CN110570692A

CN110570692A - Unmanned aerial vehicle air route detection method and device

Info

Publication number: CN110570692A
Application number: CN201810574101.8A
Authority: CN
Inventors: 蔡思杰
Original assignee: Hangzhou Haikang Robot Technology Co Ltd
Current assignee: Hangzhou Hikvision Digital Technology Co Ltd; Hangzhou Hikrobot Co Ltd
Priority date: 2018-06-06
Filing date: 2018-06-06
Publication date: 2019-12-13
Anticipated expiration: 2038-06-06
Also published as: CN110570692B

Abstract

the embodiment of the application provides a method and a device for detecting an unmanned aerial vehicle route. The method comprises the following steps: when the situation that a user adds a target waypoint to the flight task of the unmanned aerial vehicle is detected, obtaining the target waypoint added by the user for the flight task of the unmanned aerial vehicle; when the target waypoint meets the preset obstacle condition, outputting prompt information; and the prompt information is used for prompting that the air route set for the unmanned aerial vehicle has obstacles. Therefore, through the scheme, whether the obstacle exists in the air route appointed by the user can be quickly and effectively detected.

Description

unmanned aerial vehicle air route detection method and device

Technical Field

The application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle route detection method and device.

Background

unmanned vehicles, i.e., drones, are unmanned aerial vehicles that are operated by radio remote control devices and self-contained program control devices. Unmanned aerial vehicle is the general term of unmanned vehicles in fact, and it can be divided into from the technical perspective to define unmanned aerial vehicle: unmanned helicopters, unmanned fixed wing aircraft, unmanned multi-rotor aircraft, unmanned airships, unmanned paragliders, and the like. Compared with a manned airplane, the unmanned aerial vehicle has the advantages of small size, low manufacturing cost, convenience in use, low requirement on operating environment and the like.

For tasks in complex environments such as mountain patrol, deep forest search and rescue and the like, the unmanned aerial vehicle can be controlled to fly at low altitude to execute the tasks due to great inconvenience and danger of manual execution. However, because the environment is complex, how to quickly and effectively detect whether the route designated by the user has obstacles is a problem to be solved urgently.

Disclosure of Invention

an object of the embodiments of the present application is to provide a method and an apparatus for detecting an unmanned aerial vehicle route, so as to quickly and effectively detect whether an obstacle exists in a route designated by a user. The specific technical scheme is as follows:

In a first aspect, an embodiment of the present application provides an unmanned aerial vehicle route detection method, including:

when the situation that a user adds a target waypoint to the flight task of the unmanned aerial vehicle is detected, obtaining the target waypoint added by the user for the flight task of the unmanned aerial vehicle;

when the target waypoint meets the preset obstacle condition, outputting prompt information; and the prompt information is used for prompting that the air route set for the unmanned aerial vehicle has obstacles.

optionally, when the target waypoint meets the preset obstacle condition, before outputting the prompt information, the method further includes:

Judging whether the elevation value corresponding to the target waypoint is greater than the height value of the target waypoint or not under the condition that the target waypoint is the first waypoint;

The target waypoint meeting the preset obstacle condition comprises: and the elevation value corresponding to the target waypoint is greater than the height value of the target waypoint.

determining a previous waypoint corresponding to the target waypoint under the condition that the target waypoint is a non-first waypoint;

judging whether the route taking the previous waypoint as a starting point and the target waypoint as a terminal point is lower than the ground or not;

The target waypoint meeting the preset obstacle condition comprises: the last waypoint is used as a starting point, and the route taking the target waypoint as a terminal point is lower than the ground.

optionally, the step of determining whether the route with the previous waypoint as the starting point and the target waypoint as the ending point is lower than the ground includes:

determining at least one auxiliary point between the last waypoint and the target waypoint;

And when the target waypoint and the at least one auxiliary point have points with corresponding elevation values higher than the elevation value, judging that the route taking the previous waypoint as a starting point and the target waypoint as an end point is lower than the ground.

optionally, the step of determining at least one auxiliary point between the previous waypoint and the target waypoint comprises:

Determining the longitude and latitude of at least one auxiliary point between the previous waypoint and the target waypoint, wherein the longitude of any auxiliary point is the longitude in the longitude interval corresponding to the previous waypoint and the target waypoint, and the latitude of any auxiliary point is the latitude in the latitude interval corresponding to the previous waypoint and the target waypoint;

and determining the height value of the at least one auxiliary point, wherein the height value of any auxiliary point is the height value in the height value interval corresponding to the last waypoint and the target waypoint.

Optionally, the method further comprises:

When the elevation value corresponding to the target waypoint is larger than the elevation value of the target waypoint, outputting inquiry information; the query information is used for querying whether to automatically avoid obstacles;

And when an automatic obstacle avoidance instruction sent by the user based on the inquiry information is obtained, determining an obstacle avoidance waypoint corresponding to the target waypoint, and displaying the obstacle avoidance waypoint corresponding to the target waypoint.

optionally, the step of determining an obstacle avoidance waypoint corresponding to the target waypoint includes:

Taking the position point with the corresponding longitude and latitude as the longitude and latitude of the target waypoint and the height value as a first height value as an obstacle avoidance waypoint corresponding to the target waypoint, wherein the first height value is as follows: and the value is larger than the value of the elevation value corresponding to the target waypoint.

Optionally, the method further comprises:

when the previous waypoint is used as a starting point and the route with the target waypoint as a terminal point is lower than the ground, outputting inquiry information; the query information is used for querying whether to automatically avoid obstacles;

When an automatic obstacle avoidance instruction sent by a user based on the inquiry information is obtained, determining an obstacle avoidance route corresponding to the target waypoint, and displaying the obstacle avoidance route corresponding to the target waypoint;

and the obstacle avoidance route is a route taking the last waypoint as a starting point and the target waypoint as an end point.

optionally, the method further comprises:

displaying an obstacle avoidance route corresponding to the target waypoint in a first display mode while outputting the inquiry information;

Correspondingly, the step of displaying the obstacle avoidance route corresponding to the target waypoint includes:

And displaying the obstacle avoidance route corresponding to the target waypoint in a second display mode.

optionally, the step of determining an obstacle avoidance route corresponding to the target waypoint includes:

Determining at least one outlier, the at least one outlier being: at least one auxiliary point between the previous waypoint and the target waypoint and a point of the target waypoint, which corresponds to an elevation value larger than a height value;

determining obstacle avoidance waypoints corresponding to the abnormal points;

When the target waypoint belongs to the abnormal point, taking the previous waypoint and the route corresponding to the determined obstacle avoidance waypoint as the obstacle avoidance route corresponding to the target waypoint;

and when the target waypoint does not belong to the abnormal point, taking the previous waypoint, the target waypoint and the route corresponding to the determined obstacle avoidance waypoint as an obstacle avoidance route corresponding to the target waypoint.

optionally, the step of determining an obstacle avoidance waypoint corresponding to each abnormal point includes:

aiming at each abnormal point, taking a position point with the corresponding longitude and latitude as the longitude and latitude of the abnormal point and the height value as a second height value as an obstacle avoidance navigation point corresponding to the abnormal point, wherein the second height value is as follows: a value greater than the elevation value corresponding to the abnormal point.

Aiming at an abnormal point belonging to a target waypoint, taking a point with the corresponding longitude and latitude as the longitude and latitude of the abnormal point and the height value as a third height value as an obstacle avoidance waypoint of the abnormal point, wherein the third height value is as follows: a value greater than the elevation value corresponding to the abnormal point;

for each outlier other than the target waypoint, performing the steps of:

Determining an obstacle avoidance waypoint set corresponding to the abnormal point, wherein the obstacle avoidance waypoint set at least comprises a first waypoint and a second waypoint;

Wherein the height value of the first waypoint and the height value of the second waypoint are both: a value greater than the elevation value corresponding to the abnormal point;

the longitude and latitude of the first waypoint are as follows: the longitude and latitude of any one first-class auxiliary point, and the longitude and latitude of the second navigation point are as follows: the longitude and latitude of any one of the second-type auxiliary points;

when the abnormal point is the first abnormal point between the previous waypoint and the target waypoint, the first auxiliary point is: when the abnormal point is not the first abnormal point between the previous waypoint and the target waypoint, the first type of auxiliary point is as follows: auxiliary points between the abnormal point and the corresponding last abnormal point;

When the anomaly point is the last anomaly point between the previous waypoint and the target waypoint, the second type of auxiliary point is as follows: and when the abnormal point is not the last abnormal point between the previous waypoint and the target waypoint, the second type of auxiliary point is as follows: the auxiliary point between the abnormal point and the corresponding abnormal point.

in a second aspect, an embodiment of the present application provides an unmanned aerial vehicle route detection device, including:

The target waypoint obtaining unit is used for obtaining target waypoints added by the user for the flight task of the unmanned aerial vehicle when the situation that the user adds the target waypoints to the flight task of the unmanned aerial vehicle is detected;

the prompt information output unit is used for outputting prompt information when the target waypoint meets the preset obstacle condition; and the prompt information is used for prompting that the air route set for the unmanned aerial vehicle has obstacles.

Optionally, the apparatus further comprises:

the first judgment unit is used for judging whether the elevation value corresponding to the target waypoint is greater than the height value of the target waypoint or not under the condition that the target waypoint is the first waypoint before outputting prompt information when the target waypoint meets the preset obstacle condition;

optionally, the apparatus further comprises:

The waypoint determining unit is used for determining the previous waypoint corresponding to the target waypoint under the condition that the target waypoint is a non-first waypoint before outputting prompt information when the target waypoint meets the preset obstacle condition;

the second judgment unit is used for judging whether the route taking the previous waypoint as a starting point and the target waypoint as an end point is lower than the ground or not;

Optionally, the second judging unit includes:

a determining subunit, configured to determine at least one auxiliary point between the previous waypoint and the target waypoint;

and the judging subunit is used for judging that the route taking the previous waypoint as a starting point and the target waypoint as an end point is lower than the ground when the corresponding point with the elevation value higher than the height value exists in the target waypoint and the at least one auxiliary point.

Optionally, the determining subunit is specifically configured to:

Optionally, on the premise that the first determining unit is included, the apparatus further includes:

the first output unit is used for outputting inquiry information when the elevation value corresponding to the target waypoint is larger than the height value of the target waypoint; the query information is used for querying whether to automatically avoid obstacles;

the first processing unit is used for determining an obstacle avoidance waypoint corresponding to the target waypoint when an automatic obstacle avoidance instruction sent by a user based on the inquiry information is obtained;

and the first display unit is used for displaying the obstacle avoidance waypoints corresponding to the target waypoints.

optionally, the first processing unit is specifically configured to:

when an automatic obstacle avoidance instruction sent by a user based on the inquiry information is obtained, the corresponding longitude and latitude is the longitude and latitude of the target waypoint, and the position point with the height value as a first height value is used as the obstacle avoidance waypoint corresponding to the target waypoint, wherein the first height value is as follows: and the value is larger than the value of the elevation value corresponding to the target waypoint.

Optionally, on the premise that the device includes a waypoint determining unit and the second determining unit, the device further includes:

The second output unit is used for outputting inquiry information when the previous waypoint is used as a starting point and a route taking the target waypoint as a terminal point is lower than the ground; the query information is used for querying whether to automatically avoid obstacles;

The second processing unit is used for determining an obstacle avoidance route corresponding to the target waypoint when an automatic obstacle avoidance instruction sent by a user based on the inquiry information is obtained;

the second display unit is used for displaying the obstacle avoidance route corresponding to the target waypoint;

optionally, the apparatus further comprises:

The third display unit is used for displaying the obstacle avoidance route corresponding to the target waypoint in a first display mode while outputting the inquiry information;

correspondingly, the second display unit is specifically configured to:

optionally, the second processing unit comprises:

an anomaly determination subunit, configured to determine at least one anomaly, where the at least one anomaly is: at least one auxiliary point between the previous waypoint and the target waypoint and a point of the target waypoint, which corresponds to an elevation value larger than a height value;

The obstacle avoidance waypoint determining subunit is used for determining obstacle avoidance waypoints corresponding to the abnormal points;

the first route determining subunit is configured to, when the target waypoint belongs to an abnormal point, use the previous waypoint and a route corresponding to the determined obstacle avoidance waypoint as an obstacle avoidance route corresponding to the target waypoint;

And the second route determining subunit is used for taking the previous waypoint, the target waypoint and the route corresponding to the determined obstacle avoidance waypoint as the obstacle avoidance route corresponding to the target waypoint when the target waypoint does not belong to the abnormal point.

optionally, the obstacle avoidance waypoint determining subunit is specifically configured to:

for each outlier other than the target waypoint, performing the steps of:

in a third aspect, an embodiment of the present application provides an electronic device, including a processor and a memory, where,

a memory for storing a computer program;

And the processor is used for realizing the steps of the unmanned aerial vehicle route detection method provided by the embodiment of the application when executing the program stored in the memory.

in a fourth aspect, the present application provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the unmanned aerial vehicle route detection method provided in the present application are implemented.

according to the scheme provided by the embodiment of the application, when the situation that the target waypoints are added to the flight task of the unmanned aerial vehicle by the user is detected, the target waypoints added to the flight task of the unmanned aerial vehicle by the user are obtained; when the target waypoint meets the preset obstacle condition, outputting prompt information; wherein, this tip information is used for the suggestion to have the obstacle for the airline that unmanned aerial vehicle set for. Therefore, whether the obstacle exists in the air route appointed by the user can be detected in real time when the user adds the target waypoint, and therefore the obstacle exists in the air route appointed by the user can be detected quickly and effectively through the scheme.

of course, it is not necessary for any product or method of the present application to achieve all of the above-described advantages at the same time.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a flowchart of an unmanned aerial vehicle route detection method according to an embodiment of the present disclosure;

Fig. 2 is another flowchart of a method for detecting a route of an unmanned aerial vehicle according to an embodiment of the present disclosure;

fig. 3 is another flowchart of a method for detecting routes of an unmanned aerial vehicle according to an embodiment of the present disclosure;

FIG. 4 is a graphical illustration of the organization of SRTM data;

FIG. 5 is a schematic diagram of an obstacle avoidance line according to an embodiment of the present disclosure;

Fig. 6 is a schematic structural diagram of an unmanned aerial vehicle route detection apparatus provided in an embodiment of the present application;

fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

in order to quickly and effectively detect whether an obstacle exists in an air route designated by a user, the embodiment of the application provides an unmanned aerial vehicle air route detection method and device.

first, a method for detecting an unmanned aerial vehicle route provided by the embodiment of the application is introduced below.

it should be noted that an executing subject of the unmanned aerial vehicle route detection method provided by the embodiment of the present application may be an unmanned aerial vehicle route detection device. Wherein, this unmanned aerial vehicle air route detection device can operate in unmanned aerial vehicle, also can operate in the controlgear that unmanned aerial vehicle corresponds, and this is all reasonable.

as shown in fig. 1, the method for detecting an unmanned aerial vehicle route provided in the embodiment of the present application may include the following steps:

s101, when it is detected that a user adds a target waypoint to a flight task of the unmanned aerial vehicle, obtaining the target waypoint added by the user for the flight task of the unmanned aerial vehicle;

After determining that the unmanned aerial vehicle is to execute a flight task belonging to low altitude, a plurality of target waypoints corresponding to the flight task can be designated in sequence in a manual mode, and then a route corresponding to the flight task is formed. In order to quickly and effectively detect whether the obstacle exists in the route specified by the user, whether the obstacle exists in the route specified by the user can be detected in real time in the process of adding the target waypoint by the user, and specifically, the target waypoint can be detected each time the user adds one target waypoint. Based on this kind of processing thought, this unmanned aerial vehicle airline detection device can real-time detection user whether add the target waypoint to unmanned aerial vehicle's flight task, and then, when detecting that the user adds the target waypoint to unmanned aerial vehicle's flight task, obtains the target waypoint that adds for unmanned aerial vehicle's flight task, and then carries out subsequent detection flow.

It is understood that, in order to ensure that a plurality of target waypoints corresponding to the flight mission can be specified manually, a human-machine interaction interface can be provided for the user, so that the user can complete input about the plurality of target waypoints through the human-machine interaction interface. It is reasonable that the human-computer interaction interface can be displayed by the device where the unmanned aerial vehicle route determination device is located, or the human-computer interaction interface can be displayed by other devices which are communicated with the unmanned aerial vehicle route determination device.

in addition, it should be emphasized that, since a position point can be uniquely determined by the longitude, latitude and height values, when a plurality of target waypoints are added, a plurality of groups of longitude, latitude and height values need to be given, and each group of longitude, latitude and height values can determine one target waypoint. In addition, the height values of the target waypoints may be height values set by the user according to experience values, and in a specific application, the target waypoints may correspond to the same height value or different height values.

S102, when the target waypoint meets the preset obstacle condition, outputting prompt information; wherein, this tip information is used for the suggestion to have the obstacle for the airline that unmanned aerial vehicle set for.

after the target waypoint added by the user for the flight task of the unmanned aerial vehicle is obtained, the unmanned aerial vehicle route detection device can judge whether the target waypoint meets preset obstacle conditions or not, and executes different operations according to different judgment results. Specifically, when the target waypoint meets the preset obstacle condition, prompt information can be output; the prompting information is used for prompting that an obstacle exists in a route set for the unmanned aerial vehicle; and when the target waypoint does not meet the preset obstacle condition, the processing is not needed.

in a specific application, the manner of outputting the prompt message may be a voice output manner, for example: outputting the voice of the 'airline obstacle'; alternatively, a voice of "the flight path is obstructed" is output. Alternatively, the manner of outputting the prompt information may be a text output manner, for example: and popping up a bullet frame containing the 'flight path obstacle'. It should be understood that the manner in which the above-mentioned prompt message is output is merely an example, and should not be construed as a limitation on the embodiments of the present application.

it should be noted that the target waypoint may be a first waypoint or a non-first waypoint, the first waypoint is a first waypoint of a route on which the unmanned aerial vehicle depends, and the non-first waypoint is a waypoint other than the first waypoint. The target waypoint is the first waypoint and the target waypoint is the non-first waypoint, and the corresponding preset obstacle conditions can be different. Subsequently, with reference to a specific embodiment, a preset obstacle condition corresponding to a case where the target waypoint is the first waypoint and a case where the target waypoint is the non-first waypoint is described in detail.

the following introduces an unmanned aerial vehicle route detection method provided by the embodiment of the application with reference to a specific embodiment. In this embodiment, the target waypoint is the first waypoint.

As shown in fig. 2, the method for detecting an unmanned aerial vehicle route provided in the embodiment of the present application may include the following steps:

S201, when it is detected that a user adds a target waypoint to a flight task of the unmanned aerial vehicle, obtaining the target waypoint added by the user for the flight task of the unmanned aerial vehicle;

in this embodiment, the step S201 is the same as the step S101 in the above embodiment, and is not described herein again.

S202, under the condition that the target waypoint is the first waypoint, judging whether the elevation value corresponding to the target waypoint is larger than the height value of the target waypoint or not;

the elevation value is a specific value of elevation, and the elevation refers to a distance from a certain point to an absolute base plane along a plumb line direction, and is called absolute elevation, or elevation for short. The elevation value can reflect the unevenness of the terrain, and therefore the elevation value can be taken as an important factor for the flight consideration of the unmanned aerial vehicle. It should be noted that there are various ways to determine the elevation value corresponding to the target waypoint, and for clarity of the scheme and the layout, the following example describes the way to determine the elevation value corresponding to the target waypoint.

After the target waypoint added by the user for the flight task of the unmanned aerial vehicle is obtained, the unmanned aerial vehicle route detection device can judge whether the elevation value corresponding to the target waypoint is larger than the height value of the target waypoint or not under the condition that the target waypoint is judged to be the first waypoint, and different operations are executed according to different judgment results. Specifically, when it is determined that the elevation value corresponding to the target waypoint is greater than the height value of the target waypoint, it indicates that the target waypoint is lower than the ground, and at this time, S203 may be performed; and when the altitude value corresponding to the target waypoint is judged to be not more than the altitude value of the target waypoint, the target waypoint is not lower than the ground, and at the moment, the processing is not needed.

It should be noted that, in a case that the target waypoint is the first waypoint, determining whether the elevation value corresponding to the target waypoint is greater than the elevation value of the target waypoint, in this embodiment, the determining that the target waypoint meets the preset obstacle condition includes: the elevation value corresponding to the target waypoint is greater than the height value of the target waypoint.

S203, when the elevation value corresponding to the target waypoint is larger than the height value of the target waypoint, outputting prompt information; wherein, this tip information is used for the suggestion to have the obstacle for the airline that unmanned aerial vehicle set for.

When the altitude value corresponding to the target waypoint is judged to be larger than the altitude value of the target waypoint, the target waypoint is shown to be lower than the ground, and at the moment, the unmanned aerial vehicle route detection device can output prompt information; wherein, this tip information is used for the suggestion to have the obstacle for the airline that unmanned aerial vehicle set for.

when the target waypoint meets the preset obstacle condition, the user can manually correct the input target waypoint, namely, the first waypoint is input again. Optionally, the method for detecting the unmanned aerial vehicle route provided by the embodiment of the present application may further include:

When the target waypoint meets the preset obstacle condition, outputting inquiry information; the inquiry information is used for inquiring whether to automatically avoid obstacles;

in a specific application, the output mode of the query information may be a voice output mode, for example: and outputting voice information of 'whether to automatically avoid obstacles'. Alternatively, the output mode of the query information may be a text output mode, for example: and outputting a bullet frame containing information of 'whether to automatically avoid obstacles'. Of course, the output mode of the query information may be a voice output mode and is not limited to a voice output mode and a text output mode.

after outputting the query information, the user may issue an automatic obstacle avoidance instruction or a non-automatic obstacle avoidance instruction based on the query information. When the unmanned aerial vehicle route detection device obtains an automatic obstacle avoidance instruction sent by a user based on the inquiry information, an obstacle avoidance waypoint corresponding to the target waypoint can be determined, and the obstacle avoidance waypoint corresponding to the target waypoint is displayed.

it can be understood that, when the output mode of the query information is a voice output mode, the user can send out an automatic obstacle avoidance instruction or a non-automatic obstacle avoidance instruction through voice; when the output mode of the inquiry information is a text output mode, the user can click the corresponding button to send out an automatic obstacle avoidance instruction or a non-automatic obstacle avoidance instruction.

and, there are various ways to determine the obstacle avoidance waypoint corresponding to the target waypoint. In a specific implementation manner, the step of determining the obstacle avoidance waypoint corresponding to the target waypoint may include:

In this specific implementation manner, the obstacle avoidance waypoint corresponding to the target waypoint is a position point higher than the target waypoint.

optionally, the first height value may be determined in a manner that: and selecting one value from the updating range of the height value corresponding to the target waypoint as a first height value, wherein the updating range of the height value corresponding to the target waypoint is a range determined based on the height value corresponding to the target waypoint and the preset height adjustment amplitude.

for example: assuming that the predetermined height adjustment range is 20%, when the elevation value corresponding to the target waypoint is 10m, the update range of the height value corresponding to the target waypoint is (10, 12), and then one value may be selected from the update range of the height value as the first height value.

optionally, the first height value may be determined in a manner that: and performing first preset operation processing on the elevation value corresponding to the target waypoint to obtain a first processing result, and taking the first processing result as a first elevation value, wherein the first processing result is greater than the elevation value corresponding to the target waypoint.

in a specific application, for simplicity of calculation, the first predetermined operation process may be: summing the elevation value corresponding to the target waypoint and the target constant to obtain a first processing result; or, the elevation value corresponding to the target waypoint is multiplied by a predetermined multiple to obtain the first processing result, which is not limited to this. Wherein the target constants are: the height value of the target waypoint or the sum of the height value of the target waypoint and a predetermined constant. Of course, the first predetermined arithmetic processing is not limited thereto. The predetermined multiple may be an integer multiple or not, and a specific value of the predetermined multiple may be set according to a specific application scenario, which is not limited herein. The predetermined constant may be set according to a specific application scenario, and is not limited herein.

according to the scheme provided by the embodiment of the application, when the situation that the target waypoints are added to the flight task of the unmanned aerial vehicle by the user is detected, the target waypoints added to the flight task of the unmanned aerial vehicle by the user are obtained; judging whether the elevation value corresponding to the target waypoint is greater than the height value of the target waypoint or not under the condition that the target waypoint is the first waypoint; when the elevation value corresponding to the target waypoint is larger than the elevation value of the target waypoint, outputting prompt information; wherein, this tip information is used for the suggestion to have the obstacle for the airline that unmanned aerial vehicle set for. Therefore, whether the obstacle exists in the air route appointed by the user can be detected in real time when the user adds the target waypoint, and therefore the obstacle exists in the air route appointed by the user can be detected quickly and effectively through the scheme.

for clarity of the solution, the determination of the elevation corresponding to the target waypoint is described as an example.

optionally, in a specific implementation, the Elevation value corresponding to the target waypoint may be determined based on a DEM (Digital Elevation Model).

the DEM (Digital Elevation Model) is a Digital simulation of the ground terrain by using limited terrain Elevation data, that is, a Digital expression of the terrain surface morphology. The DEM is a solid ground Model that represents the elevation of the ground in the form of a set of ordered numerical arrays, and is a branch of a DTM (Digital Terrain Model) from which various other Terrain feature values can be derived. The DTM is a continuous representation method of spatial fluctuation. Also, DEM is a DTM that is essentially a discrete grid of warp and weft differences whose organization of the data is similar to image grid data, except that the value of each pixel is an elevation value.

In a data organization mode adopted by the DEM, each M-degree longitude and latitude grid is divided into a DEM tile file, wherein the specific value of M is determined based on the resolution. One DEM tile file corresponds to one elevation matrix. And the name of the DEM tile file comprises a digital identifier, wherein the digital identifier is the number of rows and columns of the longitude and latitude grids corresponding to the DEM tile file in the whole map. Specifically, the determining manner of the elevation value corresponding to any one target waypoint may include:

a1, determining a DEM tile file to which the target waypoint belongs based on the longitude and latitude of the target waypoint;

a2, determining the position coordinates of the target waypoint in the elevation matrix corresponding to the DEM tile file;

a3, determining the elevation value at the position coordinate in the elevation matrix as the elevation value corresponding to the target waypoint.

The DEM tile file to which the target waypoint belongs is determined based on the longitude and latitude of the target waypoint, and specifically comprises the following steps: and calculating the digital identifier in the name of the DEM tile file to which the target waypoint belongs by utilizing the longitude and latitude of the target waypoint.

it should be noted that, in a specific application, the data organization mode adopted by the DEM may be an SRTM (launch Radar topographies Mission, space Shuttle Radar terrain mapping Mission), and of course, other data organization modes may also be adopted. As shown in FIG. 3, FIG. 3 is a graphical illustration of the organization of SRTM data.

for the convenience of understanding, the organization mode of SRTM data with a resolution of 90m is taken as an example to describe how to determine a DEM tile file to which a target waypoint belongs and determine position coordinates of the target waypoint in an elevation matrix corresponding to the DEM tile file based on the longitude and latitude of the target waypoint. The method specifically comprises the following steps:

For the data organization mode of the SRTM with the resolution of 90m, dividing a DEM tile file into 24 lines (-60 to 60 degrees) and 72 columns (-180 to 180 degrees) in each 5-degree longitude and latitude grid; and, the file naming convention is srtm _ XX _ YY.zip, XX represents the number of columns (01-72), YY represents the number of rows (01-24), and the warp and weft differences are 0.00083333333;

Based on the longitude and latitude of the target waypoint, the calculation formula used for determining the DEM tile file to which the target waypoint belongs is as follows:

Wherein, Lng is the longitude of the target waypoint, and Lat is the latitude of the target waypoint.

Therefore, after XX and YY are calculated, the digital identification in the name of the DEM tile file where the target waypoint is located can be obtained, and the DEM tile file where the target waypoint belongs can be determined.

and, x ═ (Lng-LngS)/dLng; y ═ Lat-LatS)/dLat;

Wherein x and y are position coordinates of the target waypoint in the DEM elevation matrix, Lng and Lat are longitude and latitude of the target waypoint, LngS and LatS are initial longitude and latitude of the tile file respectively, and dLng and dLat are longitude and latitude differences.

it is emphasized that for other SRTM data organization manners with other resolutions and data organization manners other than the SRTM data organization manner adopted by the DEM, the specific implementation manner of determining the DEM tile file to which the target waypoint belongs based on the longitude and latitude of the target waypoint may refer to the data organization manner of the SRTM with the resolution of 90m given above.

The following introduces an unmanned aerial vehicle route detection method provided by the embodiment of the application with reference to a specific embodiment. In this embodiment, the target waypoint is a non-primary waypoint.

As shown in fig. 3, the method for detecting an unmanned aerial vehicle route provided in the embodiment of the present application may include the following steps:

s301, when it is detected that a user adds a target waypoint to the flight task of the unmanned aerial vehicle, obtaining the target waypoint added by the user for the flight task of the unmanned aerial vehicle;

in this embodiment, the S301 is the same as S101 in the above embodiment, and is not described herein again.

s302, under the condition that the target waypoint is a non-first waypoint, determining a previous waypoint corresponding to the target waypoint;

after the target waypoint added by the user for the flight task of the unmanned aerial vehicle is obtained, the unmanned aerial vehicle route detection device can determine the last waypoint corresponding to the target waypoint and further execute the subsequent processing flow under the condition that the target waypoint is judged to be the non-first waypoint. It can be understood that, when the added waypoint before the target waypoint meets the preset obstacle condition, the previous waypoint is the waypoint designated by the user; and when the added waypoint before the target waypoint meets the preset obstacle condition, if the user selects automatic obstacle avoidance, the previous waypoint is the waypoint which passes through the automatic obstacle avoidance and corresponds to the added waypoint before the target waypoint, and if the automatic obstacle avoidance is not selected, the previous waypoint is the waypoint input again by the user.

it should be noted that, since a position point can be uniquely determined by the longitude, latitude, and height values, when determining the previous waypoint of the target waypoint, the longitude, latitude, and height values of the previous waypoint need to be determined.

S303, judging whether the route taking the previous waypoint as a starting point and the target waypoint as a terminal point is lower than the ground or not;

After the last waypoint corresponding to the target waypoint is determined, the unmanned aerial vehicle route detection device can judge whether the route taking the last waypoint as a starting point and the target waypoint as a terminal point is lower than the ground or not, and then different operations are executed according to different judgment results. Specifically, when it is determined that the route with the previous waypoint as the starting point and the target waypoint as the ending point is lower than the ground, S304 may be performed; and when the route taking the previous waypoint as the starting point and the target waypoint as the terminal point is judged not to be lower than the ground, no processing is needed. It can be understood that, in the case that the target waypoint is a non-first waypoint, it is determined whether the route with the previous waypoint as the starting point and the target waypoint as the ending point is lower than the ground, and therefore, in this embodiment, the step that the target waypoint meets the preset obstacle condition includes: and judging that the route taking the previous waypoint as a starting point and the target waypoint as a terminal point is lower than the ground.

It should be noted that there are various specific implementation manners for determining whether the route with the previous waypoint as the starting point and the target waypoint as the ending point is lower than the ground. Optionally, in a specific implementation manner, the step of determining whether the route with the previous waypoint as the starting point and the target waypoint as the ending point is lower than the ground may include:

determining at least one auxiliary point between the previous waypoint and the target waypoint;

The greater the span between the target waypoint and the previous waypoint, the greater the range of terrain between the target waypoint and the previous waypoint, resulting in a greater probability of a terrain obstacle existing between the target waypoint and the previous waypoint. Therefore, at least one auxiliary point may be added between the previous waypoint and the target waypoint to reduce the ground span between adjacent points on the route, thereby reducing the probability of the existence of a terrain obstacle between the adjacent points. Thus, it may be determined whether a route starting at the previous waypoint and ending at the target waypoint is below ground simply by determining whether the target waypoint and the at least one assistance point are below ground.

it is understood that, since a location point can be uniquely determined by latitude and longitude and altitude values, determining at least one auxiliary point between the previous waypoint and the target waypoint may specifically include:

Determining the longitude and latitude of at least one auxiliary point between the previous waypoint and the target waypoint; the longitude of any auxiliary point is the longitude in the longitude interval corresponding to the previous waypoint and the target waypoint, and the latitude of any auxiliary point is the latitude in the latitude interval corresponding to the previous waypoint and the target waypoint;

for example: the adjacent initial waypoints are an initial waypoint a and an initial waypoint b, and the longitude and latitude of the initial waypoint a are assumed to be (Lng)_a，Lat_a) Height value of h_aAnd the longitude and latitude of the initial waypoint b is (Lng)_b，Lat_b) Height value of h_b(ii) a Then, the longitude of at least one target auxiliary point between the initial waypoint a and the initial waypoint b is a longitude interval [ Lng [ ]_a，Lng_b]longitude of (1), latitude of at least one target auxiliary point between the initial waypoint a and the initial waypoint b being a latitude interval [ Lat_a，Lat_b]The altitude value of at least one target auxiliary point between the initial waypoint a and the initial waypoint b is an altitude value interval[h_a，h_b]high value of (1).

In addition, there may be a plurality of ways to determine the number of at least one auxiliary point between the previous waypoint and the target waypoint. Optionally, in a specific implementation, the number of the at least one auxiliary point may be determined based on a DEM (digital elevation Model), specifically, the number of the at least one auxiliary point is a first number, a second number or a target number;

The target number is the maximum of the first number and a second number, the first number being the number of DEM meshes of the digital elevation model spanned between the adjacent initial waypoints in the longitudinal direction, the second number being the number of DEM meshes spanned between the adjacent initial waypoints in the latitudinal direction.

There are a variety of ways to determine the latitude and longitude and the altitude value of at least one auxiliary point between the last waypoint and the target waypoint after the determination of the number of at least one auxiliary point. Optionally, in a specific implementation manner, the step of determining the longitude and latitude of at least one auxiliary point between the previous waypoint and the target waypoint may include:

Dividing longitude distance between the previous waypoint and the target waypoint into N equal parts to obtain a first target value; wherein N is the number of the at least one auxiliary point;

Dividing the latitude distance between the previous waypoint and the target waypoint into N equal parts to obtain a second target value;

determining a longitude of a first one of the at least one auxiliary point to be: the longitude of the previous waypoint and the first target value are summed, and the latitude of the first auxiliary point is: the sum of the latitude of the previous waypoint and the second target value;

Determining the longitudes of the rest of the at least one auxiliary point except the first auxiliary point as follows: the longitude of the last auxiliary point of the auxiliary points is added to the first target value, and the latitudes of the other auxiliary points are: the sum of the latitude of the last auxiliary point of the auxiliary point and the second target value.

optionally, in a specific implementation manner, the step of determining a height value of at least one auxiliary point between the previous waypoint and the target waypoint includes:

dividing the height difference between the adjacent initial waypoints into N equal parts to obtain a third target value; wherein N is the number of the at least one auxiliary point;

determining a height value of a first one of the at least one auxiliary point as: the sum of the height value of the previous waypoint and the third target value;

Determining the height values of the rest auxiliary points except the first auxiliary point in the at least one auxiliary point as follows: the sum of the height value of the last auxiliary point of the auxiliary point and the third target value.

for the above specific implementation manner of determining the longitude and latitude and the altitude value of the at least one auxiliary point, the longitude and latitude and the altitude value of the at least one auxiliary point may be represented by the following formulas:

Lng′＝Lng _prior+(Lng_n-Lng_n-1)/N；

Lat′＝Lat_prior+(Lat_n-Lat_n-1)/N；

h′＝h_prior+(h_n-h_n-1)/N；

N is the number of auxiliary points between the previous waypoint N-1 and the target waypoint N, Lng ' and Lat ' are respectively the longitude and the latitude of the auxiliary point to be calculated, and h ' is the altitude value of the auxiliary point to be calculated;

Lng_n-1and Lat_n-1longitude and latitude, Lng, of the last waypoint n-1, respectively_nand Lat_nLongitude and latitude, h, of the target waypoint n_n-1Is the height value of the previous waypoint n-1, h_nthe height value of the target waypoint n is shown;

Lng_priorAnd Lat_priorLongitude and latitude, h, of a target point preceding the auxiliary point to be calculated, respectively_priorThe height value of the target point which is the previous auxiliary point to be calculated is the previous waypoint n-1 or the previous auxiliary point.

furthermore, the manner of determining the elevation values corresponding to the target waypoint and the at least one auxiliary point may refer to the related introduction contents given above about the manner of determining the elevation value corresponding to the target waypoint.

S304, when the previous waypoint is taken as a starting point and the route taking the target waypoint as a terminal point is lower than the ground, outputting prompt information; wherein, this tip information is used for the suggestion to have the obstacle for the airline that unmanned aerial vehicle set for.

when the last waypoint is judged as a starting point and the route with the target waypoint as a terminal point is lower than the ground, indicating that the route has an obstacle, and at the moment, outputting prompt information by the unmanned aerial vehicle route detection device; wherein, this tip information is used for the suggestion to have the obstacle for the airline that unmanned aerial vehicle set for.

When the target waypoint meets the preset obstacle condition, the user can manually correct the input target waypoint, namely, the target waypoint is input again. Optionally, the method for detecting the unmanned aerial vehicle route provided by the embodiment of the present application may further include:

when the previous waypoint is taken as a starting point and the route taking the target waypoint as a terminal point is lower than the ground, outputting inquiry information; the inquiry information is used for inquiring whether to automatically avoid obstacles;

when an automatic obstacle avoidance instruction sent by a user based on the inquiry information is obtained, an obstacle avoidance route corresponding to the target waypoint is determined, and the obstacle avoidance route corresponding to the target waypoint is displayed;

the obstacle avoidance route is a route taking the last waypoint as a starting point and the target waypoint as an end point.

after outputting the query information, the user may issue an automatic obstacle avoidance instruction or a non-automatic obstacle avoidance instruction based on the query information. When the unmanned aerial vehicle route detection device obtains an automatic obstacle avoidance instruction sent by a user based on the inquiry information, the obstacle avoidance route corresponding to the target waypoint can be determined, and the obstacle avoidance route corresponding to the target waypoint is displayed.

In addition, in order to provide a better use experience for a user, optionally, the method provided by the embodiment of the present application may further include:

When the inquiry information is output, displaying an obstacle avoidance route corresponding to the target waypoint in a first display mode;

Correspondingly, the step of displaying the obstacle avoidance route corresponding to the target waypoint may include:

wherein the second display mode is different from the first display mode. For example: the second display mode may be a solid line display mode, and the first display mode may be a dashed line display mode, but is not limited thereto.

It should be noted that there are various specific implementation manners for determining the obstacle avoidance route corresponding to the target waypoint. For example, the step of determining an obstacle avoidance route corresponding to the target waypoint may include:

Determining at least one anomaly point, the at least one anomaly point being: at least one auxiliary point between the previous waypoint and the target waypoint and a point of the target waypoint, which corresponds to an elevation value larger than a height value;

determining obstacle avoidance waypoints corresponding to the abnormal points;

And when the target waypoint does not belong to the abnormal point, taking the previous waypoint, the target waypoint and the route corresponding to the determined obstacle avoidance waypoint as the obstacle avoidance route corresponding to the target waypoint.

When the target waypoint does not belong to the abnormal point, the obstacle avoidance route needs to include the target waypoint designated by the user, so that the route corresponding to the previous waypoint, the target waypoint and the determined obstacle avoidance waypoint is taken as the obstacle avoidance route corresponding to the target waypoint. When the target waypoint belongs to the abnormal point, the target waypoint has a corresponding obstacle avoidance waypoint, and the target waypoint is not added into the obstacle avoidance route any more, so that the route corresponding to the previous waypoint and the determined obstacle avoidance waypoint is used as the obstacle avoidance route corresponding to the target waypoint.

Optionally, in a specific implementation manner, the step of determining an obstacle avoidance waypoint corresponding to each abnormal point may include:

in this implementation, the obstacle avoidance waypoints corresponding to each abnormal point are: a position point located directly above the abnormal point.

The determination method of the second height value of any abnormal point may be as follows: and selecting one value from the height value updating range corresponding to the abnormal point as a second height value, wherein the height value updating range corresponding to the abnormal point is a range determined based on the height value corresponding to the abnormal point and a preset height adjusting range.

For example: assuming that the predetermined height adjustment range is 20%, when the elevation value corresponding to the abnormal point is 10m, the update range of the elevation value corresponding to the abnormal point is (10, 12), and then one value may be selected from the update range of the elevation value as the second elevation value.

the determination method of the second height value of any abnormal point may be as follows: and performing second preset operation on the elevation value corresponding to the abnormal point to obtain a second processing result, and taking the second processing result as a second elevation value, wherein the second processing result is greater than the elevation value corresponding to the abnormal point.

In a specific application, for simplicity of calculation, the second predetermined operation process may be: summing the elevation value corresponding to the abnormal point and a target constant to obtain a second processing result; alternatively, the elevation value corresponding to the abnormal point is multiplied by a predetermined multiple to obtain the second processing result, which is not limited to this. Wherein the target constants are: the height value of the abnormal point, or the sum of the height value of the abnormal point and a predetermined constant. Of course, the second predetermined arithmetic processing is not limited thereto.

optionally, in another specific implementation manner, the step of determining an obstacle avoidance waypoint corresponding to each abnormal point may include:

Aiming at the abnormal point belonging to the target waypoint, taking the point with the corresponding longitude and latitude as the longitude and latitude of the abnormal point and the height value as a third height value as an obstacle avoidance waypoint of the abnormal point, wherein the third height value is as follows: a value greater than the elevation value corresponding to the abnormal point;

For each outlier except the target waypoint, performing the following steps:

When the anomaly point is a first anomaly point between the previous waypoint and the target waypoint, the first type auxiliary point is: when the abnormal point is not the first abnormal point between the previous waypoint and the target waypoint, the first type of auxiliary point is as follows: auxiliary points between the abnormal point and the corresponding last abnormal point;

when the outlier is the last outlier between the previous waypoint and the target waypoint, the second type of auxiliary point is: and when the abnormal point is not the last abnormal point between the previous waypoint and the target waypoint, the second type of auxiliary point is as follows: the auxiliary point between the abnormal point and the corresponding abnormal point.

In this implementation, the obstacle avoidance waypoint corresponding to the abnormal point belonging to the target waypoint is a position point higher than the abnormal point. For each abnormal point except the target waypoint, the corresponding obstacle avoidance waypoint is not: a position point located directly above the abnormality point, but position points located directly above the auxiliary points before and after the abnormality point. The set of obstacle avoidance waypoints may include at least a first waypoint and a second waypoint, although is not limited thereto.

The determination method of the third height value of the abnormal point belonging to the target waypoint may be: and selecting one value from the height value updating range corresponding to the abnormal point as a third height value, wherein the height value updating range corresponding to the abnormal point is a range determined based on the height value corresponding to the abnormal point and a preset height adjusting range. Alternatively, the third height value of the abnormal point belonging to the target waypoint may be determined in the following manner: and performing third preset operation processing on the elevation value corresponding to the abnormal point to obtain a third processing result, wherein the third processing result is used as a third elevation value, and the third processing result is larger than the elevation value corresponding to the abnormal point.

In a specific application, for simplicity of calculation, the third predetermined operation process may be: summing the elevation value corresponding to the abnormal point and a target constant to obtain a third processing result; alternatively, the elevation value corresponding to the abnormal point is multiplied by a predetermined multiple to obtain the third processing result, which is not limited to this. Wherein the target constants are: the height value of the abnormal point, or the sum of the height value of the abnormal point and a predetermined constant. Of course, the third predetermined arithmetic processing is not limited thereto.

in addition, for the determination manner of the height values of the first waypoint and the second waypoint of any one of the outliers, reference may be made to the determination manner of the third height value of the outlier belonging to the target waypoint, which is not described herein again.

for the convenience of understanding, the step of determining the obstacle avoidance waypoints corresponding to the abnormal points is described below with reference to fig. 5.

as shown in fig. 5, when it is detected that the user adds a target waypoint F, determining a previous waypoint E corresponding to the target waypoint F, and determining at least one auxiliary point between the previous waypoint E and the target waypoint F; judging that points with corresponding elevation values higher than the height value exist in the target waypoint F and the at least one auxiliary point: and the auxiliary point X1, which is used for judging that the route taking the previous waypoint as the starting point and the target waypoint as the ending point is lower than the ground.

for the abnormal point X1, the corresponding obstacle avoidance waypoints may include P1, P2, P3, and P4, where the longitude and latitude of P1 and P2 are the longitude and latitude of the previous auxiliary point of X1, the longitude and latitude of P3 and P4 are the longitude and latitude of the first non-abnormal point after X1, the height value of P1 is the height value of the previous auxiliary point of X1, the height values of P2 and P3 are the sum of the elevation value corresponding to X1 and the preset obstacle avoidance threshold, and the height value of P4 is the height value of the first non-abnormal point after X1.

as shown in fig. 5, when it is detected that the user adds a target waypoint H, determining a previous waypoint G corresponding to the target waypoint H, and determining at least one auxiliary point between the previous waypoint G and the target waypoint H; judging that points with corresponding elevation values higher than the height value exist in the target waypoint H and the at least one auxiliary point: and the auxiliary point X2, which is used for determining that the route with the previous waypoint G as the starting point and the target waypoint H as the ending point is lower than the ground.

for the abnormal point X2, the corresponding obstacle avoidance waypoints comprise P5, P6, P7 and P8, wherein the longitude and latitude of P5 and P6 are the longitude and latitude of a previous auxiliary point of X2, the longitude and latitude of P7 and P8 are the longitude and latitude of a first non-abnormal point after X2, the height value of P5 is the height value of the previous auxiliary point of X2, the height values of P6 and P7 are the sum of the elevation value corresponding to X2 and a preset obstacle avoidance threshold value, and the height value of P8 is the height value of the first non-abnormal point after X2.

According to the scheme provided by the embodiment of the application, when the situation that the target waypoints are added to the flight task of the unmanned aerial vehicle by the user is detected, the target waypoints added to the flight task of the unmanned aerial vehicle by the user are obtained; determining the last waypoint corresponding to the target waypoint under the condition that the target waypoint is not the first waypoint; judging whether the route taking the previous waypoint as a starting point and the target waypoint as a terminal point is lower than the ground or not; when the route taking the previous waypoint as a starting point and the target waypoint as a terminal point is lower than the ground, outputting prompt information; wherein, this tip information is used for the suggestion to have the obstacle for the airline that unmanned aerial vehicle set for. Therefore, whether the obstacle exists in the air route appointed by the user can be detected in real time when the user adds the target waypoint, and therefore the obstacle exists in the air route appointed by the user can be detected quickly and effectively through the scheme.

corresponding to the method embodiment, the embodiment of the application also provides an unmanned aerial vehicle route detection device. As shown in fig. 6, the apparatus may include:

The target waypoint obtaining unit 610 is configured to obtain a target waypoint added by the user for the flight task of the unmanned aerial vehicle when it is detected that the user adds the target waypoint to the flight task of the unmanned aerial vehicle;

a prompt information output unit 620, configured to output a prompt information when the target waypoint meets a preset obstacle condition; and the prompt information is used for prompting that the air route set for the unmanned aerial vehicle has obstacles.

Optionally, the apparatus may further include:

optionally, the apparatus may further include:

alternatively, the second determination unit may include:

optionally, the determining subunit is specifically configured to:

optionally, on the premise that the first determining unit is included, the apparatus may further include:

optionally, the first processing unit is specifically configured to:

Optionally, on the premise that the device includes a waypoint determining unit and the second determining unit, the device may further include:

optionally, the apparatus further comprises:

Correspondingly, the second display unit is specifically configured to:

optionally, the second processing unit comprises:

for each outlier other than the target waypoint, performing the steps of:

The embodiment of the present application further provides an electronic device, as shown in fig. 7, which includes a processor 701, a communication interface 702, a memory 703 and a communication bus 704, where the processor 701, the communication interface 702, and the memory 703 complete mutual communication through the communication bus 704,

A memory 703 for storing a computer program;

the processor 701 is configured to implement the steps of the unmanned aerial vehicle route detection method provided in the embodiment of the present application when executing the program stored in the memory 703.

the communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.

The communication interface is used for communication between the electronic equipment and other equipment.

The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.

the Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component.

In addition, the embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the unmanned aerial vehicle route detection method provided by the embodiment of the present application.

it is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

all the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.

The above description is only for the preferred embodiment of the present application, and is not intended to limit the scope of the present application. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. an unmanned aerial vehicle route detection method is characterized by comprising the following steps:

2. The method of claim 1, wherein before outputting a prompt when the target waypoint meets a preset obstacle condition, the method further comprises:

3. the method of claim 1, wherein before outputting a prompt when the target waypoint meets a preset obstacle condition, the method further comprises:

4. The method of claim 3, wherein the step of determining whether the route starting at the previous waypoint and ending at the target waypoint is below ground level comprises:

5. the method of claim 4, wherein the step of determining at least one auxiliary point between the previous waypoint and the target waypoint comprises:

6. the method of claim 2, further comprising:

7. The method of claim 6, wherein the step of determining an obstacle avoidance waypoint corresponding to the target waypoint comprises:

8. the method of claim 3, further comprising:

9. the method of claim 8, further comprising:

10. the method of claim 8 or 9, wherein the step of determining an obstacle avoidance route corresponding to the target waypoint comprises:

Determining obstacle avoidance waypoints corresponding to the abnormal points;

11. the method according to claim 10, wherein the step of determining the obstacle avoidance waypoint corresponding to each abnormal point comprises:

12. The method according to claim 10, wherein the step of determining the obstacle avoidance waypoint corresponding to each abnormal point comprises:

for each outlier other than the target waypoint, performing the steps of:

13. an unmanned aerial vehicle airline detection device, comprising:

14. The apparatus of claim 13, further comprising:

15. the apparatus of claim 13, further comprising: