CN109782804A - Method, apparatus, equipment and the storage medium in course line are adjusted according to geographical elevation - Google Patents
Method, apparatus, equipment and the storage medium in course line are adjusted according to geographical elevation Download PDFInfo
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Abstract
The invention discloses a kind of methods for adjusting course line according to geographical elevation, by reading unmanned plane route information, and obtain the corresponding geographical altitude data in course line, the corresponding geographical elevation sectional drawing in course line is drawn according to altitude data, including geographical altitude data, destination and course line, course line is adjusted after carrying out height judgement, so that adjustment posterior restoration course line flying height is both greater than corresponding geographical altitude data, it solves and enroute altitude is arranged to geographical elevation highest point in the prior art, raising is taken pictures highly, to influence to take pictures effect and aircraft mapping efficiency and quality the problem of, it can be intuitively according to the course line of geographical altitude data revised planning, improve course line accuracy.
Description
Technical field
The present invention relates to unmanned plane flight course planning field, especially a kind of method, dress that course line is adjusted according to geographical elevation
It sets, equipment and storage medium.
Background technique
Unmanned plane has obtained widely answering in fields such as police, city management, agricultural, geology, meteorology, rescue and relief works at present
With.Flight course planning refers under the conditions of particular constraints, finds a series of destinations, eventually forms one and flies from takeoff point to terminal
Walking along the street diameter is the important component of the program-controlled flight of unmanned plane and one ring of key of flight preparation before unmanned machine operation.Upper
Before biography course line is flown, need first to carry out the geography information altitude data in the corresponding geographical location of flying height and course line in course line
Compare, to determine the safety in course line, avoid colliding, traditional method is directly to use in enroute altitude and course sector highestly
Reason elevation is compared.
But can not be very intuitive, obtain highest geographical elevation in course sector, and directly with enroute altitude and
Highest geography elevation is compared in course sector, causes the course line of planning inaccurate, because unmanned plane is in most of situation
Under therefore enroute altitude will not be arranged to highest point in highest place flight, height of taking pictures can be improved, influence is taken pictures effect
Fruit, the final mapping efficiency and quality for influencing aircraft.
So needing to propose that one kind it is accurate can to improve course line intuitively according to the course line of geographical altitude data revised planning
The method of degree.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.For this purpose, of the invention
Purpose is to provide one kind intuitively according to the course line of geographical altitude data revised planning, and improves the method for course line accuracy, dress
It sets, equipment and storage medium.
The technical scheme adopted by the invention is that:
In a first aspect, the present invention provides a kind of method for adjusting course line according to geographical elevation, comprising steps of
Unmanned plane route information is read, the route information includes course line and corresponding destination, and the course line is by least one
Strip course line composition；
The corresponding geographical altitude data in the course line is obtained, and the course line is drawn correspondingly according to the altitude data
Elevation sectional drawing is managed, includes geographical altitude data, destination and course line on the sectional drawing；
Course line is adjusted after carrying out height judgement, so that adjustment posterior restoration course line flying height is both greater than the corresponding high number of passes of geography
According to.
Further, the height judgement includes: the height of each destination compared with the height of corresponding geographical altitude data
Flying height with every strip course line is compared with the height of corresponding geographical altitude data.
Further, described adjust includes:
When the height of destination is less than corresponding geographical altitude data, waypoint location is improved, so that destination adjusted is with before
The flying height in two course lines that one destination and the latter destination are linked to be is all larger than corresponding geographical altitude data；
When the flying height in group course line is less than corresponding geographical altitude data, then corresponding two destinations in the sub- course line are selected
One of them, improves the position of its destination, so that sub- course line flying height adjusted is greater than corresponding geographical altitude data.
Further, the specific steps for obtaining the corresponding geographical altitude data in the course line are as follows:
Since the starting point in the course line, along course-and-bearing, it is right between two destinations to be read with pre-determined distance interval
The geographical altitude data answered, it is ensured that obtain the corresponding geographical altitude data of each destination.
Further, further include verifying read geographical altitude data it is whether complete, specifically judge geodata elevation
Whether the length of reading and the voyage in course line are equal, if equal, are verified.
Second aspect, the present invention also provides a kind of devices that course line is adjusted according to geographical elevation, comprising:
Read module: for reading unmanned plane route information, the route information includes course line and corresponding destination, described
Course line is made of at least one sub- course line；
Profile drawing module: for obtaining the corresponding geographical altitude data in the course line, and according to the altitude data
The corresponding geographical elevation sectional drawing in the course line is drawn, includes geographical altitude data, destination and course line on the sectional drawing；
Course line adjusts module: for adjusting course line after carrying out height judgement, so that adjustment posterior restoration course line flying height is both greater than
Corresponding geography altitude data.
The third aspect, the present invention provide a kind of control equipment that course line is adjusted according to geographical elevation, comprising:
At least one processor；And
The memory being connect at least one described processor communication；Wherein,
The memory is stored with the instruction that can be executed by least one described processor, and described instruction is by described at least one
A processor executes, so that at least one described processor is able to carry out such as the described in any item methods of first aspect.
Fourth aspect, the present invention provide a kind of computer readable storage medium, the computer-readable recording medium storage
There are computer executable instructions, the computer executable instructions are for executing computer as first aspect is described in any item
Method.
The beneficial effects of the present invention are:
The present invention obtains the corresponding geographical altitude data in course line by reading unmanned plane route information, according to high number of passes
According to the corresponding geographical elevation sectional drawing in course line, including geographical altitude data, destination and course line is drawn, adjusted after carrying out height judgement
Course line solves in the prior art so that adjustment posterior restoration course line flying height is both greater than corresponding geographical altitude data by course line height
Degree is arranged to geographical elevation highest point, and raising is taken pictures highly, the mapping efficiency and quality of effect and aircraft so that influence is taken pictures
The problem of, course line accuracy can be improved intuitively according to the course line of geographical altitude data revised planning.
Detailed description of the invention
Fig. 1 is the flow chart of the method that course line is adjusted according to geographical elevation of one embodiment of the present invention；
Fig. 2 is the schematic diagram of the sectional drawing of one embodiment of the present invention；
Fig. 3 a is the destination height and the height comparison schematic diagram of corresponding geographical altitude data of one embodiment of the present invention；
Fig. 3 b is that the sub- course line flying height of one embodiment of the present invention is illustrated compared with the height of corresponding geographical altitude data
Figure；
Fig. 4 is the apparatus structure block diagram that course line is adjusted according to geographical elevation of one embodiment of the present invention.
Specific embodiment
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, Detailed description of the invention will be compareed below
A specific embodiment of the invention.It should be evident that drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing, and obtain other embodiments.
The method that course line is adjusted according to geographical elevation below by one detailed description of the present invention of embodiment.
Embodiment one:
As shown in Figure 1, the flow chart of the method that course line is adjusted according to geographical elevation for the present embodiment, comprising steps of
S1: unmanned plane route information is read, wherein route information includes course line and corresponding destination, and course line is by least one
Sub- course line composition.S2: profiling obtains the corresponding geographical altitude data in course line, and draws course line pair according to altitude data
The geographical elevation sectional drawing answered wherein includes geographical altitude data, destination and course line on sectional drawing.S3: carrying out course line adjustment, first
After first carrying out height judgement, course line is adjusted, so that adjustment posterior restoration course line flying height is both greater than corresponding geographical altitude data.
It is specific to obtain the corresponding geographical altitude data in course line are as follows: since the starting point in course line, along course-and-bearing with
Read corresponding geographical altitude data between two destinations in pre-determined distance interval, it is ensured that obtain the corresponding geographical elevation of each destination
Data.
The corresponding geographical altitude data of flying height and course line in course line is read, no due to the distance between destination and destination
It determines, so, with pre-determined distance interval between two destinations, such as read every 5 meters once when reading geographical altitude data, it will
The geographical altitude data of acquisition saves, and ensures that the corresponding altitude data of each destination has been got.
Whether the geographical altitude data that finally verify reading is complete, specifically: judging the length that geodata elevation is read
Whether the voyage in degree and course line is equal, if equal, is verified.
The process that sectional drawing is drawn is as follows:
X-axis and the Y-axis scale unit of geographical altitude data sectional drawing are calculated first.
Find out course line flying height peak, course line flying height minimum value, geographical altitude data peak and geographical altitude data
Minimum value calculates maximum drop value according to these paper, by maximum drop value divided by the Y-axis height of setting, can calculate Y-axis
Height scale value.The similarly scale value of X-axis is calculated by voyage divided by the length of X-axis.
Y-axis scale value becomes whole ten, whole hundred, whole thousand, whole ten thousand, seems that comparison understands in this way by processing, scale unit,
The initial value of Y-axis is the altitude compensation value of setting, when drafting, as far as possible maximizes the sectional drawing drawn, with can be most complete
It shows that geographical altitude data, destination and route information are standard, will there is the course line for colliding dangerous and destination to highlight, Ke Yijia
It is thick or with color identifier, and can draw section according to the difference of height above sea level with different colors, make geographical elevation
When data are as reference, it appears that clear.
As shown in Fig. 2, be the schematic diagram of sectional drawing,
Wherein the respective heights of destination D1 and destination D4 are lower than geographical altitude data, carry out prominent mark, course line H1,
The flying height of H3 and H8 has one section lower than corresponding geographical altitude data, therefore by course line H1, H3 and course line H8 and it is right respectively
The prominent mark of destination D2, destination D3, destination D8 and the destination D9 answered.
Highly judge and carry out adjustment package to include two kinds of situations, as shown in Fig. 3 a~Fig. 3 b.
1) when the height of destination is less than corresponding geographical altitude data, improve waypoint location so that destination adjusted with
The flying height in two course lines that previous destination and the latter destination are linked to be is all larger than corresponding geographical altitude data.
2) when the flying height in group course line is less than corresponding geographical altitude data, then corresponding two destinations in the sub- course line are selected
One of them, the position of its destination is improved, so that sub- course line flying height adjusted is greater than corresponding geographical altitude data.
Fig. 3 a shows the height comparison schematic diagram of the height of destination with corresponding geographical altitude data, as it can be seen that destination in figure
The height of D11 and destination D13 are higher than the height above sea level of the geographical altitude data of its corresponding position, and the height of destination D12 is more right than its
Answer the height above sea level of the geographical altitude data of position low, it is therefore desirable to adjusted, that is, raise the position of destination D12, when by its
When being lifted to the position of destination D121, connects destination D121 and destination D11 adjusted and form sub- course line H11, connection adjustment
Destination D121 and destination D13 afterwards forms sub- course line H12, and the flying height of discovery course line H12 is lower than geographical altitude data, and collide danger
Danger, it is therefore desirable to destination D12 is lifted to the position of destination D1D22, destination D122 and destination D11 is connected and forms sub- course line H13,
It connects destination D122 and destination D13 adjusted and forms sub- course line H14, meet destination D12 adjusted and previous destination D11
Corresponding geographical altitude data is all larger than with the flying height in two course lines being linked to be the latter destination D13.
Fig. 3 b shows the height comparison schematic diagram of the flying height in sub- course line with corresponding geographical altitude data.Visible course line in figure
H15 have one section it is lower compared with corresponding geographical altitude data, collide danger, therefore by the destination at the both ends of course line H15
D14 and destination D15 selects destination D14 to improve to destination D141 or selection destination D15 and improves to destination D151, connection adjustment
Destination D141 and destination D15 afterwards forms sub- course line H16 adjusted, or connection destination D14 and destination D151 adjusted
Form sub- course line H17 adjusted, it is ensured that the flying height of sub- course line H16 or H17 is greater than corresponding geographical altitude data.
Embodiment two:
As shown in figure 4, for a kind of apparatus structure block diagram for adjusting course line according to geographical elevation of the present embodiment, comprising: read
Modulus block: for reading unmanned plane route information, route information includes course line and corresponding destination, and course line is navigated by least one son
Line composition；Profile drawing module: for obtaining the corresponding geographical altitude data in course line, and course line pair is drawn according to altitude data
The geographical elevation sectional drawing answered includes geographical altitude data, destination and course line on sectional drawing；Course line adjusts module: for carrying out
Height adjusts course line after judging, so that adjustment posterior restoration course line flying height is both greater than corresponding geographical altitude data.
In addition, the present invention also provides a kind of control equipment for adjusting course line according to geographical elevation, comprising:
At least one processor；And
The memory being connect at least one processor communication；Wherein,
Memory is stored with the instruction that can be executed by least one above-mentioned processor, instructs by least one above-mentioned processor
It executes, so that at least one above-mentioned processor is able to carry out the method as described in embodiment one.
In addition, the present invention also provides a kind of computer readable storage medium, computer-readable recording medium storage has calculating
Machine executable instruction, the method that wherein computer executable instructions are used to that computer to be made to execute as described in embodiment one.
The present invention obtains the corresponding geographical altitude data in course line by reading unmanned plane route information, according to high number of passes
According to the corresponding geographical elevation sectional drawing in course line, including geographical altitude data, destination and course line is drawn, adjusted after carrying out height judgement
Course line solves in the prior art so that adjustment posterior restoration course line flying height is both greater than corresponding geographical altitude data by course line height
Degree is arranged to geographical elevation highest point, and raising is taken pictures highly, the mapping efficiency and quality of effect and aircraft so that influence is taken pictures
The problem of, course line accuracy can be improved intuitively according to the course line of geographical altitude data revised planning.
It is to be illustrated to preferable implementation of the invention, but the invention is not limited to the implementation above
Example, those skilled in the art can also make various equivalent variations on the premise of without prejudice to spirit of the invention or replace
It changes, these equivalent deformations or replacement are all included in the scope defined by the claims of the present application.
Claims (8)
1. a kind of method for adjusting course line according to geographical elevation, which is characterized in that comprising steps of
Unmanned plane route information is read, the route information includes course line and corresponding destination, and the course line is by least one son
Course line composition；
The corresponding geographical altitude data in the course line is obtained, and the corresponding geographical height in the course line is drawn according to the altitude data
Journey sectional drawing includes geographical altitude data, destination and course line on the sectional drawing；
Course line is adjusted after carrying out height judgement, so that adjustment posterior restoration course line flying height is both greater than corresponding geographical altitude data.
2. a kind of method for adjusting course line according to geographical elevation according to claim 1, which is characterized in that the height is sentenced
Disconnected includes: the height of each destination compared with the height of corresponding geographical altitude data and the flying height and corresponding geography in every strip course line
The height of altitude data compares.
3. a kind of method for adjusting course line according to geographical elevation according to claim 1, which is characterized in that the adjustment package
It includes:
When the height of destination is less than corresponding geographical altitude data, improve waypoint location so that destination adjusted with it is previous
The flying height in two course lines that destination and the latter destination are linked to be is all larger than corresponding geographical altitude data；
When the flying height in group course line is less than corresponding geographical altitude data, then corresponding two destinations in the sub- course line are selected wherein
One, the position of its destination is improved, so that sub- course line flying height adjusted is greater than corresponding geographical altitude data.
4. a kind of method for adjusting course line according to geographical elevation according to claim 1, which is characterized in that the acquisition institute
State the specific steps of the corresponding geographical altitude data in course line are as follows:
Since the starting point in the course line, along course-and-bearing, read with pre-determined distance interval corresponding between two destinations
Geographical altitude data, it is ensured that obtain the corresponding geographical altitude data of each destination.
5. a kind of method for adjusting course line according to geographical elevation according to claim 1, which is characterized in that further include verifying
Whether the geographical altitude data of reading complete, specifically judge geodata elevation read length and course line voyage whether phase
Deng being verified if equal.
6. a kind of device for adjusting course line according to geographical elevation characterized by comprising
Read module: for reading unmanned plane route information, the route information includes course line and corresponding destination, the course line
It is made of at least one sub- course line；
Profile drawing module: it for obtaining the corresponding geographical altitude data in the course line, and is drawn according to the altitude data
The corresponding geographical elevation sectional drawing in the course line includes geographical altitude data, destination and course line on the sectional drawing；
Course line adjusts module: for adjusting course line after carrying out height judgement, so that adjustment posterior restoration course line flying height both greater than corresponds to
Geographical altitude data.
7. a kind of control equipment for adjusting course line according to geographical elevation characterized by comprising
At least one processor；And
The memory being connect at least one described processor communication；Wherein,
The memory is stored with the instruction that can be executed by least one described processor, and described instruction is by described at least one
It manages device to execute, so that at least one described processor is able to carry out such as method described in any one of claim 1 to 5.
8. a kind of computer readable storage medium, which is characterized in that the computer-readable recording medium storage has computer can
It executes instruction, the computer executable instructions are for making computer execute such as method described in any one of claim 1 to 5.
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| CN110134143A (en) * | 2019-05-30 | 2019-08-16 | 广东电网有限责任公司 | A kind of electric inspection process method, system and electronic equipment and storage medium |
| CN110750106A (en) * | 2019-10-16 | 2020-02-04 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle safety route generation method and device, control terminal and unmanned aerial vehicle |
| CN112833886A (en) * | 2021-02-05 | 2021-05-25 | 北京北航天宇长鹰无人机科技有限公司 | Air route planning method and device based on unmanned aerial vehicle |
| CN113110555A (en) * | 2021-04-30 | 2021-07-13 | 成都睿铂科技有限责任公司 | Air route planning method |
| CN113253760A (en) * | 2021-06-08 | 2021-08-13 | 北京远度互联科技有限公司 | Path planning method and device, movable carrier and storage medium |
| WO2021163881A1 (en) * | 2020-02-18 | 2021-08-26 | 深圳市大疆创新科技有限公司 | Data processing method and system, device, and readable storage medium |
| CN114859953A (en) * | 2022-05-07 | 2022-08-05 | 成都纵横自动化技术股份有限公司 | Air route planning method and device, electronic equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113253760A (en) * | 2021-06-08 | 2021-08-13 | 北京远度互联科技有限公司 | Path planning method and device, movable carrier and storage medium |
| CN113253760B (en) * | 2021-06-08 | 2021-11-09 | 北京远度互联科技有限公司 | Path planning method and device, movable carrier and storage medium |
| CN114859953A (en) * | 2022-05-07 | 2022-08-05 | 成都纵横自动化技术股份有限公司 | Air route planning method and device, electronic equipment and storage medium |
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