps of:
Step S101, each route point P i of the user in the initial route planned by the two-dimensional coordinate system is obtained, and a direction vector of each route segment P iPi+1 is obtained, wherein i epsilon [1, n-1], n is the number of route points.
Fig. 2 shows a schematic diagram of an initial route according to an embodiment of the present application, as shown in fig. 2, in an embodiment, taking the approach point n=3 as an example, P 1、P2、P3, respectively, there are legs P 1P2 and P 2P3. Taking the leg P 1P2 as an example, assuming that two path point coordinates are P 1（x1,y1）、P2 (x 2, y 2), respectively, the direction vector component dx=x2-x 1, dy=y2-y 1 of the leg P 1P2, and the length of the leg P 1P2 。
Step S102, respectively rotating the direction vector of each navigation segment P iPi+1 clockwise and anticlockwise by 90 degrees to obtain normal vectors and unit normal vectors of two outward expansion directions, and according to the unit normal vectors and a preset outward expansion distance d, performing outward expansion on each navigation segment P iPi+1 in the two outward expansion directions to respectively obtain a first outward expansion boundary A iAi+1 'and a second outward expansion boundary B iBi+1'.
Fig. 3 shows a schematic view of the expansion of a leg according to an embodiment of the present application, as shown in fig. 3, in a specific embodiment, taking a leg P 1P2 as an example, the normal vector is obtained by rotating the direction vector of the leg P 1P2 by 90 degrees counterclockwise, and if the unit normal vector component is nx= -dy/length, ny=dx/length, and if the unit normal vector component is rotated by 90 degrees clockwise, nx=dy/length, ny= -dx/length. Assuming that the preset spreading distance is d, the unit normal vector is multiplied by the spreading distance to obtain an offset nx=nx×d, ny=ny×d. The two approach points of leg P 1P2 are shifted by an offset along the normal vector direction, respectively, to obtain two end coordinates (x1+nx, y1+ny) and (x2+nx, y2+ny) of the first outer expansion boundary A 1A2 '/the second outer expansion boundary B 1B2'.
Step S103, judging whether two adjacent first outer expansion boundaries A iAi+1 'and/or second outer expansion boundaries B iBi+1' have intersection points, if yes, calculating coordinates of the intersection points and serving as new boundary points, cutting off the two outer expansion boundaries, and if not, connecting two adjacent initial boundary points of the two outer expansion boundaries to generate new outer expansion boundaries, so as to obtain a final navigation belt.
In a specific embodiment, a linear equation is used to calculate whether two adjacent first outer expansion boundaries a iAi+1 'and/or second outer expansion boundaries B iBi+1' have an intersection, where the specific formula is as follows:
D=(x1-x2)*(y3-y4)-(y1-y2)*(x3-x4)
t = ((x1-x3)*(y3-y4)-(y1-y3)*(x3-x4))/D
u =((x1-x3)*(y1-y2)-(y1-y3)*(x1-x2))/D
Wherein (x 1, y 1), (x 2, y 2) and (x 3, y 3), (x 4, y 4) are coordinates of two boundary points of two adjacent first outer expansion boundaries a iAi+1 'and/or second outer expansion boundaries B iBi+1', respectively;
When d=0, judging that there is no intersection point;
when D is not equal to 0, t is not less than 0 and not more than 1, u is not less than 0 and not more than 1, the intersection point is judged to exist, and the coordinate I (x, y) of the intersection point is as follows:
x=x1+t*(x2-x1)
y=y1+t*(y2-y1)
Fig. 4 shows a schematic diagram of the generation of a ribbon according to an embodiment of the present application, and fig. 5 shows a schematic diagram of a ribbon according to an embodiment of the present application, as shown in fig. 4 and 5, in an embodiment, the intersection point exists between the first outer expansion boundary a 1A2 ' and the first outer expansion boundary a 2A3 ', so that the coordinates of the intersection point I are calculated and serve as new boundary points, and the first outer expansion boundary a 1A2 ' and the first outer expansion boundary a 2A3 ' are truncated, that is, the first outer expansion boundary a 1A2 ' becomes a 1 I, and the first outer expansion boundary a 2A3 ' becomes IA 3 '. While the second outer boundary B 1B2 ' and the second outer boundary B 2B3 ' do not have an intersection, so that connecting the two initial boundary points B 2 ' and B 2 adjacent to the second outer boundary B 1B2 ' and the second outer boundary B 2B3 ' generates a new outer boundary B 2'B2. Finally, all adjacent external expansion boundary points are connected in pairs, and an ideal navigation belt is drawn.
And step S104, uploading route data, wherein the route data comprises a plurality of parallel routes parallel to the initial route in the navigation band, and the parallel routes are connected end to obtain the target route.
Fig. 6 is a schematic diagram illustrating a planning of an air route according to an embodiment of the present application, as shown in fig. 6, in an embodiment, after an air route is generated, a user uploads air route data, plans a plurality of parallel air routes (dotted lines in the figure) parallel to an initial air route (P 1P2P3) in the air route, and the plurality of parallel air routes are connected end to obtain a target air route, so that an unmanned aerial vehicle performs mapping according to reciprocating flight of the target air route in the air route.
It should be noted that the generating logic of the parallel route may be the same as the generating logic of the first outer expansion boundary and the second outer expansion boundary, which is not limited herein, and will not be described in detail.
Fig. 7 shows a schematic diagram of route planning according to another embodiment of the present application, as shown in fig. 7, in another embodiment, when a route mapping area is too large and too long, in order to avoid that the unmanned aerial vehicle cannot complete mapping in a single flight due to a endurance problem, the route may be cut into a plurality of sub-areas (①,②,③) according to a preset length, and route data of each sub-area is uploaded, and a plurality of parallel routes in each sub-area are connected end to obtain a target route of each sub-area, and the unmanned aerial vehicle may sequentially map according to the target route of each sub-area.
In this embodiment, the provided method for cutting the navigation belt is as follows:
The method comprises the steps of obtaining current battery electric quantity of an unmanned aerial vehicle and battery electric quantity consumed per kilometer under current load through flight control of the unmanned aerial vehicle, calculating a cruising range, dividing the cruising range by the number of parallel airlines, calculating to obtain recommended cutting length, and cutting a navigation belt according to the recommended cutting length to obtain a plurality of subareas. When the flight parameters are configured for the first time, the cut length calculated by the method is defaulted.
Through the method, compared with the traditional preset length based on a fixed value for cutting the navigation belt, the method and the device for cutting the navigation belt, disclosed by the embodiment, are combined with the actual endurance adjustment of the unmanned aerial vehicle to recommend the cutting length, and the unmanned aerial vehicle can achieve mapping with maximum efficiency under the condition that one sub-area mapping can be completed in a single flight.
Fig. 8 shows a schematic plan of an airline according to yet another embodiment of the present application, as shown in fig. 8, where there is a need to upload airline data per region after the sub-region cut is completed for the ribbon. Therefore, in this embodiment, by acquiring coordinates of a click point of a user in an air zone, determining a sub-area (in the figure, the sub-area ② is taken as an example) to which the click point belongs, and then only uploading route data of the sub-area, so as to realize uploading as required.
In this embodiment, two methods are provided for determining the sub-region to which the click point belongs, which will be described in detail below.
The method comprises the following steps:
Fig. 9 is a schematic diagram showing a method for determining a sub-area to which a click point belongs according to an embodiment of the present application, and in a specific embodiment, as shown in fig. 9, a coordinate C (x, y) of the click point is taken as an extension ray along any one of a horizontal direction and a vertical direction. In this embodiment, taking the click point C (x, y) as an example of an extension ray along the horizontal right direction, the extension distance is k, and the obtained ray equation is as follows:
by the preceding steps, the respective boundary points of the ribbon are known, as are the recommended cut lengths of the sub-regions, i.e. the cut points, and thus the respective vertex coordinates of each sub-region. The jth edge of each sub-region may be expressed in terms of a linear equation as follows:
Wherein (x j,yj）、（xj+1,yj+1) is the coordinates of two vertices of the j-th edge of each sub-region, j e [1, m ], m is the number of edges of each sub-region, s e [0,1].
Substituting the ray equation into the linear equation to solve, if the ray intersects with the edge of the subarea, a unique solution s epsilon [0,1], k >0 exists, and the intersection point coordinate is I' (x+k, y). And then counting the number N of intersection points of the rays and the edges of each sub-area respectively, wherein if N is an odd number, the clicking points are in the corresponding sub-areas, and if N is an even number, the clicking points are outside the corresponding sub-areas.
As shown in fig. 9, the extension ray of the click point C in the horizontal rightward direction has 1 intersection with the sub-region ② and 2 intersections with the sub-region ③, and thus the click point C is judged to be within the sub-region ②.
In a special case, if a ray just passes through a vertex of a sub-region, it is necessary to determine whether the vertex is a vertex in the ray direction. If yes, 1 intersection point is counted, otherwise, the intersection point is counted.
The second method is as follows:
Fig. 10 shows one of the schematic diagrams of judging the sub-area to which the click point belongs by the second method according to one embodiment of the present application, fig. 11 shows the second schematic diagram of judging the sub-area to which the click point belongs by the second method according to one embodiment of the present application, and as shown in fig. 10 and 11, in one embodiment, the click point is respectively connected with each vertex of each sub-area according to the known vertex coordinates of each sub-area to obtain a plurality of triangle areas, and the sum of the areas of the triangle areas is respectively compared with the area of each sub-area. If the area of the subarea is equal to the sum of the areas of the triangular areas, the clicking point is in the corresponding subarea, otherwise, the clicking point is outside.
As shown in fig. 10, the sum of the areas of the triangular areas obtained by connecting the click point C with the respective vertices of the sub-area ② is just equal to the area of the sub-area ②, so that the click point C is judged to be within the sub-area ②. As shown in fig. 11, the sum of the areas of the triangular areas obtained by connecting the click point C with the respective vertices of the sub-area ① is larger than the area of the sub-area ①, and thus it is determined that the click point C is outside the sub-area ①.
Through the two methods, the subarea to which the click point belongs can be calculated.
In summary, the generation planning method for the unmanned aerial vehicle navigation belt route provided by the application achieves the following effects:
According to the application, the initial route is subjected to outer expansion through the vector cross product, and the outer expansion boundary intersection point is solved through the linear equation, so that an ideal navigation belt is drawn, compared with the traditional method, the method has the advantages that the calculated amount is greatly reduced by calculating the direction angle and the angle classification, meanwhile, the method only depends on a basic vector operation library, a calculation interface of a map platform is not required to be called, and the universality is strong. Further cutting the navigation belt into a plurality of subareas according to the cruising ability of the unmanned aerial vehicle, judging the subarea to which the clicking point belongs according to the clicking point coordinates of the user, and realizing the function of uploading the route data according to the subareas.
According to the method for generating and planning the unmanned aerial vehicle ribbon line, based on the same inventive concept, the application further provides a system for generating and planning the unmanned aerial vehicle ribbon line, fig. 12 shows a schematic diagram of a system for generating and planning the unmanned aerial vehicle ribbon line according to an embodiment of the application, and as shown in fig. 12, the system includes:
The obtaining unit 201 is configured to obtain each route point P i of the initial route planned by the user in the two-dimensional coordinate system, and obtain a direction vector of each leg P iPi+1, where i e [1, n-1], n is the number of route points.
The expansion unit 202 is configured to rotate the direction vector of each leg P iPi+1 clockwise and anticlockwise by 90 degrees respectively to obtain two normal vectors in the expansion direction and a unit normal vector, and perform expansion on each leg P iPi+1 in the expansion direction according to the unit normal vector and a preset expansion distance d to obtain a first expansion boundary a iAi+1 'and a second expansion boundary B iBi+1', respectively.
And the navigation belt generating unit 203 is configured to determine whether two adjacent first outer expansion boundaries a iAi+1 'and/or second outer expansion boundaries B iBi+1' have intersection points, if yes, calculate coordinates of the intersection points and serve as new boundary points, and intercept the two outer expansion boundaries, and if not, connect two adjacent initial boundary points of the two outer expansion boundaries to generate new outer expansion boundaries, so as to obtain a final navigation belt.
And a route planning unit 204 configured to upload route data, where the route data includes a plurality of parallel routes in the band that are parallel to the initial route, and the plurality of parallel routes are connected end to obtain the target route.
According to the generation planning method of the unmanned aerial vehicle navigation belt route, based on the same inventive concept, the application further provides electronic equipment.
Fig. 13 shows a schematic diagram of an electronic device according to a specific embodiment of the application, as shown in fig. 13, comprising one or more processors 301, a memory 302, a bus 303 and a communication interface 304. Wherein one or more processors 301, memory 302, and communication interface 304 are coupled via bus 303. The memory 302 is configured to store one or more programs, where the one or more programs, when executed by the one or more processors 301, cause the electronic device to implement the method for generating and planning an unmanned aerial vehicle ribbon route provided in any of the embodiments above.
According to the method for generating and planning the unmanned aerial vehicle navigation belt route, based on the same inventive concept, the application further provides a computer readable storage medium, on which a computer program is stored, and the computer program is executed by a processor to realize the method for generating and planning the unmanned aerial vehicle navigation belt route provided by any one of the embodiments.
In the embodiments of the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus/system/method are merely exemplary, and the division of the units may be a logic function division, and there may be another division manner when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. The storage medium includes a U disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, etc. which can store the program code.
It will be apparent to those skilled in the art that various modifications and variations can be made to the embodiments of the present invention without departing from the spirit and scope of the invention. In this manner, the invention is also intended to cover such modifications and variations as come within the scope of the appended claims and their equivalents. The word "comprising" does not exclude the presence of other elements or steps than those listed in a claim. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage. Any reference signs in the claims shall not be construed as limiting the scope.
Claims (9)
1. The generation planning method of the unmanned aerial vehicle navigation belt route is characterized by comprising the following steps of:
Obtaining each path point P i of a user in an initial route planned by a two-dimensional coordinate system to obtain a direction vector of each navigation segment P iPi+1, wherein i is [1, n-1], and n is the number of path points;
Respectively rotating the direction vector of each navigation segment P iPi+1 clockwise and anticlockwise by 90 degrees to obtain a normal vector and a unit normal vector of two outward expansion directions, and according to the unit normal vector and a preset outward expansion distance d, performing outward expansion on each navigation segment P iPi+1 in the two outward expansion directions to respectively obtain a first outward expansion boundary A iAi+1 'and a second outward expansion boundary B iBi+1';
Judging whether the adjacent two first outer expansion boundaries A iAi+1 'have intersection points and/or whether the adjacent two second outer expansion boundaries B iBi+1' have intersection points, if so, calculating coordinates of the intersection points I and taking the coordinates as new boundary points, and cutting off the two outer expansion boundaries, namely, changing the first outer expansion boundary A iAi+1 'into A i I, changing the first outer expansion boundary A i+1Ai+2' into IA i+2 ', and/or changing the second outer expansion boundary B iBi+1' into B i I and changing the second outer expansion boundary B i+1Bi+2 'into IB i+2';
uploading route data, wherein the route data comprises a plurality of parallel routes which are parallel to the initial route in the navigation band, and the parallel routes are connected end to obtain a target route;
The determining whether the two adjacent first outer expansion boundaries a iAi+1 'have an intersection point and/or whether the two adjacent second outer expansion boundaries B iBi+1' have an intersection point specifically includes:
and calculating whether an intersection point exists by adopting a linear equation, wherein the specific formula is as follows:
D=(x1-x2)*(y3-y4)-(y1-y2)*(x3-x4)
t = ((x1-x3)*(y3-y4)-(y1-y3)*(x3-x4))/D
u = (x1-x3)*(y1-y2)-(y1-y3)*(x1-x2))/D
Wherein (x 1, y 1), (x 2, y 2) and (x 3, y 3), (x 4, y 4) are coordinates of two boundary points of two adjacent first outer expansion boundaries a iAi+1 'and/or two adjacent second outer expansion boundaries B iBi+1', respectively;
When d=0, judging that there is no intersection point;
When D is not equal to 0, t is not less than 0 and not more than 1, and u is not less than 0 and not more than 1, judging that an intersection point exists, wherein the coordinate I (x, y) of the intersection point is as follows:
x=x1+t*(x2-x1)
y=y1+t*(y2-y1)。
2. the method of claim 1, wherein the uploading the route data, the route data comprising a plurality of parallel routes in the band that are parallel to the initial route, the plurality of parallel routes being connected end-to-end to obtain a target route, comprises:
Cutting the navigation belt to obtain a plurality of subareas;
uploading the route data of each subarea, and connecting a plurality of parallel routes in each subarea end to obtain the target route of each subarea.
3. The method of claim 2, wherein the cutting the ribbon into a plurality of sub-regions comprises:
Acquiring the current battery electric quantity of the unmanned aerial vehicle and the battery electric quantity consumed per kilometer under the current load, and calculating the cruising range;
Calculating to obtain a recommended cutting length according to the number of the continuous voyages and the parallel voyages;
And cutting the navigation belt based on the recommended cutting length to obtain a plurality of subareas.
4. The method according to claim 2, wherein the method further comprises:
Acquiring click point coordinates of a user in the navigation band;
and judging the subarea to which the click point belongs, and uploading the route data of the subarea.
5. The method of claim 4, wherein the determining the sub-region to which the click point belongs comprises:
The clicking point is used for extending rays along any one direction of the horizontal direction or the vertical direction, and a ray equation is obtained;
expressing each side of each sub-region by using a linear equation according to the vertex coordinates of each sub-region;
Substituting the ray equation into the linear equation for solving, and if a unique solution exists, the ray and the edge have a unique intersection point;
And counting the number N of intersection points of the rays and the edges of each subarea respectively, and if N is an odd number, the clicking point is in the corresponding subarea.
6. The method of claim 4, wherein the determining the sub-region to which the click point belongs comprises:
according to the vertex coordinates of each sub-region, respectively connecting the clicking point with each vertex of each sub-region to obtain a plurality of triangle regions;
and comparing the sum of the areas of the triangular areas with the area of each subarea respectively, and if the areas are equal, the clicking point is in the corresponding subarea.
7. The utility model provides a generation planning system of unmanned aerial vehicle ribbon route which characterized in that includes:
The acquisition unit is configured to acquire each path point P i of the user in the initial route planned by the two-dimensional coordinate system, and obtain a direction vector of each navigation segment P iPi+1, wherein i epsilon [1, n-1], n is the number of path points;
The outward expansion unit is configured to rotate the direction vector of each leg P iPi+1 clockwise and anticlockwise by 90 degrees respectively to obtain two normal vectors of outward expansion directions and a unit normal vector, and outward expand each leg P iPi+1 in the two outward expansion directions according to the unit normal vector and a preset outward expansion distance d to obtain a first outward expansion boundary a iAi+1 'and a second outward expansion boundary B iBi+1' respectively;
The navigation band generating unit is configured to determine whether an intersection point exists between two adjacent first outer expansion boundaries a iAi+1 'and/or whether an intersection point exists between two adjacent second outer expansion boundaries B iBi+1', if yes, calculate coordinates of the intersection point I and serve as new boundary points, and truncate the two outer expansion boundaries, that is, the first outer expansion boundary a iAi+1 'becomes a i I, the first outer expansion boundary a i+1Ai+2' becomes a IA i+2 ', and/or the second outer expansion boundary B iBi+1' becomes a B i I, and the second outer expansion boundary B i+1Bi+2 'becomes a IB i+2', if no, connect two initial boundary points adjacent to the two outer expansion boundaries to generate a new outer expansion boundary, so as to obtain a final navigation band, wherein the determining whether the intersection point exists between two adjacent first outer expansion boundaries a iAi+1 'and/or the intersection point exists between two adjacent second outer expansion boundaries B iBi+1' specifically includes:
and calculating whether an intersection point exists by adopting a linear equation, wherein the specific formula is as follows:
D=(x1-x2)*(y3-y4)-(y1-y2)*(x3-x4)
t = ((x1-x3)*(y3-y4)-(y1-y3)*(x3-x4))/D
u = (x1-x3)*(y1-y2)-(y1-y3)*(x1-x2))/D
Wherein (x 1, y 1), (x 2, y 2) and (x 3, y 3), (x 4, y 4) are coordinates of two boundary points of two adjacent first outer expansion boundaries a iAi+1 'and/or two adjacent second outer expansion boundaries B iBi+1', respectively;
When d=0, judging that there is no intersection point;
When D is not equal to 0, t is not less than 0 and not more than 1, and u is not less than 0 and not more than 1, judging that an intersection point exists, wherein the coordinate I (x, y) of the intersection point is as follows:
x=x1+t*(x2-x1)
y=y1+t*(y2-y1);
And the route planning unit is configured to upload route data, wherein the route data comprises a plurality of parallel routes parallel to the initial route in the navigation zone, and the parallel routes are connected end to obtain a target route.
8. An electronic device, comprising:
One or more processors;
A memory for storing one or more programs that, when executed by the one or more processors, cause the electronic device to implement the method of any of claims 1-6.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method according to any one of claims 1 to 6.
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| CN109765933A (en) * | 2019-01-04 | 2019-05-17 | 哈瓦国际航空技术（深圳）有限公司 | A kind of unmanned plane belt-like zone flight course planning method, apparatus and equipment |
| CN111750858A (en) * | 2019-12-11 | 2020-10-09 | 广州极飞科技有限公司 | Route generation method and device, electronic equipment and storage medium |
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| CN109765933A (en) * | 2019-01-04 | 2019-05-17 | 哈瓦国际航空技术（深圳）有限公司 | A kind of unmanned plane belt-like zone flight course planning method, apparatus and equipment |
| CN111750858A (en) * | 2019-12-11 | 2020-10-09 | 广州极飞科技有限公司 | Route generation method and device, electronic equipment and storage medium |
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