CN109035869A

CN109035869A - The generation method and device in unmanned plane course line

Info

Publication number: CN109035869A
Application number: CN201710617673.5A
Authority: CN
Inventors: 吴奔; 梅晓茹
Original assignee: Guangzhou Xaircraft Technology Co Ltd
Current assignee: Guangzhou Xaircraft Technology Co Ltd
Priority date: 2017-07-26
Filing date: 2017-07-26
Publication date: 2018-12-18

Abstract

The embodiment of the present application provides the generation method and device in a kind of unmanned plane course line, which comprises generates the initial route of the operating area of unmanned plane；The operating area is divided into two-dimensional grid；Obtain the two-dimensional coordinate information in each crosspoint and point elevation information in the two-dimensional grid；According to the two-dimensional coordinate information and point elevation information in crosspoint each in the two-dimensional grid, the three-dimensional coordinate information of multiple target destinations corresponding with multiple destinations on the initial route is determined；According to the three-dimensional coordinate information of the multiple target destination, the target pattern of the operating area is generated.The present embodiment can in real time, accurately obtain the elevation information of each destination in operating area by the space characteristics of acquisition ground atural object, to generate the target pattern parallel with rolling topography.When unmanned plane is according to the target pattern flight, rapidly interpretation and the flying height of unmanned plane can be adjusted, avoid aircraft accidents such as " aircraft bombings ".

Description

The generation method and device in unmanned plane course line

Technical field

This application involves air vehicle technique fields, the generation method and one kind more particularly to a kind of unmanned plane course line nobody The generating means in machine course line

Background technique

Unmanned plane (Unmanned Aerial Vehicle, abbreviation UAV) is a kind of using radio robot and providing for oneself Presetting apparatus manipulation not manned aircraft.Unmanned plane it is widely used, be often applied to agricultural plant protection, mapping and The fields such as video capture.

By taking unmanned plane is in the application in agricultural plant protection field as an example, unmanned plane leads to when carrying out the plant protection operations such as pesticide spraying It is often to implement along pre-generated course line.In order to guarantee operation effectiveness, generally require unmanned plane crops overhead 1~ It is sprayed at 2 meters.But due to the difference of height above sea level, farmland is not horizontal, it is therefore desirable to continuously adjust nobody The flying height of machine.

Currently, mainly by acoustics radar (such as ultrasonic radar) and optical radar (such as laser radar) mode to farmland Landform is detected to adjust the flying height of unmanned plane.But acoustics radar and optical radar that there are precision is low, power consumption is big, The defects of easily disturbed.Once the feedback of acoustics radar and optical radar not in time, is easy to happen in flight course unmanned plane not The situations such as the flying height of aircraft can be adjusted in time, to cause aircraft accidents such as " aircraft bombings ".

Summary of the invention

In view of the above problems, the embodiment of the present application provides the generation method and a kind of corresponding nothing in a kind of unmanned plane course line The generating means in man-machine course line.

The embodiment of the present application discloses a kind of generation method in unmanned plane course line, comprising:

Generate the initial route of the operating area of unmanned plane；

The operating area is divided into two-dimensional grid；

Obtain the two-dimensional coordinate information in each crosspoint and point elevation information in the two-dimensional grid；

It is determining and described first according to the two-dimensional coordinate information and point elevation information in crosspoint each in the two-dimensional grid The three-dimensional coordinate information of the corresponding multiple target destinations of multiple destinations on beginning course line；

According to the three-dimensional coordinate information of the multiple target destination, the target pattern of the operating area is generated.

Optionally, the step of initial route of the operating area for generating unmanned plane includes:

Obtain the length value on the first boundary of the operating area of unmanned plane；

Length value and preset air strips distance values according to first boundary, generate the initial route of the unmanned plane.

Optionally, the two-dimensional coordinate information and point elevation information according to crosspoint each in the two-dimensional grid, The step of determining the three-dimensional coordinate information of corresponding with multiple destinations on the initial route multiple target destinations include:

According to the two-dimensional coordinate information in crosspoint each in the two-dimensional grid, multiple destinations on initial route are determined Two-dimensional coordinate information, the two-dimensional coordinate information of each destination include x-axis numerical value and y-axis numerical value；

According to the point elevation information in crosspoint each in the two-dimensional grid, the point for calculating each destination is high Degree；Using the point height as z-axis numerical value, alternatively, the sum of the point height and the preset terrain clearance of unmanned plane are made For z-axis numerical value；

According to the x-axis numerical value, y-axis numerical value and z-axis numerical value, each target destination corresponding with multiple destinations is determined Three-dimensional coordinate information.

Optionally, the point elevation information according to crosspoint each in the two-dimensional grid calculates each boat Point point height the step of include:

When any destination is overlapped with the crosspoint in the two-dimensional grid, using the point height in the crosspoint as institute State the point height of destination.

When any destination is fallen into the grid that the two-dimensional grid surrounds, predetermined number around the destination is obtained respectively Crosspoint point height, using the average value of the point height in the crosspoint of the predetermined number as the point of the destination Highly.

When any destination is fallen into the grid that the two-dimensional grid surrounds, the crosspoint around the destination is determined respectively The distance between described destination, using distance point height corresponding less than the crosspoint of the first preset threshold described in The point height of destination.

Optionally, further includes:

When the difference of the point height of any two target destination is more than the second preset threshold, described any two are identified respectively First object destination and the second target destination in a target destination；

Correct the three-dimensional coordinate information of the first object destination.

Optionally, the step of three-dimensional coordinate information of the amendment first object destination includes:

Judge whether the point height of the first object destination is less than the point height of the second target destination；

If so, increasing the point height of the first object destination.

Optionally, the step of point height for increasing the first object destination includes:

The point height of target complete destination between the first object destination and the second target destination is obtained respectively；

Calculate the quotient between the sum of point height of the target complete destination and the number of the target complete destination As the revised point height of the first object destination.

Optionally, the step of obtaining the point elevation information in each crosspoint in the two-dimensional grid include:

According to digital complex demodulation, digital terrain model DTM, digital line draw map DLG, digital raster map DRG, Any one or more map in digital orthophoto map DOM or numerical cutting tool DSM obtains every in the two-dimensional grid The point elevation information in a crosspoint.

The embodiment of the present application discloses a kind of generating means in unmanned plane course line, comprising:

Initial route generation module, the initial route of the operating area for generating unmanned plane；

Two-dimensional grid division module, for the operating area to be divided into two-dimensional grid；

Two-dimensional coordinate information and point elevation information obtain module, for obtaining each crosspoint in the two-dimensional grid Two-dimensional coordinate information and point elevation information；

Three-dimensional coordinate information determining module, for according to the two-dimensional coordinate information in crosspoint each in the two-dimensional grid and Point elevation information determines the three-dimensional coordinate letter of multiple target destinations corresponding with multiple destinations on the initial route Breath；

Target pattern generation module generates the operation for the three-dimensional coordinate information according to the multiple target destination The target pattern in region.

Optionally, the initial route generation module includes:

First boundary length value acquisition submodule, the length value on the first boundary of the operating area for obtaining unmanned plane；

Initial route generates submodule, for according to first boundary length value and preset air strips distance values, it is raw At the initial route of the unmanned plane.

Optionally, the three-dimensional coordinate information determining module includes:

Two-dimensional coordinate information determines submodule, for being believed according to the two-dimensional coordinate in crosspoint each in the two-dimensional grid Breath, determines the two-dimensional coordinate information of multiple destinations on initial route, the two-dimensional coordinate information of each destination include x-axis numerical value and Y-axis numerical value；

Point height computational submodule, for the point elevation information according to crosspoint each in the two-dimensional grid, meter Calculate the point height of each destination；Using the point height as z-axis numerical value, alternatively, by the point height and nobody The sum of preset terrain clearance of machine is used as z-axis numerical value；

Three-dimensional coordinate information determines submodule, is used for according to the x-axis numerical value, y-axis numerical value and z-axis numerical value, determining and more The three-dimensional coordinate information of the corresponding each target destination of a destination.

Optionally, the point height computational submodule includes:

First point height calculation unit, for when any destination is overlapped with the crosspoint in the two-dimensional grid, with Point height of the point height in the crosspoint as the destination.

Optionally, the point height computational submodule includes:

Second point height calculation unit, for dividing when any destination is fallen into the grid that the two-dimensional grid surrounds The point height in the crosspoint of predetermined number around the destination is not obtained, with the point height in the crosspoint of the predetermined number Point height of the average value as the destination.

Optionally, the point height computational submodule includes:

Third point height calculation unit, for dividing when any destination is fallen into the grid that the two-dimensional grid surrounds The distance between crosspoint and the destination around the destination, the friendship with the distance less than the first preset threshold are not determined Point height of the corresponding point height of crunode as the destination.

Optionally, the three-dimensional coordinate information determining module further include:

Target destination identifies submodule, and the difference for the point height when any two target destination is more than the second default threshold When value, the first object destination and the second target destination in any two target destination are identified respectively；

Three-dimensional coordinate information corrects submodule, for correcting the three-dimensional coordinate information of the first object destination.

Optionally, the three-dimensional coordinate information amendment submodule includes:

Point height judging unit, for judging whether the point height of the first object destination is less than second mesh Mark the point height of destination；

Point height increasing unit, the point height for the first object destination are less than the second target destination When point height, increase the point height of the first object destination.

Optionally, the point height increasing unit includes:

Point height obtains subelement, for being obtained between the first object destination and the second target destination respectively all The point height of target destination；

Point height computation subunit, the sum of point height for calculating the target complete destination and whole mesh The quotient between the number of destination is marked as the revised point height of the first object destination.

Optionally, the two-dimensional coordinate information and point elevation information acquisition module include:

Point elevation information acquisition submodule, for according to digital complex demodulation, digital terrain model DTM, digital line Draw map DLG, digital raster map DRG, digital orthophoto map DOM or numerical cutting tool DSM in any one or it is more Kind map obtains the point elevation information in each crosspoint in the two-dimensional grid.

The embodiment of the present application discloses a kind of generating means in unmanned plane course line, including memory, processor, and, it deposits The computer program that can be run on a memory and on a processor is stored up, the processor is realized when executing described program: being generated The initial route of the operating area of unmanned plane；The operating area is divided into two-dimensional grid；It obtains every in the two-dimensional grid The two-dimensional coordinate information and point elevation information in a crosspoint；Believed according to the two-dimensional coordinate in crosspoint each in the two-dimensional grid Breath and point elevation information determine the three-dimensional coordinate of multiple target destinations corresponding with multiple destinations on the initial route Information；According to the three-dimensional coordinate information of the multiple target destination, the target pattern of the operating area is generated.

Optionally, it is realized when the processor executes described program: obtaining the first boundary of the operating area of unmanned plane Length value；Length value and preset air strips distance values according to first boundary, generate the initial route of the unmanned plane.

Optionally, it is realized when the processor executes described program: according to the two of crosspoint each in the two-dimensional grid Coordinate information is tieed up, determines that the two-dimensional coordinate information of multiple destinations on initial route, the two-dimensional coordinate information of each destination include x Axis values and y-axis numerical value；According to the point elevation information in crosspoint each in the two-dimensional grid, each destination is calculated Point height；Using the point height as z-axis numerical value, alternatively, by the point height and the preset terrain clearance of unmanned plane The sum of be used as z-axis numerical value；According to the x-axis numerical value, y-axis numerical value and z-axis numerical value, each mesh corresponding with multiple destinations is determined Mark the three-dimensional coordinate information of destination.

Optionally, it is realized when the processor executes described program: when any destination and intersecting in the two-dimensional grid When point is overlapped, using the point height in the crosspoint as the point height of the destination.

Optionally, it is realized when the processor executes described program: when any destination falls into what the two-dimensional grid surrounded When in grid, the point height in the crosspoint of predetermined number around the destination is obtained, respectively with the intersection of the predetermined number Point height of the average value of the point height of point as the destination.

Optionally, it is realized when the processor executes described program: when any destination falls into what the two-dimensional grid surrounded When in grid, the distance between crosspoint and the destination around the destination are determined respectively, with the distance less than first Point height of the corresponding point height in the crosspoint of preset threshold as the destination.

Optionally, it is realized when the processor executes described program: when the difference of the point height of any two target destination When more than the second preset threshold, the first object destination and the second target boat in any two target destination are identified respectively Point；Correct the three-dimensional coordinate information of the first object destination.

Optionally, realize when the processor executes described program: judging the point height of the first object destination is The no point height less than the second target destination；If so, increasing the point height of the first object destination.

Optionally, it is realized when the processor executes described program: obtaining the first object destination and the second mesh respectively Mark the point height of target complete destination between destination；Calculate the sum of point height of the target complete destination and the whole Quotient between the number of target destination is as the revised point height of the first object destination.

Optionally, it is realized when the processor executes described program: according to digital complex demodulation, digital terrain model DTM, digital line draw appointing in map DLG, digital raster map DRG, digital orthophoto map DOM or numerical cutting tool DSM One or more maps of anticipating obtain the point elevation information in each crosspoint in the two-dimensional grid.

Compared with the background art, the embodiment of the present application includes the following advantages:

The embodiment of the present application, the initial route of the operating area by generating unmanned plane, then divides the operating area For two-dimensional grid, and according to the two-dimensional coordinate information and point elevation information in crosspoint each in two-dimensional grid, it is determining with it is initial The three-dimensional coordinate information of the corresponding multiple target destinations of multiple destinations on course line, and then can be according to multiple target destinations Three-dimensional coordinate information generates the target pattern of operating area.Space characteristics of the present embodiment by acquisition ground atural object, Neng Goushi When, accurately obtain the elevation information of each destination in operating area, to generate the target pattern parallel with rolling topography.When When unmanned plane is according to the target pattern flight, rapidly interpretation and the flying height of unmanned plane can be adjusted, avoid " aircraft bombing " etc. Aircraft accident guarantees operation effectiveness.

Detailed description of the invention

Fig. 1 is a kind of step flow chart of the generation method embodiment one in unmanned plane course line of the application；

Fig. 2A-Fig. 2 B is the schematic diagram of the two-dimensional grid of the application；

Fig. 3 is a kind of step flow chart of the generation method embodiment two in unmanned plane course line of the application；

Fig. 4 is a kind of schematic diagram of initial route of the application；

Fig. 5 is a kind of structural block diagram of the flight control assemblies embodiment of unmanned plane of the application.

Specific embodiment

In order to make the above objects, features, and advantages of the present application more apparent, with reference to the accompanying drawing and it is specific real Applying mode, the present application will be further described in detail.

Referring to Fig.1, a kind of step flow chart of the generation method embodiment one in unmanned plane course line of the application is shown, is had Body may include steps of:

Step 101, the initial route of the operating area of unmanned plane is generated；

Unmanned plane in the embodiment of the present application, which can refer to, carries out agriculture for carrying out plant protection operation, such as to farmland or mountain forest The plant protection drone of medicine sprinkling or chemical fertilizer sprinkling.

In general, needing to firstly generate the line of flight in operating area before carrying out plant protection operation, then fly according to this It is flown and executes corresponding plant protection operation in row course line.

The line of flight of unmanned plane, according to the size of air strips distance values, can lead to behind the position for determining a course line of informing against It crosses and sequentially generates the mode in a plurality of all course lines for being parallel to first course line in operating area and obtain.

For example, for one piece of field for needing to carry out plant protection operation the field can be surveyed and drawn by GIS-Geographic Information System Edge obtains a closed curve, is the operating area of unmanned plane in the range of the curve surrounds.It is, of course, also possible to logical It crosses the mode manually surveyed and drawn or other modes obtains the boundary curve in field, the embodiment of the present application is not construed as limiting this.

It should be noted that the shape for the operating area that closed curve surrounds is different according to the difference of field shape.It can To be the geometry of rule, for example, rectangle, rectangular or round；It is also possible to the shape of other irregular patterns, the application Embodiment is also not construed as limiting this.

In order to make it easy to understand, being introduced so that operating area is rectangle as an example in the embodiment of the present application.For other shapes Operating area, can also be by the way that operating area be divided into multiple rectangular areas to differ in size, or generate the operation area The mode of one minimum circumscribed rectangle in domain, using the method provided in the present embodiment.

After determining operating area, parallel lines can be used, the region is filled, between parallel lines away from From can specifically be set according to spraying swath of the unmanned plane in operation, between every parallel lines and the closed curve at field edge Intersection point can be used as the operation starting point or operation terminal of the every subjob of unmanned plane.

After connecting a plurality of parallel lines according to preset direction, it is first in the operating area that unmanned plane can be generated Beginning course line may include having multiple destinations on initial route.

It should be noted that the destination on initial route can be determined according to the destination distance values of setting, destination distance values It is the distance between two destinations of arbitrary neighborhood on same course line, destination distance values can be according to unmanned plane in operation Job parameter determine that the embodiment of the present application is not construed as limiting this.

Step 102, the operating area is divided into two-dimensional grid；

In the embodiment of the present application, it is determining operating area, and is generating initial boat of the unmanned plane in the operating area After line, the operating area further can be divided into two-dimensional grid.

In the concrete realization, operating area can be divided into two-dimensional grid according to certain spacing, so that two-dimensional grid In each grid side length it is equal with the spacing.According to the difference of spacing size, the two-dimensional grid for dividing acquisition also can be different, But the difference of two-dimensional grid will not influence the position of initial route of the unmanned plane in the operating area.

As shown in Figure 2 A and 2 B, be respectively the application two-dimensional grid schematic diagram.In Fig. 2A and Fig. 2 B, it is respectively The two-dimensional grid that same operating area is divided according to different size of spacing.Wherein, in Fig. 2A between two-dimensional grid Away from the spacing for being greater than two-dimensional grid in Fig. 2 B, but position of the initial route R0 in two kinds of grids relative to operating area itself is It is identical.

It should be noted that after determining operating area the initial route of the operating area can be firstly generated, then Operating area is divided into two-dimensional grid again；It is also possible to after determining operating area, is first divided into the operating area Then two-dimensional grid regenerates the initial route of unmanned plane, the present embodiment is to the elder generation for generating initial route and division two-dimensional grid It is sequentially not construed as limiting afterwards.

Step 103, the two-dimensional coordinate information in each crosspoint and point elevation information in the two-dimensional grid are obtained；

It in the concrete realization, can be according to the size of used spacing when dividing two-dimensional grid and operating area The coordinate information on boundary is determined the two-dimensional coordinate information in each crosspoint in two-dimensional grid, that is, is determined in the plane, each The coordinate value (x, y) in crosspoint.

In the embodiment of the present application, the point elevation information in each crosspoint can be the point elevation in each crosspoint, The point elevation in each crosspoint can be by establishing numerical cutting tool DSM (Digital Surface to operating area Model it) obtains.

DSM, which refers to, contains the ground elevation model of the height such as surface buildings, bridge and trees.DSM is not only contained The elevation information of landform has also on this basis further contemplated that the elevation of other earth's surface information in addition to ground, Neng Gouzhen The fluctuating situation on ground is expressed on the spot.

Certainly, other than DSM, the point elevation information in crosspoint can also be obtained using other cartographic models.Therefore, originally Field technical staff can also draw map DLG, digital grid according to digital complex demodulation, digital terrain model DTM, digital line Any one or more map in lattice map DRG, digital orthophoto map DOM or numerical cutting tool DSM obtains two-dimensional grid The point elevation information in each crosspoint, the embodiment of the present application are not construed as limiting this in lattice.

Step 104, it according to the two-dimensional coordinate information and point elevation information in crosspoint each in the two-dimensional grid, determines The three-dimensional coordinate information of multiple target destinations corresponding with multiple destinations on the initial route；

In the embodiment of the present application, each destination on initial route can be corresponding with a target destination, the mesh Mark destination, which can be, translates up certain distance acquisition for destination corresponding on initial route.

In general, the distance that each destination translates up on initial route can be the point elevation information and nothing with the destination What man-machine preset terrain clearance determined.The terrain clearance refers to height of the unmanned plane relative to a certain datum level, is determining nothing The master data of man-machine flight.For example, in plant protection operation, if it is desired to which unmanned plane executes above crops 1.5 meters Pesticide spraying operation, the terrain clearance may be considered unmanned plane needs kept between crops at a distance from, i.e., 1.5 meters.When So, the difference that those skilled in the art can require according to actual job, sets the specific size of the terrain clearance of unmanned plane, this Application embodiment is not construed as limiting this.

In the concrete realization, it can be determined initial first according to the two-dimensional coordinate information in crosspoint each in two-dimensional grid The two-dimensional coordinate information of multiple destinations on course line.

For example, the positional relationship in the crosspoint in each destination and two-dimensional grid can be determined first, if some destination It is overlapped, then can directly believe using the coordinate value in the crosspoint as the two-dimensional coordinate of the destination with some crosspoint in two-dimensional grid Breath；If some destination is not overlapped with crosspoint in two-dimensional grid, can calculate between the destination and adjacent grid straight line Vertical range, and then determine the two-dimensional coordinate information of the destination.

Certainly, those skilled in the art can also determine the two-dimensional coordinate of each destination on initial route using other modes Information.For example, four vertex that can calculate the grid are (each when some destination is fallen into the grid that two-dimensional grid surrounds Vertex is a crosspoint in two-dimensional grid) coordinate value average value, using the average value as the destination two dimension sit Information is marked, the embodiment of the present application is not construed as limiting this.

Similarly, the point elevation information of each destination can also determine in the manner described above.To determine respectively After the two-dimensional coordinate information and point elevation information of each destination, the three-dimensional of target destination corresponding with the destination can be generated Coordinate information.

In the embodiment of the present application, the three-dimensional coordinate information of the two-dimensional coordinate information of destination P and corresponding target destination P ' It can be expressed as follows:

P(x,y)→P’(x,y,z+H)

Wherein, P (x, y) is the two-dimensional coordinate of destination P, and z is the point elevation of destination P, and H is that unmanned plane is preset opposite Flying height, P ' (x, y, z+H) are the three-dimensional coordinate of the corresponding target destination P ' of destination P.

Step 105, the three-dimensional coordinate information according to the multiple target destination generates the target boat of the operating area Line.

In the embodiment of the present application, it after the three-dimensional coordinate information for obtaining each target destination, can be linked in sequence every A target destination, to generate the target pattern of operating area.The target pattern not only includes the mesh for indicating unmanned plane during flying The plan position information for marking destination, further comprises the flying height that unmanned plane should be kept at each target waypoint location, i.e., The target pattern can be with rolling topography keeping parallelism.It, can when unmanned plane flies according to the target pattern and executes operation Be effectively prevented from as hypsography and caused by the aircraft accidents such as " aircraft bombing ".

In the embodiment of the present application, by generating the initial route of the operating area of unmanned plane, then by the operating area Be divided into two-dimensional grid, and according to the two-dimensional coordinate information and point elevation information in crosspoint each in two-dimensional grid, determine with The three-dimensional coordinate information of the corresponding multiple target destinations of multiple destinations on initial route, and then can navigate according to multiple targets The three-dimensional coordinate information of point, generates the target pattern of operating area.Space characteristics of the present embodiment by acquisition ground atural object, energy Enough elevation informations in real time, accurately obtaining each destination in operating area, to generate the target boat parallel with rolling topography Line.When unmanned plane is according to the target pattern flight, rapidly interpretation and the flying height of unmanned plane can be adjusted, avoided " fried The aircraft accidents such as machine " guarantee operation effectiveness.

Referring to Fig. 3, a kind of step flow chart of the generation method embodiment two in unmanned plane course line of the application is shown, is had Body may include steps of:

Step 301, the length value on the first boundary of the operating area of unmanned plane is obtained；

In general, the operating area of unmanned plane can refer to the range of unmanned plane actual job.For example, for one piece of field, The edge that the field can be surveyed and drawn by GIS-Geographic Information System obtains a closed curve, in the range of the curve surrounds i.e. For the operating area of unmanned plane.

It can be two the first boundaries and two second by the boundary demarcation of the rectangle after determining rectangle minesweeping area domain Boundary.

Typically for one piece of rectangle minesweeping area domain, course line when unmanned plane carries out operation in the operating area be can be It is parallel with two rectangular edges therein, and it is perpendicular with another two rectangular edges.It therefore, can be according to the flight side of unmanned plane To, two boundaries that will be vertical with heading (i.e. the direction in course line) as the first boundary, and will be parallel with heading Two boundaries as the second boundary, then, obtain the length value of the first boundary and the second boundary respectively.

Step 302, the length value according to first boundary and preset air strips distance values generate the first of the unmanned plane Beginning course line；

In the embodiment of the present application, the length value on the first boundary and preset air strips distance values can be divided by, with the two Between quotient as operating area initial route quantity, then using a wherein the second boundary for operating area as base Standard plans the parallel lines parallel with the second boundary of respective numbers, the initial route as operating area in operating area.

As shown in figure 4, being a kind of schematic diagram of initial route of the application.In Fig. 4, operating area is rectangle ABCD, Wherein the AD of rectangle is two the first boundaries that the operating area is opposite while with BC, and correspondingly, the AB of rectangle is while with DC Two opposite the second boundaries of operating area.

If the length value of the first boundary AD is W, preset air strips distance values are b, then the first of unmanned plane can be calculated Beginning course line quantity is W/b item, so as on the basis of the second boundary AB, plan in the area W/b item (including the side AB) with The parallel parallel lines in the side AB.

It in the concrete realization, can be with the southwest corner angle point of operating area (for example, the point in operating area shown in Fig. 4 It A) is initial point, the heading of initial route is until operating area boundary (i.e. point B), completes first item headed by direct north Initial route planning.At the last one destination (i.e. point B) of first initial route, unmanned plane can translate b to due east direction Meter Hou completes the planning of Article 2 initial route using due south direction as the heading of Article 2 initial route, initial in Article 2 At the last one destination in course line, after unmanned plane translates b meters to due east direction again, using direct north as Article 3 initial route Heading, and so on until the planning in all course lines in region that fulfils assignment, and according to heading, pass through circular arc Shape course line connects whole course lines, to form the initial route of operating area.

It should be noted that initial route shown in Fig. 4 illustrate only by 6 sets of parallel at initial route, It will be understood by those skilled in the art that the particular number of initial route should be specific according to the length value and air strips distance values on the first boundary It determines.For example, preset air strips distance values are 5 meters if the length value W on the first boundary is 1000 meters, then nothing can be calculated Man-machine initial route quantity is 1000/5=200 item.

Step 303, the operating area is divided into two-dimensional grid；

Step 304, the two-dimensional coordinate information in each crosspoint and point elevation information in the two-dimensional grid are obtained；

In the concrete realization, after determining operating area, certain grid spacing can be formed in the operating area DSM model, so as to directly extract the two-dimensional coordinate (x, y) and point height z in each crosspoint from the DSM model.

It, can be according to 0.5 meter of grid if the side length on each boundary is 1000 meters for example, for a rectangle minesweeping area domain Spacing generates the DSM model of the operating area, to obtain each 2001 anyhow, 4002 straight lines are (containing operating area in total Boundary), total 2001*2001=4004001 crosspoint between above-mentioned straight line.

Then, the crosspoint set on first row grid is respectively P₁、P₂、……、P₂₀₀₀、P₂₀₀₁, wherein each intersection The abscissa of point is followed successively by x₁、x₂、……、x₂₀₀₀、x₂₀₀₁, and x₁=x₂=...=x₂₀₀₀=x₂₀₀₁, ordinate is followed successively by y₁、y₂、……、y₂₀₀₀、y₂₀₀₁, and y₁+ 0.5=y₂、y₂+ 0.5=y₃、……、y₁₉₉₉+ 0.5=y₂₀₀₀、y₂₀₀₀+ 0.5= y₂₀₀₁；Crosspoint on secondary series grid is respectively P₂₀₀₂-P₄₀₀₂, wherein x₂₀₀₂=x₂₀₀₃=...=x₄₀₀₁=x₄₀₀₂；y₂₀₀₂- 0.5=y₂₀₀₃、y₂₀₀₃- 0.5=y₂₀₀₄、……、y₄₀₀₀- 0.5=y₄₀₀₁、y₄₀₀₁- 0.5=y₄₀₀₂, x₁+ 0.5=x₄₀₀₂；With such It pushes away, then the crosspoint on last column grid is followed successively by P_4002001-P_4004001, wherein x_4002001=x_4002002=...=x_4004000 =x_4004001、y_4002001+ 0.5=y_4002002、y_4002002+ 0.5=y_4002003、……y_4003999+ 0.5=y_4004000、y_4004000+0.5 =y_4004001。

The two-dimensional coordinate (x, y) and point height z in each crosspoint can be directly extracted from the DSM model.Certainly, Those skilled in the art can also determine the two-dimensional coordinate information and point elevation information in each crosspoint using other modes, this Application embodiment is not construed as limiting this.

Step 305, it according to the two-dimensional coordinate information in crosspoint each in the two-dimensional grid, determines more on initial route The two-dimensional coordinate information of a destination, the two-dimensional coordinate information of each destination include x-axis numerical value and y-axis numerical value；

For example, the positional relationship in the crosspoint in each destination and two-dimensional grid can be determined first, if some destination It is overlapped with some crosspoint in two-dimensional grid, then it can be directly using the coordinate value (x, y) in the crosspoint as the two dimension of the destination Coordinate information (x, y)；If some destination is not overlapped with crosspoint in two-dimensional grid, the destination and adjacent grid can be calculated Vertical range between lattice straight line, and then determine the two-dimensional coordinate information of the destination.

Step 306, according to the point elevation information in crosspoint each in the two-dimensional grid, each destination is calculated Point height；Using the point height as z-axis numerical value, alternatively, by the point height and the preset terrain clearance of unmanned plane The sum of be used as z-axis numerical value；

In the concrete realization, it can be closed according to the position in each destination on initial route and the crosspoint in two-dimensional grid System, determines the point height of each destination.

For example, when any destination is overlapped with the crosspoint in two-dimensional grid, it can be directly high with the point in the crosspoint Spend the point height as the destination.

When any destination is fallen into the grid that two-dimensional grid surrounds, predetermined number around the destination can be obtained respectively The point height in crosspoint, using the average value of the point height in the crosspoint of predetermined number as the point height of the destination.

In general, predetermined number can be 4, i.e., when a certain destination is fallen into some grid, the net can be extracted first The point height on 4 vertex (each vertex is a crosspoint in two-dimensional grid) of lattice, then with the point on 4 vertex Point height of the average value of height as the destination.

Alternatively, can also be determined respectively around the destination when any destination is fallen into the grid that two-dimensional grid surrounds The distance between crosspoint and the destination, using distance point height corresponding less than the crosspoint of the first preset threshold as the boat The point height of point.

Certainly, those skilled in the art can also determine that the point of each destination on initial route is high using other modes Degree, the embodiment of the present application are not construed as limiting this.

After determining the point height of each destination, can directly it be sat using point height as target destination three-dimensional is generated Mark the z-axis numerical value of information.

In general, generally requiring unmanned plane to execute pesticide spray at a certain distance from above crops in plant protection operation Spill operation.Accordingly it is also possible to add the numerical value of certain distance on the basis of the point height of destination.That is, by point height with The sum of preset terrain clearance of unmanned plane is used as z-axis numerical value.

Step 307, according to the x-axis numerical value, y-axis numerical value and z-axis numerical value, each mesh corresponding with multiple destinations is determined Mark the three-dimensional coordinate information of destination；

Therefore, in the concrete realization, can extract respectively first x-axis numerical value in the two-dimensional coordinate information of each destination and Y-axis numerical value determines the three-dimensional coordinate information of target destination then in conjunction with the z-axis numerical value of calculated each destination.

For example, the point height of destination P is z, and unmanned plane is preset if the two-dimensional coordinate information of destination P is P (x, y) Terrain clearance is H, then the three-dimensional coordinate information that target destination P ' corresponding with destination P can be calculated is (x, y, z+H).

It should be noted that above-mentioned expression formula is point height directly using on initial route at destination P as corresponding Z-axis numerical value in the three-dimensional coordinate information of target destination, if with the sum of destination P point height and the preset terrain clearance of unmanned plane As z-axis numerical value, then the three-dimensional coordinate information of above-mentioned target destination P ' can be expressed as (x, y, Z), wherein Z=z+H.

Step 308, when the difference of the point height of any two target destination is more than the second preset threshold, institute is identified respectively State the first object destination and the second target destination in any two target destination；

It in the embodiment of the present application, can be with when the difference of the point height of any two target destination is more than preset threshold Think that the elevation drop between above-mentioned two target destination is larger.It should be noted that preset threshold can be by art technology Personnel determine that the embodiment of the present application is not construed as limiting this according to the real work performance of unmanned plane.

When confirming that the elevation drop between two target destinations is larger, two target destinations can be known first Not, to determine first object destination and the second target destination, step 209 is then executed, to the three-dimensional coordinate of first object destination Information is modified.Above-mentioned first object destination is the target destination that unmanned plane first passes around in flight course.

For example, for target destination i and target destination n, if the elevation drop between two target destinations of confirmation is larger, It can first confirm which target destination unmanned plane first passes around on target pattern.If unmanned plane be from target destination i to Target destination n flight then identifies that target destination i is first object destination, and identification target destination n is the second target destination；If nothing Man-machine flown from target destination n to target destination i, then identifies that target destination n is first object destination, identify target destination i For the second target destination.

Step 309, the three-dimensional coordinate information of the first object destination is corrected；

In the embodiment of the present application, it can first determine whether the point height of first object destination navigates less than the second target The point height of point；If so, the point height of first object destination can be increased.Increase the three-dimensional of first object destination to sit The z-axis numerical value in information is marked, so that unmanned plane promotes flying height in flight to first object destination in advance, is avoided " fried Machine ".

By taking unmanned plane flies from target destination i to target destination n as an example.When above-mentioned two target destination elevation drop compared with When big, the point height in the three-dimensional coordinate of target destination i can be modified.

In the concrete realization, target complete destination between first object destination and the second target destination can be obtained respectively Then point height calculates quotient conduct of the sum of the point height of target complete destination between the number of target complete destination The revised point height of first object destination.

For example, if with the three-dimensional coordinate of target destination i for (x_i,y_i,z_i), the three-dimensional coordinate of target destination n is (x_n,y_n, z_n) for, then the point height of the target destination i after increasing can be calculated using following formula, i.e. the three-dimensional of target destination i is sat Z-axis numerical value Z in mark_i:

Z_i=[(z_i+z_i+1+z_i+2+……+z_n)/(n-i)]+H

Wherein, H is the preset terrain clearance of unmanned plane, and n-i indicates other mesh between target destination i to target destination n Mark the number of destination, z_i+1、z_i+2... it is respectively that the three-dimensional of other target destinations between target destination i and target destination n is sat Point height in mark.

Therefore, the three-dimensional coordinate of revised target destination i can indicate are as follows:

(x_i,y_i,[(z_i+z_i+1+z_i+2+……+z_n)/(n-i)]+H)

Step 310, the three-dimensional coordinate information according to the multiple target destination generates the target boat of the operating area Line.

In the embodiment of the present application, it after the three-dimensional coordinate information for obtaining each target destination, can be linked in sequence every A target destination, to generate the target pattern of operating area.

In the embodiment of the present application, after the three-dimensional coordinate information for determining each target destination, if identifying any two Elevation drop between a target destination is larger, then is repaired by the three-dimensional coordinate information to the target destination relatively first passed through Just, so that unmanned plane promotes flying height at the target destination in advance, " aircraft bombing " accident is avoided.

It should be noted that for simple description, therefore, it is stated as a series of action groups for embodiment of the method It closes, but those skilled in the art should understand that, the embodiment of the present application is not limited by the described action sequence, because according to According to the embodiment of the present application, some steps may be performed in other sequences or simultaneously.Secondly, those skilled in the art also should Know, the embodiments described in the specification are all preferred embodiments, and related movement not necessarily the application is implemented Necessary to example.

Referring to Fig. 5, a kind of structural block diagram of the generating means embodiment in unmanned plane course line of the application is shown, specifically may be used To include following module:

Initial route generation module 501, the initial route of the operating area for generating unmanned plane；

Two-dimensional grid division module 502, for the operating area to be divided into two-dimensional grid；

Two-dimensional coordinate information and point elevation information obtain module 503, for obtaining each intersection in the two-dimensional grid The two-dimensional coordinate information and point elevation information of point；

Three-dimensional coordinate information determining module 504, for being believed according to the two-dimensional coordinate in crosspoint each in the two-dimensional grid Breath and point elevation information determine the three-dimensional coordinate of multiple target destinations corresponding with multiple destinations on the initial route Information；

Target pattern generation module 505 generates the work for the three-dimensional coordinate information according to the multiple target destination The target pattern in industry region.

In the embodiment of the present application, the initial route generation module 501 can specifically include following submodule:

In the embodiment of the present application, the three-dimensional coordinate information determining module 504 can specifically include following submodule:

In the embodiment of the present application, the point height computational submodule can specifically include such as lower unit:

In the embodiment of the present application, the three-dimensional coordinate information determining module 504 can also include following submodule:

In the embodiment of the present application, the three-dimensional coordinate information amendment submodule can specifically include such as lower unit:

In the embodiment of the present application, the point height increasing unit can specifically include following subelement:

In the embodiment of the present application, the two-dimensional coordinate information and point elevation information obtain module can specifically include as Lower submodule:

The embodiment of the present application discloses a kind of generating means in unmanned plane course line, including memory, processor, and storage On a memory and the computer program that can run on a processor, the processor may be implemented as follows when executing described program Function: the initial route of the operating area of unmanned plane is generated；The operating area is divided into two-dimensional grid；Obtain the two dimension The two-dimensional coordinate information in each crosspoint and point elevation information in grid；According to the two of crosspoint each in the two-dimensional grid Coordinate information and point elevation information are tieed up, determines multiple target destinations corresponding with multiple destinations on the initial route Three-dimensional coordinate information；According to the three-dimensional coordinate information of the multiple target destination, the target pattern of the operating area is generated.

Preferably, it can also be implemented function such as when the processor executes described program: obtain the operation area of unmanned plane The length value on first boundary in domain；Length value and preset air strips distance values according to first boundary, generate it is described nobody The initial route of machine.

Preferably, it can also be implemented function such as when the processor executes described program: according in the two-dimensional grid The two-dimensional coordinate information in each crosspoint, determines the two-dimensional coordinate information of multiple destinations on initial route, the two of each destination Tieing up coordinate information includes x-axis numerical value and y-axis numerical value；According to the point elevation information in crosspoint each in the two-dimensional grid, meter Calculate the point height of each destination；Using the point height as z-axis numerical value, alternatively, by the point height and nobody The sum of preset terrain clearance of machine is used as z-axis numerical value；According to the x-axis numerical value, y-axis numerical value and z-axis numerical value, determining and multiple boats The three-dimensional coordinate information of the corresponding each target destination of point.

Preferably, it can also be implemented function such as when the processor executes described program: when any destination and described two When tieing up the crosspoint coincidence in grid, using the point height in the crosspoint as the point height of the destination.

Preferably, it can also be implemented function such as when the processor executes described program: described in being fallen into when any destination When in the grid that two-dimensional grid surrounds, the point height in the crosspoint of predetermined number around the destination is obtained, respectively with described Point height of the average value of the point height in the crosspoint of predetermined number as the destination.

Preferably, it can also be implemented function such as when the processor executes described program: described in being fallen into when any destination When in the grid that two-dimensional grid surrounds, the distance between crosspoint and the destination around the destination are determined, respectively with institute State point height of the distance point height corresponding less than the crosspoint of the first preset threshold as the destination.

Preferably, it can also be implemented function such as when the processor executes described program: when any two target destination Point height difference be more than the second preset threshold when, identify the first object destination in any two target destination respectively With the second target destination；Correct the three-dimensional coordinate information of the first object destination.

Preferably, it can also be implemented function such as when the processor executes described program: judge the first object boat Whether the point height of point is less than the point height of the second target destination；If so, increasing the first object destination Point height.

Preferably, it can also be implemented function such as when the processor executes described program: obtain first mesh respectively Mark the point height of target complete destination between destination and the second target destination；Calculate the point height of the target complete destination The sum of quotient between the number of the target complete destination as the revised point height of the first object destination.

Preferably, it can also be implemented function such as when the processor executes described program: according to digital elevation model DEM, digital terrain model DTM, digital line draw map DLG, digital raster map DRG, digital orthophoto map DOM or digitally Any one or more map in table model DSM obtains the point elevation information in each crosspoint in the two-dimensional grid.

For device embodiment, since it is basically similar to the method embodiment, related so being described relatively simple Place illustrates referring to the part of embodiment of the method.

All the embodiments in this specification are described in a progressive manner, the highlights of each of the examples are with The difference of other embodiments, the same or similar parts between the embodiments can be referred to each other.

It should be understood by those skilled in the art that, the embodiments of the present application may be provided as method, apparatus or calculating Machine program product.Therefore, the embodiment of the present application can be used complete hardware embodiment, complete software embodiment or combine software and The form of the embodiment of hardware aspect.Moreover, the embodiment of the present application can be used one or more wherein include computer can With in the computer-usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) of program code The form of the computer program product of implementation.

The embodiment of the present application is referring to according to the method for the embodiment of the present application, terminal device (system) and computer program The flowchart and/or the block diagram of product describes.It should be understood that flowchart and/or the block diagram can be realized by computer program instructions In each flow and/or block and flowchart and/or the block diagram in process and/or box combination.It can provide these Computer program instructions are set to general purpose computer, special purpose computer, Embedded Processor or other programmable data processing terminals Standby processor is to generate a machine, so that being held by the processor of computer or other programmable data processing terminal devices Capable instruction generates for realizing in one or more flows of the flowchart and/or one or more blocks of the block diagram The device of specified function.

These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing terminal devices In computer-readable memory operate in a specific manner, so that instruction stored in the computer readable memory generates packet The manufacture of command device is included, which realizes in one side of one or more flows of the flowchart and/or block diagram The function of being specified in frame or multiple boxes.

These computer program instructions can also be loaded into computer or other programmable data processing terminal devices, so that Series of operation steps are executed on computer or other programmable terminal equipments to generate computer implemented processing, thus The instruction executed on computer or other programmable terminal equipments is provided for realizing in one or more flows of the flowchart And/or in one or more blocks of the block diagram specify function the step of.

Although preferred embodiments of the embodiments of the present application have been described, once a person skilled in the art knows bases This creative concept, then additional changes and modifications can be made to these embodiments.So the following claims are intended to be interpreted as Including preferred embodiment and all change and modification within the scope of the embodiments of the present application.

Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning Covering non-exclusive inclusion, so that process, method, article or terminal device including a series of elements not only wrap Those elements are included, but also including other elements that are not explicitly listed, or further includes for this process, method, article Or the element that terminal device is intrinsic.In the absence of more restrictions, being wanted by what sentence "including a ..." limited Element, it is not excluded that there is also other identical elements in process, method, article or the terminal device for including the element.

The generation dress in the generation method to a kind of unmanned plane course line provided herein and a kind of unmanned plane course line above It sets, is described in detail, specific examples are used herein to illustrate the principle and implementation manner of the present application, above The explanation of embodiment is merely used to help understand the present processes and its core concept；Meanwhile for the general skill of this field Art personnel, according to the thought of the application, there will be changes in the specific implementation manner and application range, in conclusion this Description should not be construed as the limitation to the application.

Claims

1. a kind of generation method in unmanned plane course line characterized by comprising

Generate the initial route of the operating area of unmanned plane；

The operating area is divided into two-dimensional grid；

According to the two-dimensional coordinate information and point elevation information in crosspoint each in the two-dimensional grid, the determining and initial boat The three-dimensional coordinate information of the corresponding multiple target destinations of multiple destinations on line；

2. the method according to claim 1, wherein the initial route of the operating area for generating unmanned plane Step includes:

3. the method according to claim 1, wherein described according to the two of crosspoint each in the two-dimensional grid Coordinate information and point elevation information are tieed up, determines multiple target destinations corresponding with multiple destinations on the initial route The step of three-dimensional coordinate information includes:

According to the two-dimensional coordinate information in crosspoint each in the two-dimensional grid, the two dimension of multiple destinations on initial route is determined Coordinate information, the two-dimensional coordinate information of each destination include x-axis numerical value and y-axis numerical value；

According to the point elevation information in crosspoint each in the two-dimensional grid, the point height of each destination is calculated；It will The point height is as z-axis numerical value, alternatively, regarding the sum of the point height and the preset terrain clearance of unmanned plane as z-axis Numerical value；

According to the x-axis numerical value, y-axis numerical value and z-axis numerical value, the three-dimensional of each target destination corresponding with multiple destinations is determined Coordinate information.

4. according to the method described in claim 3, it is characterized in that, the point according to crosspoint each in the two-dimensional grid Position elevation information, the step of calculating the point height of each destination include:

When any destination is overlapped with the crosspoint in the two-dimensional grid, using the point height in the crosspoint as the boat The point height of point.

5. according to the method described in claim 3, it is characterized in that, the point according to crosspoint each in the two-dimensional grid Position elevation information, the step of calculating the point height of each destination include:

When any destination is fallen into the grid that the two-dimensional grid surrounds, the friendship of predetermined number around the destination is obtained respectively The point height of crunode, using the average value of the point height in the crosspoint of the predetermined number as the point of destination height Degree.

6. according to the method described in claim 3, it is characterized in that, the point according to crosspoint each in the two-dimensional grid Position elevation information, the step of calculating the point height of each destination include:

When any destination is fallen into the grid that the two-dimensional grid surrounds, the crosspoint around the destination and institute are determined respectively The distance between destination is stated, using distance point height corresponding less than the crosspoint of the first preset threshold as the destination Point height.

7. according to any method of claim 3-6, which is characterized in that further include:

When the difference of the point height of any two target destination is more than the second preset threshold, any two mesh is identified respectively Mark the first object destination and the second target destination in destination；

8. the method according to the description of claim 7 is characterized in that the three-dimensional coordinate letter of the amendment first object destination The step of breath includes:

If so, increasing the point height of the first object destination.

9. according to the method described in claim 8, it is characterized in that, the point height for increasing the first object destination Step includes:

Calculate the quotient conduct between the sum of point height of the target complete destination and the number of the target complete destination The revised point height of first object destination.

10. the method according to claim 1, wherein obtaining the point in each crosspoint in the two-dimensional grid The step of elevation information includes:

Map DLG, digital raster map DRG, number are drawn according to digital complex demodulation, digital terrain model DTM, digital line Any one or more map in orthophotoquad DOM or numerical cutting tool DSM obtains each friendship in the two-dimensional grid The point elevation information of crunode.

11. a kind of generating means in unmanned plane course line characterized by comprising

Two-dimensional coordinate information and point elevation information obtain module, for obtaining the two dimension in each crosspoint in the two-dimensional grid Coordinate information and point elevation information；

Three-dimensional coordinate information determining module, for the two-dimensional coordinate information and point according to crosspoint each in the two-dimensional grid Elevation information determines the three-dimensional coordinate information of multiple target destinations corresponding with multiple destinations on the initial route；

Target pattern generation module generates the operating area for the three-dimensional coordinate information according to the multiple target destination Target pattern.

12. device according to claim 11, which is characterized in that the initial route generation module includes:

Initial route generate submodule, for according to first boundary length value and preset air strips distance values, generate institute State the initial route of unmanned plane.

13. device according to claim 11, which is characterized in that the three-dimensional coordinate information determining module includes:

Two-dimensional coordinate information determines submodule, for the two-dimensional coordinate information according to crosspoint each in the two-dimensional grid, really Determine the two-dimensional coordinate information of multiple destinations on initial route, the two-dimensional coordinate information of each destination includes x-axis numerical value and y-axis number Value；

Point height computational submodule calculates institute for the point elevation information according to crosspoint each in the two-dimensional grid State the point height of each destination；Using the point height as z-axis numerical value, alternatively, the point height and unmanned plane is pre- If the sum of terrain clearance be used as z-axis numerical value；

Three-dimensional coordinate information determines submodule, for according to the x-axis numerical value, y-axis numerical value and z-axis numerical value, determining and multiple boats The three-dimensional coordinate information of the corresponding each target destination of point.

14. device according to claim 13, which is characterized in that the point height computational submodule includes:

First point height calculation unit, for when any destination is overlapped with the crosspoint in the two-dimensional grid, with described Point height of the point height in crosspoint as the destination.

15. device according to claim 13, which is characterized in that the point height computational submodule includes:

Second point height calculation unit, for being obtained respectively when any destination is fallen into the grid that the two-dimensional grid surrounds The point height in the crosspoint of predetermined number around the destination is taken, with the flat of the point height in the crosspoint of the predetermined number Point height of the mean value as the destination.

16. device according to claim 13, which is characterized in that the point height computational submodule includes:

Third point height calculation unit, for when any destination is fallen into the grid that the two-dimensional grid surrounds, difference to be true The distance between crosspoint and the destination around the fixed destination, the crosspoint with the distance less than the first preset threshold Point height of the corresponding point height as the destination.

17. any device of 3-16 according to claim 1, which is characterized in that the three-dimensional coordinate information determining module is also Include:

Target destination identifies submodule, and the difference for the point height when any two target destination is more than the second preset threshold When, the first object destination and the second target destination in any two target destination are identified respectively；

18. device according to claim 17, which is characterized in that the three-dimensional coordinate information corrects submodule and includes:

Point height judging unit, for judging whether the point height of the first object destination is less than the second target boat The point height of point；

Point height increasing unit is less than the point of the second target destination for the point height of the first object destination When height, increase the point height of the first object destination.

19. device according to claim 18, which is characterized in that the point height increasing unit includes:

Point height obtains subelement, for obtaining target complete between the first object destination and the second target destination respectively The point height of destination；

Point height computation subunit, the sum of point height for calculating the target complete destination are navigated with the target complete Quotient between the number of point is as the revised point height of the first object destination.

20. device according to claim 11, which is characterized in that the two-dimensional coordinate information and point elevation information obtain Module includes:

Point elevation information acquisition submodule, for drawing ground according to digital complex demodulation, digital terrain model DTM, digital line Scheme any one or more ground in DLG, digital raster map DRG, digital orthophoto map DOM or numerical cutting tool DSM Figure obtains the point elevation information in each crosspoint in the two-dimensional grid.

21. a kind of generating means in unmanned plane course line, including memory, processor, and, it stores on a memory and can locate The computer program run on reason device, which is characterized in that the processor is realized when executing described program:

Generate the initial route of the operating area of unmanned plane；

The operating area is divided into two-dimensional grid；