CN110388912B

CN110388912B - Method and device for planning flight path of flight equipment and storage medium

Info

Publication number: CN110388912B
Application number: CN201810339062.3A
Authority: CN
Inventors: 张国欣; 桑云; 蔡思杰
Original assignee: Hangzhou Hikrobot Technology Co Ltd
Current assignee: Hangzhou Hikvision Digital Technology Co Ltd; Hangzhou Hikrobot Co Ltd
Priority date: 2018-04-16
Filing date: 2018-04-16
Publication date: 2021-06-08
Anticipated expiration: 2038-04-16
Also published as: CN110388912A

Abstract

The invention discloses a method and a device for planning a flight path of flight equipment and a computer readable storage medium, and belongs to the technical field of flight equipment. The method comprises the following steps: determining a target path from a flight starting point to a flight end point of the flight device; acquiring road vectors and road attributes of a target path, wherein each road vector corresponds to at least one road attribute; optimizing the road vector and the plane height of the road vector based on the road attribute; and determining the flight path information of the flight equipment from the flight starting point to the flight end point based on the optimized road vector and the plane height of the road vector. In the embodiment of the invention, each road vector can be optimized according to at least one road attribute corresponding to each road vector in the road vectors included in the target path, so that the flight path obtained by planning according to the optimized road vector is more suitable for the flight of the flight equipment, and the applicability of the planned flight path is improved.

Description

Method and device for planning flight path of flight equipment and storage medium

Technical Field

The present invention relates to the field of flight device technologies, and in particular, to a method and an apparatus for planning a flight path of a flight device, and a computer-readable storage medium.

Background

In recent years, with rapid development of flying equipment technologies such as unmanned cargo aircraft and unmanned video cameras, the flying equipment such as the unmanned cargo aircraft and the unmanned video cameras is applied more and more in non-military aspects. For example, the unmanned cargo aircraft can be used for geographic mapping and pesticide spraying, and besides, in cities, unmanned cameras can be used for monitoring traffic road conditions and the like. When the flight device is used for executing a task, the flight device can perform path planning according to a flight starting point and a flight ending point, so that the flight device flies according to the planned path.

In the related art, when a flight path of a flying apparatus is planned, a plurality of passable roads from a flight start point to a flight end point of the flying apparatus may be acquired from a map based on the flight start point and the flight end point. Then, one road may be selected from the plurality of roads as a flight path of the flight device.

However, the plurality of passable roads obtained from the map by the above method generally refer to passable roads for ground-traveling vehicles, and since the ground-traveling vehicles and the air-flying flight apparatuses do not have the same movement characteristics, the passable roads for ground-traveling vehicles are not necessarily suitable for the flight apparatuses, that is, the flight paths determined by the above method lack applicability to the flight apparatuses.

Disclosure of Invention

In order to solve the problem that the flight path directly acquired from the map in the prior art lacks applicability, the embodiment of the invention provides a method and a device for planning the flight path of flight equipment and a computer-readable storage medium. The technical scheme is as follows:

in a first aspect, a method of planning a flight path of a flight device is provided, the method comprising:

determining a target path from a flight starting point to a flight end point of the flight device;

acquiring road vectors and road attributes of the target path, wherein each road vector corresponds to at least one road attribute;

optimizing the road vector and the plane height of the road vector based on the road attribute;

and determining the flight path information of the flight equipment from the flight starting point to the flight ending point based on the optimized road vector and the plane height of the road vector.

Optionally, the determining a target path from a flight starting point to a flight ending point of the flight device includes:

calling an electronic map;

acquiring a plurality of paths from the flight starting point to the flight ending point and a path distance corresponding to each path from the electronic map, wherein each path in the plurality of paths comprises a plurality of road vectors;

and determining the path with the shortest path distance in the plurality of paths as the target path.

Optionally, before determining the target road from the flight starting point to the flight ending point of the flight device, the method further comprises:

deleting the road attribute which is used for indicating that the road vector is the one-way road in the electronic map, or modifying the road attribute which is used for indicating that the road vector is the one-way road in the electronic map into the road attribute which is used for indicating that the road vector is the two-way road;

alternatively, the first and second electrodes may be,

and acquiring road vectors in a preset area covering the flight starting point and the flight ending point in the electronic map, and deleting the road attribute which is used for indicating that the corresponding road vector is a one-way road in the acquired road vectors, or modifying the road attribute which is used for indicating that the corresponding road vector is the one-way road in the acquired road vectors into the road attribute which is used for indicating that the corresponding road vector is a two-way road.

Optionally, before optimizing the road vector and the plane height of the road vector based on the road attribute, the method further includes:

judging whether a road attribute for indicating that the road vector is a tunnel exists in the road attributes of the target path;

if the road attribute for indicating that the road vector is the tunnel exists, determining that the target path is a no-flight path;

the optimizing the road vector and the plane height of the road vector based on the road attribute means optimizing the road vector and the plane height of the road vector based on the road attribute when the road attribute indicating that the road vector is a tunnel does not exist.

Optionally, the optimizing the road vector and the plane height of the road vector based on the road attribute includes:

and optimizing each road vector and the plane height of each road vector one by one according to the sequence from the flight starting point to the flight ending point and on the basis of the road attribute of each road vector until the plurality of path vectors are optimized.

judging whether the road attributes of the road vector A comprise a first attribute or not for any road vector A in the road vectors of the target path, wherein the first attribute is used for indicating that the road vector A is an overhead or overpass;

if the first attribute is included, acquiring the height of the overhead or the overpass, and setting the plane height of the road vector A based on the height of the overhead or the overpass;

judging whether a surrounding path exists in the road vector A or not;

and if the surrounding path exists, optimizing the surrounding path in the road vector A.

Optionally, the optimizing the surrounding path in the road vector a includes:

extending the previous road vector adjacent to the road vector A from the end point of the previous road vector to obtain a first extension line;

reversely extending a next road vector adjacent to the road vector A from the starting point of the next road vector to obtain a second extension line;

determining an intersection of the first extension line and the second extension line;

and determining a line segment between the end point of the previous road vector and the intersection point and a line segment between the intersection point and the starting point of the next road vector as an optimized road vector A.

judging whether the road attributes of the road vector A comprise a second attribute or not for any road vector A in the road vectors of the target path, wherein the second attribute is used for indicating that the road vector A is a roundabout;

and if the second attribute is included, setting the plane height of the path vector A as a preset height, and optimizing the surrounding path in the road vector A.

Optionally, the optimizing the surrounding path in the road vector a includes:

connecting the intersection point with the end point of the previous road vector to obtain a first line segment, and connecting the intersection point with the starting point of the next road vector to obtain a second line segment;

determining a left boundary and a right boundary of a road corresponding to the road vector A based on the road attribute used for indicating the number of lanes in the road attributes of the road vector A, and judging whether the intersection point, the first line segment and the second line segment are all located between the left boundary and the right boundary of the road corresponding to the road vector A;

and if the intersection point, the first line segment and the second line segment are all positioned between the left boundary and the right boundary of the road corresponding to the road vector A, determining a broken line formed by the first line segment and the second line segment as the optimized road vector A.

Optionally, the optimizing the surrounding path in the road vector a includes:

and if the path distance of the surrounding path is greater than the path distance of a reverse surrounding path, replacing the surrounding path with the reverse surrounding path, wherein the reverse surrounding path is a path which is the same as the starting point and the end point of the surrounding path in the road vector A and has the opposite surrounding direction.

Optionally, the determining flight path information of the flying apparatus from the flight starting point to the flight ending point based on the optimized road vector and the plane height of the road vector includes:

sequentially connecting the optimized road vectors to obtain a flight path;

determining the flight path and the plane height of each road vector as flight path information of the flying device from the flight starting point and the flight ending point.

In a second aspect, an apparatus for planning a flight path of a flight device is provided, the apparatus comprising:

the first determination module is used for determining a target path from a flight starting point to a flight end point of the flight equipment;

the acquisition module is used for acquiring road vectors and road attributes of the target path, wherein each road vector corresponds to at least one road attribute;

the optimization module is used for optimizing the road vector and the plane height of the road vector based on the road attribute;

and the planning module is used for determining the flight path information of the flight equipment from the flight starting point to the flight ending point based on the optimized road vector and the plane height of the road vector.

Optionally, the first determining module includes:

the calling submodule is used for calling the electronic map;

the obtaining sub-module is used for obtaining a plurality of paths from the flight starting point to the flight ending point and a path distance corresponding to each path from the electronic map, and each path in the plurality of paths comprises a plurality of road vectors;

a first determining submodule, configured to determine, as the target path, a path with a shortest path distance from among the multiple paths.

Optionally, the apparatus further comprises:

the processing module is used for deleting the road attribute which is used for indicating that the road vector is a one-way road in the electronic map, or modifying the road attribute which is used for indicating that the road vector is the one-way road in the electronic map into the road attribute which is used for indicating that the road vector is a two-way road;

alternatively, the first and second electrodes may be,

the processing module is used for acquiring road vectors in a preset area covering the flight starting point and the flight ending point in the electronic map, deleting the road attribute which is used for indicating that the corresponding road vector is a one-way road in the acquired road vectors, or modifying the road attribute which is used for indicating that the corresponding road vector is the one-way road in the acquired road vectors into the road attribute which is used for indicating that the corresponding road vector is a two-way road.

Optionally, the apparatus further comprises:

the judging module is used for judging whether the road attribute for indicating that the road vector is a tunnel exists in the road attributes of the target path;

the second determining module is used for determining the target path as a no-flight path if the road attribute for indicating that the road vector is a tunnel exists;

the optimization module is used for optimizing the road vector and the plane height of the road vector based on the road attribute when the road attribute used for indicating that the road vector is the tunnel does not exist.

Optionally, the optimization module is configured to:

and optimizing the plane height of each road vector and the plane height of each road vector one by one according to the sequence from the flight starting point to the flight ending point and on the basis of the road path attribute of each road vector until the plane height of the road vector and the road vector of the target path is optimized.

Optionally, the optimization module comprises:

the first judgment submodule is used for judging whether a first attribute exists in the road attributes of the road vector A or not for any road vector A in the road vectors of the target path, and the first attribute is used for indicating that the road vector A is an overhead or overpass;

a setting submodule, configured to obtain a height of the overhead or the overpass if the first attribute is included, and set a plane height of the road vector a based on the height of the overhead or the overpass;

the second judgment submodule is used for judging whether a surrounding path exists in the road vector A or not;

and the optimization submodule is used for optimizing the surrounding path in the road vector A if the surrounding path exists.

Optionally, the optimization submodule is specifically configured to:

Optionally, the optimization module comprises:

the judging submodule is used for judging whether any road vector A in the road vectors of the target path comprises a second attribute, and the second attribute is used for indicating that the road vector A is a disc intersection;

and the setting submodule is used for setting the plane height of the path vector A to be a preset height and optimizing the surrounding path in the road vector A if the second attribute is included.

Optionally, the optimization submodule is specifically configured to:

Optionally, the planning module comprises:

the connecting sub-module is used for sequentially connecting the optimized road vectors to obtain a flight path;

and the second determining sub-module is used for determining the flight path and the plane height of each road vector as the flight path information of the flight equipment from the flight starting point and the flight ending point.

In a third aspect, an apparatus for planning a flight path of a flight device is provided, the apparatus comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor executes executable instructions in the memory to perform any of the methods of the first aspect.

In a fourth aspect, a computer-readable storage medium is provided, in which a computer program is stored, which computer program, when being executed by a processor, carries out any of the methods of the first aspect.

The technical scheme provided by the embodiment of the invention has the following beneficial effects: determining a target path from a flight starting point to a flight ending point of the flight equipment, acquiring road vectors and road attributes of the target path, wherein each road vector corresponds to at least one road attribute, optimizing the plane heights of the road vectors and the road vectors based on the road attributes, and determining the flight path information of the flight equipment from the flight starting point and the flight ending point based on the optimized plane heights of the road vectors and the road vectors. Therefore, in the embodiment of the invention, each road vector and the plane height of each road vector can be optimized according to at least one road attribute corresponding to each road vector in a plurality of road vectors included in the target path, so that the flight path obtained by planning according to the optimized road vectors and the plane heights of the road vectors is more suitable for the flight of flight equipment, and the applicability of the planned flight path is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1A is a system architecture diagram for planning a flight path of a flight device according to an embodiment of the present invention;

fig. 1B is a schematic structural diagram of an intelligent device according to an embodiment of the present invention;

fig. 2 is a flowchart of a method for planning a flight path of a flight device according to an embodiment of the present invention;

fig. 3A is a flowchart of a method for planning a flight path of a flight device according to an embodiment of the present invention;

fig. 3B is a schematic diagram of an embodiment of the present invention for optimizing a surrounding path in an overhead or overpass;

FIG. 3C is a schematic diagram of an embodiment of the present invention for optimizing a circular path in a roundabout;

FIG. 3D is a schematic diagram of another embodiment of the present invention for optimizing a circular path in a roundabout;

fig. 4A is a schematic structural diagram of an apparatus for planning a flight path of a flight device according to an embodiment of the present invention;

fig. 4B is a schematic structural diagram of a first determining module according to an embodiment of the present invention;

fig. 4C is a schematic structural diagram of an apparatus for planning a flight path of a flight device according to an embodiment of the present invention;

fig. 4D is a schematic structural diagram of an optimization module according to an embodiment of the present invention;

fig. 4E is a schematic structural diagram of a planning module according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of an intelligent device according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Before explaining the embodiments of the present disclosure in detail, an application scenario related to the embodiments of the present disclosure will be described.

Currently, flying equipment such as unmanned cargo aircraft, unmanned cameras, etc. are widely used in various industries. For example, agricultural sprays may be applied to designated routes of crops using unmanned aerial vehicles, or alternatively, cargo may be transported from a preset starting point to a preset destination. For another example, the unmanned camera may be used to acquire images of the designated area, so as to detect traffic conditions in the designated area, and so on. When a mission is performed in a city by using such flying equipment, because the height of buildings in the city is generally high, especially more buildings exceeding 100 meters are increasingly provided with the continuous development of urbanization, and the flying height of such flying equipment is generally lower than 120 meters according to the air traffic requirement, when a path is planned for the flying equipment according to the flying starting point and the flying end point of the flying equipment, a flying path which can avoid high-rise buildings and ensure that the flying height of the flying equipment is not too high and is suitable for the flying equipment to fly needs to be planned for the flying equipment. The method for planning the flight path of the flight equipment provided by the embodiment of the invention can be used in the scene to plan according to the flight starting point and the flight ending point, so that the flight path suitable for the flight equipment to fly in a complex urban scene is obtained.

Next, a system architecture according to an embodiment of the present invention will be described.

Fig. 1A is a system architecture diagram of a method for planning a flight path of a flight device according to an embodiment of the present invention, as shown in fig. 1A, the system includes a flight device 001 and an intelligent device 002.

In one possible implementation, the flight device 001 may communicate with the smart device 002 through a wireless communication network. The intelligent device 002 can plan the flight path of the flight device according to the preassigned flight starting point and flight ending point, and then the intelligent device 002 can send the planned flight path to the flight device 001 through the wireless communication network. After receiving the flight path sent by the smart device 002, the flight device 001 may fly according to the flight path.

In another possible implementation, the smart device 002 may be integrated or embedded in the flight device 001. That is, the smart device 002 may be a core control device in the flying device 001 for controlling the flying device 001. In this case, the smart device 002 may be a component of the flight device 101.

In the embodiment of the present invention, the flying apparatus 001 may be an unmanned aerial vehicle carrying various mission loads, such as a fixed-wing unmanned aerial vehicle, an umbrella-wing unmanned aerial vehicle, an unmanned helicopter, a flapping-wing unmanned aerial vehicle, and the like, and the flying apparatus may be a single mission load or a plurality of mission loads at the same time, and may be a multi-rotor unmanned aerial vehicle carrying one or two mission loads, for example. In addition, the smart device 002 may be various computer devices capable of performing complicated data processing, such as an industrial personal computer and an industrial personal computer.

Based on the system architecture shown in fig. 1A, the intelligent device 002 can plan the flight path of the flight device 001, and based on this, as shown in fig. 1B, the embodiment of the present invention further provides a schematic structural diagram of the intelligent device. The functions of the smart device 002 shown in fig. 1A may be performed by the smart device shown in fig. 1B. As shown in fig. 1B, the intelligent device includes a task planning module 101, an electronic map API (Application Programming Interface) calling module 102, and a special feature processing module 103. Optionally, when the smart device is also used for controlling the flight device, the smart device further includes a path execution module 104.

The task planning module 101 is a general scheduling module of the flight device, and may allocate a flight task to the flight device, and determine a flight starting point and a flight ending point. The electronic map API calling module 102 is configured to call an electronic map, determine a target path from the electronic map according to the flight starting point and the flight ending point determined by the mission planning module 101, and obtain a plurality of road vectors and a plurality of road attributes included in the target path. The special feature processing module 103 may optimize the road vector in the target path and the plane height of the road vector according to the road attribute of the target path obtained by the electronic map API calling module 102, so as to obtain the optimized road vector and the plane height of the road vector, and further obtain a flight path suitable for the flight device from the flight starting point to the flight ending point.

Optionally, when the smart device can also be used to control the flight of the flying device, the smart device further includes a path execution module 104. The path execution module 104 is configured to control the flight device to fly according to the flight path planned by the special feature processing module 103.

Next, a method for planning a flight path of a flight device according to an embodiment of the present invention will be described.

Fig. 2 is a flowchart of a method for planning a flight path of a flight device according to an embodiment of the present invention. The method may be applied to the intelligent devices shown in fig. 1A and 1B, where the intelligent device may be an intelligent device mounted or integrated in a flight device, or may be a device, other than the flight device, dedicated to planning a flight path of the flight device, and for example, the intelligent device may be an industrial computer, an industrial personal computer, a mobile terminal, or other computer devices. As shown in fig. 2, the method comprises the steps of:

step 201: a target path from a flight start point to a flight end point of the flight device is determined.

The target path may be any one of the multiple paths, or may be one selected from the multiple paths according to a certain principle, which is not specifically limited in this embodiment of the present invention.

Step 202: and acquiring road vectors and road attributes included by the target path, wherein each road vector corresponds to at least one road attribute.

The target path comprises a plurality of road vectors and a plurality of road attributes, the plurality of road attributes are related to the motion characteristics of the flight equipment, and each road vector corresponds to at least one road attribute.

It should be noted that the flight start point and the flight end point of the flight device are specified in advance. In addition, the road attribute is information for describing a road feature of the road vector, and for example, the road attribute may be used to indicate that the corresponding road vector is a tunnel, a roundabout, an overhead, an overpass, or the like.

Step 203: and optimizing the road vector and the plane height of the road vector based on the road attribute.

Step 204: and determining the flight path information of the flight equipment from the flight starting point to the flight end point based on the optimized road vector and the plane height of the road vector.

In the embodiment of the present invention, the intelligent device may determine a target path from a flight start point to a flight end point of the flight device, and acquire a road vector and a road attribute of the target path, where each road vector corresponds to at least one road attribute, optimize the plane heights of the road vector and the road vector based on the road attribute, and determine flight path information of the flight device from the flight start point and the flight end point based on the optimized plane heights of the road vector and the road vector. Therefore, in the embodiment of the invention, the plane height of each road vector and the plane height of each road vector can be optimized according to at least one road attribute corresponding to each road vector in a plurality of road vectors included in the target path, so that the flight path obtained by planning according to the optimized road vectors and the plane heights of the road vectors is more suitable for the flight of the flight equipment, and the applicability of the planned flight path is improved.

Fig. 3A is a flowchart of a method for planning a flight path of a flight device according to an embodiment of the present invention. The method may be applied to the intelligent devices shown in fig. 1A and 1B, where the intelligent device may be an intelligent device mounted or integrated in a flight device, or may be a device, other than the flight device, dedicated to planning a flight path of the flight device, and for example, the intelligent device may be an industrial computer, an industrial personal computer, a mobile terminal, or other computer devices. As shown in fig. 3A, the method includes the steps of:

step 301: and preprocessing the road attributes of the road vector in the electronic map.

The intelligent device can call the electronic map and preprocess the road attributes of the road vectors in the electronic map.

It should be noted that, since the electronic map provides a driving path for the ground-based driving vehicle, in the case of the ground-based driving vehicle, the road vector constituting the driving path usually needs to distinguish whether the road vector is a one-way road or a two-way road, and on the one-way road, the ground-based driving vehicle can only drive in the specified driving direction but cannot drive in the reverse direction. However, for the flight device, when the flight path planning is performed by using the road vector in the electronic map, even if the driving direction specified by the one-way road is opposite to the flight direction of the flight device, the flight device can fly through directly without detour, that is, the flight device is not restricted by the driving direction specified by the one-way road, in other words, the road attribute in the electronic map for indicating whether the road vector is the one-way road is not suitable for the flight path planning for the flight device. Based on this, before the flight path planning is performed by using the road vector in the electronic map, in order to eliminate the interference of the road attribute for indicating that the road vector is the one-way road to the flight path planning, the road attribute for indicating that the road vector is the one-way road in the electronic map may be preprocessed first.

Specifically, in a possible implementation manner, the intelligent device may delete all the road attributes in the electronic map that indicate that the road vector is a one-way road, or modify all the road attributes in the electronic map that indicate that the road vector is a one-way road into road attributes that indicate that the road vector is a two-way road.

In another possible implementation manner, in order to reduce the calculation amount of preprocessing, the intelligent device may only preprocess the road attributes of the road vector which may be used for flight path planning in the electronic map. The intelligent device may acquire road vectors in a preset area covering a flight starting point and a flight ending point in the electronic map, delete a road attribute used for indicating that a corresponding road vector is a one-way road in the acquired road vectors, or modify a road attribute used for indicating that a corresponding road vector is a one-way road in the acquired road vectors to a road attribute used for indicating that a corresponding road vector is a two-way road.

The preset area may be an area expanded based on a flight starting point and a flight ending point of the flight device, and the preset area includes as many road vectors as possible for flight path planning. Specifically, the preset region may be a rectangular region, two sides of the rectangular region may be respectively parallel to a connection line of the flight starting point and the flight ending point, and the length of the rectangular region is greater than the length of the connection line of the flight starting point and the flight ending point, and the flight starting point and the flight ending point are both located in the rectangular region.

It should be noted that, in the embodiment of the present invention, the flight starting point and the flight ending point of the flight device are preset, where the flight starting point may be a task starting point, and the flight ending point is a task ending point. For example, when cargo transportation is performed using an unmanned cargo carrier, the flight starting point is a task starting point, i.e., a starting point for transporting cargo, and the flight ending point is a task ending point, i.e., an ending point for cargo transportation. Of course, the flight origin may also be unrelated to the task to be performed by the flight device. For example, the flight starting point may be the current location of the flight device, and the flight ending point may be the location where the flight device needs to perform a task.

Step 302: a target path from a flight start point to a flight end point of the flight device is determined.

With the flight start point and the flight end point known, the smart device may obtain a target path from the flight start point to the flight end point.

The intelligent device can call a preprocessed electronic map, and a plurality of paths from a flight starting point to a flight ending point and a path distance corresponding to each path are obtained from the electronic map; and then, determining the path with the shortest path distance in the plurality of paths as the target path.

It should be noted that the route in the electronic map is a planned passable route for the ground vehicle to travel, that is, the passable route in the electronic map is a route that avoids various obstacles such as high-rise buildings, and the above-ground of the routes is usually a clearance area, and flying equipment flying above the routes can effectively reduce the risk of collision with the obstacles, and compared with flying equipment flying at the edge of a building, the position drift of the flying equipment caused by the influence of the building on the satellite positioning accuracy of the flying equipment can be avoided, thereby reducing the risk of collision with the high-rise buildings. Based on this, the smart device can utilize the known path in the electronic map to plan the flight path of the flight device. In addition, currently, various electronic maps are provided with API call interfaces, and based on this, the intelligent device can call the electronic map through the API call interfaces and input the flight starting point and the flight ending point in the electronic map, thereby obtaining multiple paths from the flight starting point to the flight ending point.

In practical applications, more than one path is often included from the flight starting point to the flight ending point, and the intelligent device may randomly select one path from the multiple paths as the target path. Of course, since the path distances of different paths are different, in order to make the flight path of the flight device as short as possible, when multiple paths from the flight starting point to the flight ending point are acquired, the intelligent device may also acquire the path distance corresponding to each path at the same time, and then the intelligent device may select one path with the shortest corresponding path distance from the multiple paths as the target path.

Alternatively, in some cases, the user may want the flying apparatus to pass through a specific target point during the process of flying from the flight starting point to the flight ending point, for example, the user may want the flying apparatus to pass through point C during the process of flying from point a to point B to capture an image of point C. In this case, the smart device may further receive a target point input by the user, and select one of the plurality of paths that passes through the target point as the target path.

Step 303: and acquiring road vectors and road attributes included by the target path, wherein each road vector corresponds to at least one road attribute.

Since the roads output by the electronic map are all expressed by road vectors, the target path determined by the intelligent device is formed by connecting a plurality of road vectors, and each road vector can correspond to at least one road attribute. Based on this, after determining the target path, the smart device may acquire the road vector and the road attribute included in the target path.

Where the road attribute is information for describing road characteristics of a road vector, for example, the road attribute may include a tunnel, a roundabout, an overhead, an overpass, and the like. In addition, since the road attribute is used to optimize the road vector in the embodiment of the present invention to obtain the flight path suitable for the flight device, the road attribute refers to a road attribute related to the flight characteristics of the flight device, that is, the road attribute is an attribute that can affect the flight path of the flight device, or the road attribute is an attribute that causes the flight device to be different from the motion path of the vehicle traveling on the ground.

Step 304: and optimizing the road vector and the plane height of the road vector based on the road attribute.

After determining the target path, the smart device may optimize the plurality of road vectors based on a plurality of road attributes included in the target path.

As described in step 302, the target route is a route of the vehicle for ground travel acquired from the electronic map. In practice, some special routes may be accessible only for ground-based vehicles, but not for flying equipment, such as tunnels, from which ground-based vehicles may travel. In the case of the flying apparatus, since the height inside the tunnel is low, the flying apparatus cannot pass through the tunnel, and considering that the tunnel is generally drilled through a mountain, if the flying apparatus flies above the mountain, the flying apparatus may have too high a flying height due to too high height of the mountain, which is not favorable for the performance of the mission. Based on this, before optimizing the target path, the intelligent device may determine whether a road attribute indicating that the road vector is a tunnel exists in the plurality of road attributes included in the target path, so as to determine whether the target path is passable for the flight device. When the intelligent device determines that the road attributes used for indicating that the road vector is the tunnel exist in the plurality of road attributes, the target path is determined as a flight-prohibited path, and at the moment, the intelligent device does not optimize the target path any more, but can reselect one target path from the flight starting point to the flight ending point. When the intelligent device determines that the road attribute used for indicating that the road vector is the tunnel does not exist in the plurality of road attributes, the plurality of road vectors included in the target path may be optimized based on the plurality of road attributes.

It should be noted that, on one hand, although the air above the target route obtained from the electronic map without including the tunnel is usually a clearance area, which may enable the flying apparatus to effectively avoid the high-rise building, since the route in the electronic map is the road planned for the ground-based traveling vehicle, these routes also define the traveling direction of the vehicle, in some special road sections, the vehicle also needs to travel according to the surrounding route, and for the flying apparatus flying in the air, it is not necessary to travel according to the surrounding route at all, that is, for the flying apparatus, if the route obtained from the electronic map is directly taken as the flying route, it may cause an unnecessary increase of the flying distance, and based on this, the intelligent apparatus needs to determine the target route based on at least one road attribute corresponding to each of a plurality of road vectors constituting the target road, and optimizing the corresponding road vector and road vector.

On the other hand, even if there is a clearance area above the target path, in practical applications, the flying apparatus still needs to consider the flying height when flying in the air. The flying height of the flying apparatus is generally not allowed to exceed 120 meters due to the empty pipe requirement. In addition, when the flying height of the flying apparatus is too high, the performance of the task may be unfavorable. For example, an unmanned camera for capturing images may not be able to clearly capture ground images when the flying height is too high. When the flying height of the flying apparatus is too low, the risk of collision of the flying apparatus with certain facilities in the city having a certain height may increase. For example, there are a large number of signboards and street lamps in a city, and if the flying height of the flying apparatus is too low, there is a high possibility of collision with the signboards or street lamps. Based on this, while optimizing the road vector of the target path, the plane height of each road vector needs to be set, so as to obtain the flight height of the flight device corresponding to each optimized road vector.

Because the target path is composed of a plurality of road vectors which are connected end to end, the intelligent device can sequentially optimize each road vector according to the sequence from the flight starting point to the flight ending point until the plurality of road vectors are optimized. According to at least one road attribute corresponding to each road vector, the intelligent device can optimize each road vector and the plane height of the road vector in a targeted manner. Several typical road vectors and methods for optimizing the plane height of the road vectors will be mainly described below.

Judging whether the road attributes of any road vector A in the road vectors of the target path comprise a first attribute, wherein the first attribute is used for indicating that the road vector A is an overhead or overpass; if the first attribute is included, acquiring the height of the overhead or overpass, and setting the plane height of the road vector A based on the height of the overhead or overpass; and judging whether a surrounding path exists in the road vector A, and if so, optimizing the surrounding path in the road vector A.

Since the target path is a path planned for the ground-based driving vehicle by the electronic map, an overhead or overpass may exist in the target path.

On the one hand, the height of the overhead or overpass may be higher than the ground by a certain height, which may affect the flying height of the flying equipment. Based on this, in order that the flying device can smoothly fly through the overhead or overpass, the intelligent device may acquire the height of the overhead or overpass when detecting that the road attribute of the road vector a includes the first attribute indicating that the road vector a is the overhead or overpass, and set the plane height of the road vector a based on the height of the overhead or overpass.

The intelligent device can directly set the height of the plane of the road vector A to be larger than the height of the overhead or overpass.

Alternatively, the smart device may also set the plane height of the road vector a by: in general, the road attribute of the road vector output by the electronic map may further include an altitude of a ground surface on which the road vector is located. Based on this, the smart device may set the plane height of the road vector a according to the altitude of the ground on which the road vector a is located. Specifically, the intelligent device may increase the altitude of the ground where the road vector a is located by the height of the viaduct or the overpass, so as to obtain the plane height of the road vector a.

When the plane height of each road vector is determined in the mode so as to obtain the flying height of the flying equipment, and the flying equipment flies according to the flying height, the flying equipment can adjust the height from the ground in real time along with the fluctuation of the terrain.

On the other hand, if the road vector a is an overhead or overpass, in addition to the plane height at which the road vector a is set, since the target route is a route planned for a ground-based driving vehicle by an electronic map, when the vehicle passes through the overhead or overpass, it may be necessary to enter the road segment from a certain lane and then travel around the route until exiting the road segment. When the flying equipment flies in the air, the flying equipment does not need to fly according to a surrounding path. Based on this, when the intelligent device detects that the road attribute of the road vector a includes an overhead or an overpass, it may further detect whether a surrounding path exists in the road vector a, and if so, the surrounding path may be further optimized.

Specifically, in the embodiment of the present invention, the intelligent device may extend the previous road vector adjacent to the road vector a from the end point of the previous road vector, so as to obtain a first extension line; reversely extending a next road vector adjacent to the road vector A from the starting point of the next road vector to obtain a second extension line; determining an intersection point of the first extension line and the second extension line; and determining a line segment between the end point of the previous road vector and the intersection point and a line segment between the intersection point and the starting point of the next road vector as the optimized road vector A.

According to the sequence from the flight starting point to the flight ending point, the road vector immediately behind the road vector A is the next road vector adjacent to the road vector A, and the road vector immediately before the road quantity A is the previous road vector adjacent to the road vector A. Also, in general, the road vector characterizing a road tends to be the centerline of the road. The intelligent device can extend the previous road vector from the end point to the direction of the road vector A to obtain a first extension line, and extend the next road vector A from the starting point to the direction of the road vector A to obtain a second extension line, wherein the two extension lines intersect at one point, so that a broken line segment formed by connecting the end point of the previous road vector, the intersection point of the two extension lines and the starting point of the next road vector is the optimized road vector A.

Fig. 3B is a schematic diagram of optimizing a surrounding path in a road vector a according to an embodiment of the present invention. As shown in FIG. 3B, assume that the end point of the previous road vector adjacent to the road vector A is O₁The starting point of the next road vector adjacent to the road vector A is O₂. Vector of last road from O₁Starting to extend to obtain the first extension line and the next path vector from O₂And starting to extend reversely to obtain a second extension line. The first extension line and the second extension line intersect at a point B. At this time, O is connected in sequence₁B and O₂And obtaining a broken line segment as the optimized road vector A from the three points.

(II) judging whether the road attributes of the road vector A comprise a second attribute for any one road vector A in the road vectors of the target path, wherein the second attribute is used for indicating that the road vector A is a roundabout; and if the second attribute is included, setting the plane height of the road vector A as a preset height, and optimizing the surrounding path in the road vector A.

On the one hand, if the road vector a is a roundabout, since the roundabout generally does not rise above the ground, when the plane height of the road vector a is set, only the height of the facility on the ground, such as a guideboard, a street lamp, etc., needs to be considered to avoid collision between the flight device and the facilities, such as the guideboard, the street lamp, etc. Based on this, the intelligent device can refer to standard documents such as urban road lighting design standards, obtain standard heights of facilities such as street lamps and guideboards, select the maximum height from the standard heights, and then set the plane height of the road vector a to be greater than the preset height of the maximum height. Or, the intelligent device may also add a preset height to the altitude of the ground where the path vector a is located to obtain the height of the plane where the path vector a is located, that is, the flight height of the flight device when flying on the path vector a.

On the other hand, when the smart device determines that the second attribute is included in the road attributes of the road vector a,

since the second attribute is used to indicate that the road vector is a roundabout, and a surrounding path generally exists when the vehicle passes through the roundabout, based on this, if the road vector a is a roundabout, the surrounding path in the road vector a can be further optimized.

Specifically, when the road vector a is a roundabout, the intelligent device may optimize the surrounding path in the road vector a in the following two ways.

The first mode is as follows: extending the center line of the previous road vector adjacent to the road vector A from the end point of the previous road vector to obtain a first extension line; reversely extending the central line of the next road vector adjacent to the road vector A from the starting point of the next road vector to obtain a second extension line; determining an intersection point of the first extension line and the second extension line; connecting the intersection point with the end point of the previous road vector to obtain a first line segment, and connecting the intersection point with the starting point of the next road vector to obtain a second line segment; determining a left boundary and a right boundary of a road corresponding to the road vector A based on the road attribute used for indicating the number of lanes in the road attributes of the road vector A, and judging whether the intersection point, the first line segment and the second line segment are all positioned between the left boundary and the right boundary of the road corresponding to the road vector A; and if the intersection point, the first line segment and the second line segment are all positioned between the left boundary and the right boundary of the road corresponding to the road vector A, determining a broken line formed by the first line segment and the second line segment as the optimized road vector A.

According to the sequence from the flight starting point to the flight ending point, the road vector immediately behind the road vector A is the next road vector adjacent to the road vector A, and the road vector immediately before the road quantity A is the previous road vector adjacent to the road vector A. Also, typically, the road vector characterizing a road is the centerline of the road. Based on this, the smart device may extend the previous road vector from the end point to the direction of the road vector a to obtain a first extension line, and extend the next road vector a from the start point to the direction of the road vector a to obtain a second extension line, where the two extension lines intersect at a point. Considering that a high obstacle may exist in the center of the roundabout, if a broken line segment formed by connecting three points, namely the end point of the previous road vector, the intersection point of two extension lines and the start point of the next road vector, is taken as an optimized road vector a, the optimized road vector a is likely to pass through the obstacle, so that when the flying equipment flies on the optimized road vector a, the flying equipment is likely to collide with the obstacle, and the risk is high. In this case, after determining the intersection point of the two extension lines, the smart device may connect the intersection point with the end point of the previous road vector to obtain a first line segment, connect the intersection point with the start point of the next road vector to obtain a second line segment, and further determine the left boundary and the right boundary of the road corresponding to the road vector a, so as to determine whether the intersection point, the first line segment, and the second line segment are located on the road corresponding to the road vector. The intelligent device may obtain the number of lanes indicated in the road attribute corresponding to the road vector a, and since the width of each lane is fixed, the width L of the road corresponding to the road vector a may be calculated according to the number of lanes. As can be seen from the foregoing description, since the road vector representing a road is usually the center line of the road vector, two lines at positions L/2 away from the left and right of the road vector a are the left and right boundaries of the corresponding road of the road vector a. Then, the intelligent device may determine whether the intersection point, the first line segment, and the second line segment are all located between the left boundary and the right boundary, and if the intersection point, the first line segment, and the second line segment are all located between the left boundary and the right boundary, the flying device will not collide with an obstacle in the center of the roundabout when flying along the first line segment and the second line segment, that is, the intelligent device may determine a broken line segment formed by the first line segment and the second line segment as the optimized road vector a.

Fig. 3C is a schematic diagram illustrating an optimization of the surrounding path in the road vector a according to an embodiment of the present invention. As shown in FIG. 3C, assume that the end point of the previous road vector adjacent to the road vector A is O₁The starting point of the next road vector adjacent to the road vector A is O₂. Vector of last road from O₁Starting to extend to obtain the first extension line and the next path vector from O₂And starting to extend reversely to obtain a second extension line. The first extension line and the second extension line intersect at a point B. At this time, as shown in FIG. 3C, the point B and the first line segment O₁B and a second line segment O₂B is located between the left and right boundaries of the road corresponding to the road vector A, in which case the line segment O may be divided into₁B and line segment O₂And B, determining the broken line segment as the optimized road vector A.

The second mode is as follows: if the path distance of the surrounding path is greater than the path distance of the reverse surrounding path, the surrounding path is replaced by the reverse surrounding path, and the reverse surrounding path is the path which is the same as the starting point and the end point of the surrounding path in the road vector A and has the opposite surrounding direction.

In this regard, two surrounding directions are often present at a round intersection, and when a vehicle passes through the round intersection, it is generally necessary to determine in which direction the vehicle is to surround according to the exit direction of the vehicle. And for flying equipment, the surrounding can be performed from any direction. Based on this, in order to reduce the flight distance of the flight device as much as possible and reduce the resource consumption of the flight device, the smart device may determine the size of the path distance of the surrounding path and the path distance of the reverse surrounding path. If the path distance of the surrounding path is greater than the path distance of the reverse surrounding path, the surrounding path can be directly replaced by the reverse surrounding path to complete the optimization of the road vector a. The reverse circulation path is a path having the same start point and end point as the circulation path but the opposite circulation direction. For example, if the surrounding direction of the surrounding path is clockwise, the surrounding direction of the reverse surrounding path is counterclockwise, and if the surrounding direction of the surrounding path is counterclockwise, the surrounding direction of the reverse surrounding path is clockwise.

Fig. 3D is a schematic diagram illustrating an optimization of the surrounding path in the road vector a according to an embodiment of the present invention. As shown in fig. 3D, the surrounding path in the road vector a is shown by a dotted line in the figure, the surrounding direction of the surrounding path is counterclockwise, the reverse surrounding path is shown by a thick solid line in the figure, and the surrounding direction is clockwise. Since the surrounding path is larger than the reverse surrounding path, the smart device can directly replace the surrounding path with the reverse surrounding path to complete the optimization of the surrounding path in the road vector a.

In addition, for the road vector of the non-overhead or overpass in the target route, when the plane height of the road vector is set, the setting may be performed in accordance with the plane height of the road vector provided in (ii).

In practical applications, there may be road vectors with other road attributes, and the intelligent device may optimize the road vectors and the plane heights of the road vectors that need to be optimized according to differences in motion characteristics between the flying device and the ground-based traveling vehicle, so as to reduce the flying distance of the flying device and reduce the risk of collision with obstacles.

Step 305: and determining the flight path information of the flight equipment from the flight starting point to the flight end point based on the optimized road vector and the plane height of the road vector.

In the embodiment of the present invention, after optimizing each road vector included in the target path and the plane height of each road vector, the intelligent device may sequentially connect each optimized road vector in order from the flight starting point to the flight ending point, so as to obtain a flight path from the flight starting point to the flight ending point. Then, the smart device may determine the plane height of each road vector connecting the obtained flight path and constituting the flight path as the flight path information of the flight device from the flight starting point to the flight terminal.

It should be noted that, the step of determining the flight path by the intelligent device and the step of setting the plane height of each road vector in step 304 may be executed at the same time, or the step of determining the flight path may be executed first, and then the step of setting the plane height of each road vector in step 304 is executed.

After the flight path information is determined, the intelligent device can output the determined flight path information as a planning result of the flight path. The flying device can fly from the flying starting point to the flying terminal point according to the determined plane height of each road vector according to the flying path in the flying path information.

In the embodiment of the invention, the intelligent device can call the electronic map to determine the target path from the flight starting point to the flight ending point of the flight device, and the target path is a road planned for a ground driving vehicle by the electronic map, so that the overhead of the target path is basically a clearance area, the flight path is planned on the basis of the target path, and a large number of high-rise buildings in a city can be effectively avoided. After the target path is determined, the intelligent device can optimize each road vector according to the road attribute of the target path, that is, the intelligent device can optimize the road vector which is not suitable for the flight of the flight device in the target path according to the flight characteristics of the flight device, so that the optimized road vector better conforms to the flight characteristics of the flight device, the flight distance of the flight device is shortened to the greatest extent, and the applicability of the planned flight path is improved. In addition, the intelligent device can set the plane height of each road vector according to at least one corresponding road attribute of each road vector, namely, the plane height of the corresponding road vector can be set to different heights according to different road attributes, so that the flight device can fly according to the plane height of each road vector, collision between the flight device and an obstacle is avoided, and adverse effect on task execution when the flight device is too high in flight height is avoided.

Next, a device for planning a flight path of a flight device according to an embodiment of the present invention will be described.

Referring to fig. 4A, an embodiment of the present invention provides an apparatus 400 for planning a flight path of a flight device, where the apparatus 400 includes:

a first determining module 401, configured to determine a target path from a flight starting point to a flight ending point of a flight device;

an obtaining module 402, configured to obtain road vectors and road attributes included in a target path, where each road vector corresponds to at least one road attribute;

an optimizing module 403, configured to optimize a road vector and a plane height of the road vector based on the road attribute;

and the planning module 404 is configured to determine flight path information of the flight device from the flight starting point to the flight ending point based on the optimized road vector and the plane height of the road vector.

Alternatively, referring to fig. 4B, the first determining module 401 includes:

the calling sub-module 4011 is used for calling the electronic map;

the obtaining sub-module 4012 is configured to obtain, from the electronic map, a plurality of paths from the flight starting point to the flight ending point and a path distance corresponding to each path, where each path in the plurality of paths includes a plurality of road vectors;

the first determining sub-module 4013 is configured to determine, as the target path, a path with the shortest path distance among the multiple paths.

Optionally, the apparatus further comprises:

alternatively, the first and second electrodes may be,

the processing module is used for acquiring road vectors in a preset area covering a flight starting point and a flight ending point in the electronic map, deleting the road attribute which is used for indicating that the corresponding road vector is a one-way road in the acquired road vectors, or modifying the road attribute which is used for indicating that the corresponding road vector is the one-way road in the acquired road vectors into the road attribute which is used for indicating that the corresponding road vector is a two-way road.

Optionally, referring to fig. 4C, the apparatus 400 further comprises:

a determining module 405, configured to determine whether a road attribute for indicating that the road vector is a tunnel exists in the road attributes of the target path;

a second determining module 406, configured to determine that the target route is a no-flight route if a road attribute indicating that the road vector is a tunnel exists;

and an optimizing module 403, configured to optimize the road vector and the plane height of the road vector based on the road attribute when the road attribute for indicating that the road vector is the tunnel does not exist.

Optionally, the optimizing module 403 is configured to:

and optimizing each road vector and the plane height of each road vector one by one according to the sequence from the flight starting point to the flight ending point and on the basis of the road attribute of each road vector until the road vector of the target path and the plane height of each road vector are optimized.

Optionally, referring to fig. 4D, the optimization module 403 includes:

the first judging submodule 4031 is configured to judge, for any one of the road vectors a of the target path, whether a first attribute is included in road attributes of the road vector a, where the first attribute is used to indicate that the road vector a is an overhead or overpass;

a setting submodule 4032 for acquiring the height of the overhead or overpass if the first attribute is included, and setting the plane height of the road vector a based on the height of the overhead or overpass;

a second determination submodule 4033, configured to determine whether a surrounding path exists in the road vector a;

and the optimization submodule 4034 is configured to optimize the surrounding path in the road vector a if the surrounding path exists.

Optionally, the optimization sub-module 4034 is specifically configured to:

reversely extending the next road vector adjacent to the road vector A from the starting point of the next road vector to obtain a second extension line;

determining an intersection point of the first extension line and the second extension line;

and determining a line segment between the end point and the intersection point of the previous road vector and a line segment between the intersection point and the starting point of the next road vector as the optimized road vector A.

Optionally, the optimization module comprises:

the judging submodule is used for judging whether a second attribute exists in the road attributes of the road vector A or not for any road vector A in the road vectors of the target path, and the second attribute is used for indicating that the road vector A is a disc intersection;

and the optimization submodule is used for setting the plane height of the road vector A as a preset height and optimizing the surrounding path in the road vector A if the second attribute is included.

Optionally, the optimization submodule is specifically configured to:

connecting the intersection with the end point of the previous road vector to obtain a first line segment, and connecting the intersection with the starting point of the next road vector to obtain a second line segment;

Optionally, the optimization submodule is specifically configured to:

if the path distance of the surrounding path is greater than the path distance of the reverse surrounding path, the surrounding path is replaced by the reverse surrounding path, and the reverse surrounding path is the path which is the same as the starting point and the end point of the surrounding path in the road vector A and has the opposite surrounding direction.

Optionally, referring to fig. 4E, the planning module 404 includes:

the connecting sub-module 4041 is used for sequentially connecting the optimized road vectors to obtain a flight path;

a second determining sub-module 4042, configured to determine the flight path and the plane height of each road vector as flight path information of the flying apparatus from the flight starting point and the flight ending point.

In summary, in the embodiment of the present invention, a target path from a flight start point to a flight end point of a flight device is determined, a road vector and a road attribute of the target path are obtained, each road vector corresponds to at least one road attribute, a plane height of the road vector and a plane height of the road vector are optimized based on the road attribute, and flight path information of the flight device from the flight start point and the flight end point is determined based on the optimized plane heights of the road vector and the road vector. Therefore, in the embodiment of the invention, each road vector and the plane height of each road vector can be optimized according to at least one road attribute corresponding to each road vector in a plurality of road vectors included in the target path, so that the flight path obtained by planning according to the optimized road vectors and the plane heights of the road vectors is more suitable for the flight of flight equipment, and the applicability of the planned flight path is improved.

It should be noted that: in the device for planning a flight path of a flight device according to the embodiment, when the flight path of the flight device is planned, only the division of the functional modules is illustrated, and in practical application, the function distribution may be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules, so as to complete all or part of the functions described above. In addition, the device for planning the flight path of the flight device provided by the above embodiment and the method embodiment for planning the flight path of the flight device belong to the same concept, and the specific implementation process is detailed in the method embodiment and is not described herein again.

Fig. 5 shows a block diagram of an intelligent device 500 according to an exemplary embodiment of the present invention. The intelligent device may be an intelligent device in the system architecture shown in fig. 1, that is, the intelligent device may be an intelligent device integrated or carried in the flight device, or an intelligent device independent of the flight device and used for flight path planning. Wherein the smart device 500 may be: industrial computers, industrial personal computers, notebook computers, desktop computers, smart phones or tablet computers, and the like. Smart device 500 may also be referred to by other names as user device, portable smart device, laptop smart device, desktop smart device, and so on.

In general, the smart device 500 includes: a processor 501 and a memory 502.

The processor 501 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so on. The processor 501 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 501 may also include a main processor and a coprocessor, where the main processor is a processor for Processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 501 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the display screen. In some embodiments, processor 501 may also include an AI (Artificial Intelligence) processor for processing computational operations related to machine learning.

Memory 502 may include one or more computer-readable storage media, which may be non-transitory. Memory 502 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 502 is used to store at least one instruction for execution by processor 501 to implement the method of planning a flight path of a flight device provided by method embodiments herein.

In some embodiments, the smart device 500 may further optionally include: a peripheral interface 503 and at least one peripheral. The processor 501, memory 502 and peripheral interface 503 may be connected by a bus or signal lines. Each peripheral may be connected to the peripheral interface 503 by a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 504, touch screen display 505, camera 506, audio circuitry 507, positioning components 508, and power supply 509.

The peripheral interface 503 may be used to connect at least one peripheral related to I/O (Input/Output) to the processor 501 and the memory 502. In some embodiments, the processor 501, memory 502, and peripheral interface 503 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 501, the memory 502, and the peripheral interface 503 may be implemented on a separate chip or circuit board, which is not limited in this embodiment.

The Radio Frequency circuit 504 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuitry 504 communicates with communication networks and other communication devices via electromagnetic signals. The rf circuit 504 converts an electrical signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 504 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuitry 504 may communicate with other smart devices via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: the world wide web, metropolitan area networks, intranets, generations of mobile communication networks (2G, 3G, 4G, and 5G), Wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the rf circuit 504 may further include NFC (Near field communication) related circuits, which are not limited in this application.

The display screen 505 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 505 is a touch display screen, the display screen 505 also has the ability to capture touch signals on or over the surface of the display screen 505. The touch signal may be input to the processor 501 as a control signal for processing. At this point, the display screen 505 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display screen 505 may be one, providing the front panel of the smart device 500; in other embodiments, the number of the display screens 505 may be at least two, and each of the display screens is disposed on a different surface of the smart device 500 or is in a folding design; in still other embodiments, the display 505 may be a flexible display disposed on a curved surface or on a folded surface of the smart device 500. Even more, the display screen 505 can be arranged in a non-rectangular irregular figure, i.e. a shaped screen. The Display screen 505 may be made of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), and other materials.

The camera assembly 506 is used to capture images or video. Optionally, camera assembly 506 includes a front camera and a rear camera. Generally, the front camera is arranged on the front panel of the intelligent device, and the rear camera is arranged on the back of the intelligent device. In some embodiments, the number of the rear cameras is at least two, and each rear camera is any one of a main camera, a depth-of-field camera, a wide-angle camera and a telephoto camera, so that the main camera and the depth-of-field camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize panoramic shooting and VR (Virtual Reality) shooting functions or other fusion shooting functions. In some embodiments, camera assembly 506 may also include a flash. The flash lamp can be a monochrome temperature flash lamp or a bicolor temperature flash lamp. The double-color-temperature flash lamp is a combination of a warm-light flash lamp and a cold-light flash lamp, and can be used for light compensation at different color temperatures.

Audio circuitry 507 may include a microphone and a speaker. The microphone is used for collecting sound waves of a user and the environment, converting the sound waves into electric signals, and inputting the electric signals to the processor 501 for processing, or inputting the electric signals to the radio frequency circuit 504 to realize voice communication. For the purpose of stereo sound collection or noise reduction, a plurality of microphones may be provided at different positions of the smart device 500. The microphone may also be an array microphone or an omni-directional pick-up microphone. The speaker is used to convert electrical signals from the processor 501 or the radio frequency circuit 504 into sound waves. The loudspeaker can be a traditional film loudspeaker or a piezoelectric ceramic loudspeaker. When the speaker is a piezoelectric ceramic speaker, the speaker can be used for purposes such as converting an electric signal into a sound wave audible to a human being, or converting an electric signal into a sound wave inaudible to a human being to measure a distance. In some embodiments, audio circuitry 507 may also include a headphone jack.

The positioning component 508 is used to locate the current geographic Location of the smart device 500 for navigation or LBS (Location Based Service). The Positioning component 508 may be a Positioning component based on the GPS (Global Positioning System) of the united states, the beidou System of china, or the galileo System of the european union.

The power supply 509 is used to power the various components in the smart device 500. The power source 509 may be alternating current, direct current, disposable or rechargeable. When power supply 509 includes a rechargeable battery, the rechargeable battery may be a wired rechargeable battery or a wireless rechargeable battery. The wired rechargeable battery is a battery charged through a wired line, and the wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery may also be used to support fast charge technology.

In some embodiments, the smart device 500 also includes one or more sensors 510. The one or more sensors 510 include, but are not limited to: acceleration sensor 511, gyro sensor 512, pressure sensor 513, fingerprint sensor 514, optical sensor 515, and proximity sensor 516.

The acceleration sensor 511 may detect the magnitude of acceleration in three coordinate axes of the coordinate system established with the smart device 500. For example, the acceleration sensor 511 may be used to detect components of the gravitational acceleration in three coordinate axes. The processor 501 may control the touch screen 505 to display the user interface in a landscape view or a portrait view according to the gravitational acceleration signal collected by the acceleration sensor 511. The acceleration sensor 511 may also be used for acquisition of motion data of a game or a user.

The gyro sensor 512 may detect a body direction and a rotation angle of the smart device 500, and the gyro sensor 512 may cooperate with the acceleration sensor 511 to acquire a 3D motion of the user on the smart device 500. The processor 501 may implement the following functions according to the data collected by the gyro sensor 512: motion sensing (such as changing the UI according to a user's tilting operation), image stabilization at the time of photographing, game control, and inertial navigation.

The pressure sensors 513 may be disposed on a side bezel of the smart device 500 and/or underneath the touch screen display 505. When the pressure sensor 513 is disposed on the side frame of the smart device 500, the holding signal of the user to the smart device 500 may be detected, and the processor 501 performs left-right hand recognition or shortcut operation according to the holding signal collected by the pressure sensor 513. When the pressure sensor 513 is disposed at the lower layer of the touch display screen 505, the processor 501 controls the operability control on the UI interface according to the pressure operation of the user on the touch display screen 505. The operability control comprises at least one of a button control, a scroll bar control, an icon control and a menu control.

The fingerprint sensor 514 is used for collecting a fingerprint of the user, and the processor 501 identifies the identity of the user according to the fingerprint collected by the fingerprint sensor 514, or the fingerprint sensor 514 identifies the identity of the user according to the collected fingerprint. Upon recognizing that the user's identity is a trusted identity, the processor 501 authorizes the user to perform relevant sensitive operations including unlocking the screen, viewing encrypted information, downloading software, paying, and changing settings, etc. The fingerprint sensor 514 may be disposed on the front, back, or side of the smart device 500. When a physical button or vendor Logo is provided on the smart device 500, the fingerprint sensor 514 may be integrated with the physical button or vendor Logo.

The optical sensor 515 is used to collect the ambient light intensity. In one embodiment, the processor 501 may control the display brightness of the touch display screen 505 based on the ambient light intensity collected by the optical sensor 515. Specifically, when the ambient light intensity is high, the display brightness of the touch display screen 505 is increased; when the ambient light intensity is low, the display brightness of the touch display screen 505 is turned down. In another embodiment, processor 501 may also dynamically adjust the shooting parameters of camera head assembly 506 based on the ambient light intensity collected by optical sensor 515.

The proximity sensor 516, also called a distance sensor, is typically disposed on the front panel of the smart device 500. The proximity sensor 516 is used to capture the distance between the user and the front of the smart device 500. In one embodiment, when the proximity sensor 516 detects that the distance between the user and the front surface of the smart device 500 gradually decreases, the processor 501 controls the touch display screen 505 to switch from the bright screen state to the dark screen state; when the proximity sensor 516 detects that the distance between the user and the front surface of the smart device 500 becomes gradually larger, the processor 501 controls the touch display screen 505 to switch from the screen-on state to the screen-on state.

That is, not only is the apparatus for planning the flight path of the flight device provided by the embodiments of the present invention, which can be applied to the intelligent device 500 described above and includes a processor and a memory for storing executable instructions of the processor, where the processor is configured to execute the method in the embodiments shown in fig. 2 and 3A, but also the embodiments of the present invention provide a computer-readable storage medium, in which a computer program is stored, and the computer program can implement the method in the embodiments shown in fig. 2 and 3A when the computer program is executed by the processor.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. A flight path planning method for flight equipment is characterized by comprising the following steps:

acquiring road vectors and road attributes included in the target path, wherein each road vector corresponds to at least one road attribute;

2. The method of claim 1, wherein determining a target path from a flight origin to a flight destination of a flying apparatus comprises:

calling an electronic map;

3. The method of claim 1, wherein prior to determining the target path from the flight origin to the flight destination of the flying apparatus, the method further comprises:

alternatively, the first and second electrodes may be,

4. The method of claim 1, wherein before optimizing the road vector and the planar height of the road vector based on the road attribute, further comprising:

5. The method of claim 1, wherein optimizing the road vector and the planar height of the road vector based on the road attribute comprises:

and optimizing the plane height of each road vector and the plane height of each road vector one by one according to the sequence from the flight starting point to the flight ending point and on the basis of the road attribute of each road vector until the plane height of the road vector and the road vector of the target path is optimized.

6. The method of any of claims 1-5, wherein optimizing the road vector and the road vector for planar height based on the road attribute comprises:

judging whether a surrounding path exists in the road vector A or not;

7. The method of claim 6, wherein the optimizing the surrounding path in the road vector A comprises:

8. The method of any of claims 1-5, wherein optimizing the road vector and the road vector for planar height based on the road attribute comprises:

and if the second attribute is included, setting the plane height of the road vector A as a preset height, and optimizing the surrounding path in the road vector A.

9. The method of claim 8, wherein the optimizing the surrounding path in the road vector a comprises:

10. The method of claim 8, wherein the optimizing the surrounding path in the road vector a comprises:

11. The method of claim 1, wherein determining flight path information of the flying apparatus from the flight starting point to the flight ending point based on the optimized road vector and the plane height of the road vector comprises:

sequentially connecting the optimized road vectors to obtain a flight path;

determining the flight path and the plane height of each road vector as flight path information of the flying device from the flight starting point to the flight ending point.

12. An apparatus for planning a flight path of a flight device, the apparatus comprising:

13. The apparatus of claim 12, wherein the first determining module comprises:

the calling submodule is used for calling the electronic map;

14. The apparatus of claim 12, further comprising:

alternatively, the first and second electrodes may be,

15. The apparatus of claim 12, further comprising:

16. The apparatus of claim 12, wherein the optimization module is configured to:

17. The apparatus of any of claims 12-16, wherein the optimization module comprises:

the first judgment submodule is used for judging whether the road attributes of the road vector A comprise first attributes or not for any road vector A in the road vectors of the target path, and the first attributes are used for indicating that the road vector A is an overhead or overpass;

18. The apparatus of claim 17, wherein the optimization submodule is specifically configured to:

19. The apparatus of any of claims 12-16, wherein the optimization module comprises:

and the optimization submodule is used for setting the plane height of the road vector A to be a preset height and optimizing a surrounding path in the road vector A if the second attribute is included.

20. The apparatus of claim 19, wherein the optimization submodule is specifically configured to:

21. The apparatus of claim 19, wherein the optimization submodule is specifically configured to:

22. The apparatus of claim 12, wherein the planning module comprises:

and the second determining sub-module is used for determining the flight path and the plane height of each road vector as the flight path information of the flight equipment from the flight starting point to the flight ending point.

23. An arrangement for planning a flight path of a flight device, characterized in that the arrangement comprises

A processor;

a memory for storing processor-executable instructions;

wherein the processor executes executable instructions in the memory to perform the method of any of claims 1-11.

24. A computer-readable storage medium, characterized in that the storage medium has stored therein a computer program which, when being executed by a processor, carries out the method of any one of claims 1-11.