CN112166394A

CN112166394A - Air route planning method, equipment, system and storage medium

Info

Publication number: CN112166394A
Application number: CN201980030367.9A
Authority: CN
Inventors: 邹亭; 赵力尧
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2019-10-31
Filing date: 2019-10-31
Publication date: 2021-01-01
Anticipated expiration: 2039-10-31
Also published as: WO2021081960A1; CN112166394B

Abstract

A method, device, system and storage medium for planning routes, wherein the method comprises the following steps: acquiring a selection operation related to a reference point on a first user interface; determining a plurality of reference points according to the selection operation; generating a first flight route according to the sequence of the selection operation and the plurality of reference points, so that the unmanned aerial vehicle executes a first designated task according to the first flight route; wherein each waypoint in the first flight path includes altitude information. The reference point is set through the selection operation, and the air route is customized and planned according to the sequence of the selection operation, so that the freedom degree of the user for editing the air route is improved, complex air routes such as ascending and descending or reciprocating and the like for multiple times are effectively avoided, and the operation efficiency of the unmanned aerial vehicle is improved.

Description

Air route planning method, equipment, system and storage medium

Technical Field

The embodiment of the invention relates to the technical field of unmanned aerial vehicle navigation, in particular to a route planning method, equipment, a system and a storage medium.

Background

Unmanned aerial vehicles are more and more widely used, such as agricultural unmanned aerial vehicles, industrial unmanned aerial vehicles and the like, and air route planning of the unmanned aerial vehicles is an important step in the application process of the unmanned aerial vehicles. Currently, route planning of unmanned aerial vehicles in application processes is to generate a working area by mapping terrain and generate a round-trip route in the working area.

However, on one hand, such a round-trip route only considers two-dimensional information of a planned area, and does not consider factors of terrain relief, which may cause the planned route to ascend and descend for many times when performing a task with complex terrain, thereby reducing the execution efficiency. On the other hand, the reciprocating route usually performs a great amount of useless movement in the reciprocating movement, and the working efficiency of the unmanned aerial vehicle is reduced. Therefore, how to plan the route more effectively is a problem to be solved.

Disclosure of Invention

The embodiment of the invention provides a route planning method, equipment, a system and a storage medium, which realize self-defined route planning, improve the freedom of a user for editing routes, effectively avoid complex routes such as ascending and descending for many times or reciprocating type and the like by means of selection of the user, and improve the operation efficiency of an unmanned aerial vehicle.

In a first aspect, an embodiment of the present invention provides a route planning method, including:

acquiring a selection operation related to a reference point on a first user interface;

determining a plurality of reference points according to the selection operation;

generating a first flight route according to the sequence of the selection operation and the plurality of reference points, so that the unmanned aerial vehicle executes a first designated task according to the first flight route;

wherein each waypoint in the first flight path includes altitude information.

In a second aspect, an embodiment of the present invention provides an airline planning apparatus, including: a memory and a processor;

the memory is used for storing programs;

the processor, configured to invoke the program, when the program is executed, is configured to perform the following operations:

wherein each waypoint in the first flight path includes altitude information.

In a third aspect, an embodiment of the present invention provides an airline planning system, including: a route planning device and an unmanned aerial vehicle,

the route planning equipment is used for acquiring a selection operation related to a reference point on the first user interface; determining a plurality of reference points according to the selection operation; generating a first flight route according to the sequence of the selection operation and the plurality of reference points, and sending the first flight route to the unmanned aerial vehicle, wherein each waypoint in the first flight route comprises height information;

the unmanned aerial vehicle is used for executing a first designated task according to the first flight route.

In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the route planning method according to the first aspect.

According to the method and the device, the selection operation about the reference point on the first user interface is obtained, the multiple reference points are determined according to the selection operation, and the first flight route is generated according to the sequence of the selection operation and the multiple reference points, so that the unmanned aerial vehicle can execute the first designated task according to the first flight route; wherein each waypoint in the first flight path includes altitude information. The reference point is set through the selection operation, the air route is customized and planned according to the sequence of the selection operation, the freedom degree of the air route edited by a user is improved, the user enables the generated air route to better reflect the intention of the user through the mode of setting the reference point, any expected air route can be generated, complex air routes such as ascending and descending or reciprocating can be effectively avoided through the selection of the user, the operation efficiency of the unmanned aerial vehicle is improved, the balance between automatic planning and manual planning is achieved, and the small manual workload is brought to great efficiency improvement.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described 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 without creative efforts.

FIG. 1 is a schematic structural diagram of a route planning system according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart diagram of a route planning method according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of an interface for selecting an operation according to an embodiment of the present invention;

FIG. 4 is a schematic interface diagram of another selection operation provided in the embodiments of the present invention;

FIG. 5a is a schematic diagram of an interface of a reference point according to an embodiment of the present invention;

FIG. 5b is an interface schematic of an airline provided by an embodiment of the present invention;

FIG. 5c is a schematic interface diagram of another airline provided in accordance with embodiments of the present invention;

FIG. 5d is an interface schematic of yet another airline provided by an embodiment of the present invention;

FIG. 6a is a schematic interface diagram of an insertion waypoint provided in accordance with an embodiment of the present invention;

FIG. 6b is a schematic interface diagram of another insertion path point provided by an embodiment of the present invention;

FIG. 7 is a schematic flow chart diagram of another route planning method provided by an embodiment of the invention;

FIG. 8 is a schematic flow chart diagram illustrating a further method for route planning according to an embodiment of the present invention;

FIG. 9 is an interface schematic of yet another airline provided by an embodiment of the present invention;

FIG. 10 is a schematic structural diagram of a route planning apparatus according to an embodiment of the present invention.

Detailed Description

Technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present disclosure, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

The air route planning method provided by the embodiment of the invention can be applied to an air route planning system, and particularly can be applied to air route planning equipment in the air route planning system. In certain embodiments, the airline planning system further comprises a drone. In some embodiments, the route planning device may be mounted on a drone; in some embodiments, the route planning device may be spatially independent of the drone, e.g., the route planning device may be installed on a remote control device, a smart terminal (e.g., a cell phone, a tablet, etc.), or the like. In some embodiments, a communication connection is established between the airline planning device and the drone. In certain embodiments, the drone includes one or more motors for providing motive power to the drone; in some embodiments, the drone further comprises a power component in rotational connection with the motor, and in some embodiments, the power component comprises a propeller. In certain embodiments, the drone may be an agricultural drone, such as a spray drone, or an industrial drone, such as a mapping drone.

The following provides a schematic illustration of the route planning system provided by the embodiment of the invention with reference to fig. 1.

Referring to fig. 1, fig. 1 is a schematic structural diagram of an airline planning system according to an embodiment of the present invention. The air route planning system comprises: the air route planning equipment 11 and the unmanned aerial vehicle 12. Wherein, the communication connection can be established between the unmanned aerial vehicle 12 and the air route planning equipment 11 through a wireless communication connection mode. In some scenarios, the unmanned aerial vehicle 12 and the air route planning device 11 may also establish a communication connection through a wired communication connection. In certain embodiments, the airline planning device 11 may be provided on a drone 12, the drone 12 including a power system 121, the power system 121 for providing motive power to the drone 12 for movement. In other embodiments, the drone 12 and the route planning device 11 are independent of each other, and the route planning device 11 may include one or more of a remote control device, a smartphone, a tablet, a laptop, and a wearable device, wherein the route planning device 11 may even be another terminal device independent of the remote control device of the drone 12, which may be in communication connection with the remote control device of the drone 12. In other embodiments, the route planning device 11 may be independent of the drone 12, for example, the route planning device 11 is disposed in a cloud server, and is communicatively connected to the drone 12 by a wireless communication connection.

The course planning system may obtain a selection operation on a first user interface with respect to a reference point through the course planning device 11, and determine a plurality of reference points according to the selection operation, thereby generating a first flight course according to the sequence of the selection operation and the plurality of reference points, such that the unmanned aerial vehicle 12 may perform a first designated task according to the first flight course, wherein each waypoint in the first flight course includes altitude information.

According to the implementation mode of setting the reference point through the selection operation and self-defining the planned route according to the sequence of the selection operation, the freedom degree of the route edited by the user is improved, any expected route can be generated, the expected route combines the consideration of the height information of the terrain in the map displayed on the first user interface by the user, and the selection of the reference point with larger height difference can be actively avoided in the process of selecting the reference point, so that the complex routes such as ascending and descending for many times or reciprocating type and the like can be effectively avoided, the automation and intelligentization requirements of the user on route planning are met, and the operation efficiency of the unmanned aerial vehicle is improved. Meanwhile, each waypoint in the air route comprises height information, so that the height of the unmanned aerial vehicle can be effectively adjusted according to the terrain to effectively operate within a proper height range.

The air route planning method, the equipment, the system and the storage medium provided by the embodiment of the invention can be applied to a scene that an agricultural unmanned aerial vehicle (such as a spraying unmanned aerial vehicle) performs spraying control on a plurality of target crops in a crop area. Therefore, the method for planning routes according to the embodiment of the present invention is schematically illustrated below with reference to fig. 2 to 9 by taking an agricultural unmanned aerial vehicle as an example. Of course, the embodiments of the present invention may also be applied to other scenes than the above-mentioned operation scenes, and are not limited specifically here.

Referring to fig. 2 specifically, fig. 2 is a schematic flowchart of a route planning method provided in an embodiment of the present invention, where the method may be executed by a route planning device in a route planning system, and a specific explanation of the route planning system is as described above, and the embodiment of the present invention takes the route planning device as a remote control device of an unmanned aerial vehicle as an example for explanation. Specifically, the method of the embodiment of the present invention includes the following steps.

S201: a selection operation on the first user interface with respect to the reference point is obtained.

In an embodiment of the invention, the route planning device may obtain a selection operation on the first user interface with respect to the reference point. In some embodiments, the selection operation includes, but is not limited to, a click operation, a slide operation, a press operation, and the like. In some embodiments, the first user interface may be a user interface on a map on the airline planning equipment, and in other embodiments, the first user interface may be a user interface on a display device other than the airline planning equipment. In some embodiments, the display information of the first user interface includes, but is not limited to, map information of the work area, a selected reference point, height information of the selected reference point, and the like. By the implementation mode, the user can select the reference point in a self-defined mode through selection operation, and the freedom degree of the user for editing the air route is improved. It will be appreciated that when the airline planning apparatus is a drone, the first user interface may be a user interface on a display device other than the airline planning apparatus.

Specifically, fig. 3 is an example, and fig. 3 is a schematic interface diagram of a selection operation according to an embodiment of the present invention. As shown in FIG. 3, assuming that the selection operation with respect to the reference point is a click operation, the airline planning device may obtain a click operation 31 with respect to the reference point on a first user interface on the airline planning device.

In one embodiment, during the selection operation, the airline planning device may output altitude information for the reference point. In some embodiments, the height information of the reference point may be determined by three-dimensional space information obtained after three-dimensional reconstruction of the working area displayed on the first user interface. In some embodiments, an image captured by a camera of a drone (having a mapping function) in a work area may be acquired, and position information of the drone and a posture of the camera may be acquired to acquire three-dimensional spatial information of the work area from the image, the position information, and the posture, the three-dimensional spatial information may include position information and height information of each position point in the work area, and the like. In some embodiments, the location information may be acquired using a Global Positioning System (GPS). In other embodiments, the position information may be acquired using Real-time kinematic (RTK) techniques.

Of course, other ways than obtaining the height information of the reference point by using the three-dimensional space information may be adopted, and are not specifically limited herein.

It is understood that the height information of the reference point may include actual height information of the reference point in a three-dimensional space, and may also include safe flight height information of the drone, where the actual height information is obtained from three-dimensional space information after three-dimensional reconstruction such as the above.

Taking fig. 3 as an example, when the click operation 31 on the reference point on the first user interface on the route planning equipment is acquired, the reference point 311 corresponding to the click operation 31 may be determined on the first user interface, and the height information of the reference point 311 is output as 5m by performing three-dimensional reconstruction on the reference point 311.

In one embodiment, in the selecting operation, if the height difference between the current reference point and the previous reference point is greater than the preset height threshold, the airline planning device may output information prompting the user to reselect the current reference point.

In one embodiment, during the selection operation, the airline planning device may output height information of a current reference point, determine height information of a previous reference point according to the sequence of the selection operation, and output information prompting the user to re-select the current reference point if a height difference between the current reference point and the previous reference point is greater than a preset height threshold.

Through the implementation mode, the situation that the height difference between the reference points on the air route is too large due to the fact that the user clicks the reference points randomly can be avoided, the situation that the unmanned aerial vehicle carries out tasks such as spraying through repeated ascending and descending on complex terrains with different slopes is avoided, and the efficiency of the unmanned aerial vehicle for carrying out the tasks is improved.

Taking fig. 4 as an example, fig. 4 is a schematic interface diagram of another selection operation provided in the embodiment of the present invention. As shown in fig. 4, in the selecting operation, assuming that the height information of the current reference point 42 is 15m, the height information of the previous reference point 41 is determined to be 5m according to the selecting operation sequence, and if the preset height threshold is 2m, the height difference between the current reference point 42 and the previous reference point 41 is 10m, it may be determined that the height difference 10m between the current reference point 42 and the previous reference point 41 is greater than the preset height threshold 2m, and therefore, the airline planning device may output information 43 prompting the user to re-select the current reference point.

S202: and determining a plurality of reference points according to the selection operation.

In the embodiment of the invention, the route planning equipment can determine a plurality of reference points according to the selection operation.

In one embodiment, the route planning device may determine a plurality of reference points according to the sequence of the selection operation. In some embodiments, the height difference between adjacent reference points is less than or equal to a preset height threshold in the sequence of the selecting operation.

Taking fig. 5a as an example, fig. 5a is an interface schematic diagram of a reference point provided in an embodiment of the present invention. As shown in fig. 5a, assuming that 3 reference points, namely, the reference point 51, the reference point 52, and the reference point 53, are determined according to the sequence of the selecting operation, the height difference between the reference point 51 and the reference point 52, and the height difference between the reference point 52 and the reference point 53 are all less than or equal to the preset height threshold.

S203: and generating a first flight route according to the sequence of the selection operation and the plurality of reference points, so that the unmanned aerial vehicle executes a first designated task according to the first flight route, wherein each waypoint in the first flight route comprises height information.

In the embodiment of the present invention, the route planning device may generate a first flight route according to the sequence of the selection operation and the plurality of reference points, so that the unmanned aerial vehicle executes a first designated task according to the first flight route, where each waypoint in the first flight route includes altitude information. In certain embodiments, the first designated task may include, but is not limited to, a spray task, a mapping task, and the like.

In one embodiment, when the route planning device is arranged on the remote control device, the route planning device may send the first flight route to the unmanned aerial vehicle after generating the first flight route according to the sequence of the selection operation and the plurality of reference points, so as to instruct the unmanned aerial vehicle to execute the first designated task according to the first flight route.

In one embodiment, the route planning device may acquire a current task mode of the unmanned aerial vehicle, and generate the first flight route according to the sequence of the selection operation, the plurality of reference points, and the current task mode of the unmanned aerial vehicle.

In one embodiment, the route planning device may obtain a selection operation on the second user interface regarding the task mode when obtaining the current task mode of the unmanned aerial vehicle, and determine the current task mode of the unmanned aerial vehicle according to the selection operation. In some embodiments, the selection operation includes, but is not limited to, a click operation, a press operation, a slide operation, and the like. In some embodiments, the second user interface is different from the first user interface. In some embodiments, the second user interface is the same as the first user interface, and the area corresponding to the selection operation with respect to the reference point and the area corresponding to the selection operation with respect to the task mode may be displayed in different areas of the same user interface. In some embodiments, the second user interface may be a user interface on a map on the airline planning equipment. In other embodiments, the second user interface may be a user interface on a display device external to the airline planning equipment. In some embodiments, the display information of the second user interface includes, but is not limited to, a task mode; in some embodiments, the mission mode includes a first mode and a second mode, and in one example, the first mode may be a continuous spray mission mode for indicating spraying for a first flight path formed with a reference point, and the second mode may be a tree center spray mission mode for indicating spraying for a first flight path formed with a tree center determined with the reference point, wherein the tree center may be a tree center of a crop, such as a fruit tree, and certainly may not be a crop, such as a plant landscape in a city construction. It will be appreciated that when the airline planning apparatus is a drone, the second user interface may be a user interface on a display device other than the airline planning apparatus.

In some embodiments, the mission mode includes a first mode, wherein the first mode is to indicate that a waypoint in the first flight path includes the reference point. In one example, the first mode may be a continuous spray mission mode, and if the airline planning device obtains a selection operation on the second user interface regarding the continuous spray mission mode, the airline planning device may determine that the current mission mode of the drone is the continuous spray mission mode according to the selection operation.

In one embodiment, when the current task mode of the unmanned aerial vehicle is the first mode, the route planning device may obtain the sequence of the selection operation when generating the first flight route according to the sequence of the selection operation and the plurality of reference points, determine the sequence of each reference point according to the sequence of the selection operation, and determine the reference route generated by connecting each two reference points as the first flight route according to the sequence of each reference point. In some embodiments, each said reference point is a waypoint in said first flight path. By the implementation mode, a user can determine a waypoint in a self-defined mode to generate the air route, and the self-defined planning of the air route is realized.

In an example, taking fig. 5b as an example, fig. 5b is an interface schematic diagram of a flight path provided by an embodiment of the present invention. When the current task mode of the unmanned aerial vehicle is a first mode, such as a continuous spraying task mode, if the sequence of the acquired selection operations of the route planning equipment is the selection operation of the reference point 51, the selection operation of the reference point 52 and the selection operation of the reference point 53, the sequence of the reference points can be determined to be the reference point 51, the reference point 52 and the reference point 53, so that the reference point 51 and the reference point 52 can be connected and the reference point 52 and the reference point 53 can be connected to generate a reference route 54 according to the sequence of the reference point 51, the reference point 52 and the reference point 53, and the reference route 54 can be determined to be.

In one embodiment, the route planning device may further determine whether a distance between adjacent waypoints of the drone satisfies a condition for inserting waypoints, and if so, may insert waypoints between the adjacent waypoints and determine at least part of the waypoints as waypoints in the first flight route. Through the implementation mode, the waypoints in the first flight route can be optimized, the problem that the unmanned aerial vehicle collides with an obstacle when the distance between the reference points is large and the terrain between the reference points has high and low fluctuation is avoided, and the problem that the spraying resources are wasted when the distance between the reference points is large and the spraying requirements do not exist between the reference points is also avoided.

In one embodiment, the route planning device may acquire position information of each waypoint of the unmanned aerial vehicle when determining whether a distance between adjacent waypoints of the unmanned aerial vehicle satisfies a condition for inserting a waypoint, determine a distance between the adjacent waypoints according to the position information of each waypoint of the unmanned aerial vehicle, and determine that the condition for inserting a waypoint is satisfied if the distance between the adjacent waypoints is greater than a preset distance threshold. The distance between the adjacent waypoints can be a connecting line distance between the adjacent waypoints or a horizontal distance between the adjacent waypoints, and can be set specifically according to requirements.

In an embodiment, when the current task mode of the unmanned aerial vehicle is the first mode, the route planning device may obtain position information of each reference point of the unmanned aerial vehicle, determine a distance between adjacent reference points according to the position information of each reference point of the unmanned aerial vehicle, and determine that a condition for inserting a waypoint is satisfied if the distance between adjacent reference points is greater than a preset distance threshold.

Taking fig. 5b as an example, when the current task mode of the unmanned aerial vehicle is the first mode, the airline planning device may obtain the position information of the reference point 51, the reference point 52, and the reference point 53 of the unmanned aerial vehicle, and determine the distance between the reference point 51 and the reference point 52 and the distance between the reference point 52 and the reference point 53 according to the position information of the reference point 51, the reference point 52, and the reference point 53, and if the distance between the reference point 51 and the reference point 52 is greater than a preset distance threshold value, or the distance between the reference point 52 and the reference point 53 is greater than a preset distance threshold value, it may be determined that the condition for inserting a path point is satisfied.

In one embodiment, when the route planning equipment inserts waypoints between adjacent waypoints, waypoints may be inserted at the point of average distance between the adjacent waypoints by calculating the average distance between the adjacent waypoints. In some embodiments, path points may also be inserted between adjacent waypoints in other manners, which is not specifically limited in the embodiments of the present invention, and it is only necessary that after one or more path points are inserted, the distance between the adjacent reference point and the path point is smaller than the preset distance threshold.

In one embodiment, when the current mission mode of the drone is the first mode, the route planning device may interpolate waypoints at average distance points between adjacent reference points by calculating an average distance between the adjacent reference points. It will be appreciated that in some embodiments, the inserted waypoints may be waypoints, and thus waypoints may be inserted between waypoints or between reference points and a route after waypoints are inserted between reference points.

In an example, taking fig. 6a as an example, fig. 6a is an interface schematic diagram of an insertion path point according to an embodiment of the present invention. When the current task mode of the unmanned aerial vehicle is the first mode, the route planning equipment can insert a route point 61 between the reference point 51 and the reference point 52 in an average distance mode if the distance between the reference point 51 and the reference point 52 is calculated to be larger than a preset distance threshold, can insert a route point 62 between the reference point 51 and the route point 61 in an average distance mode if the distance between the reference point 51 and the route point 61 is calculated to be larger than the preset distance threshold, and stops inserting the route point between the reference point 51 and the route point 61 if the distance between the route point 62 and the reference point 51 and the distance between the route point 62 and the route point 61 are both smaller than the preset distance threshold. If the distance between the path point 61 and the reference point 52 is greater than the preset distance threshold, the path point 63 may be inserted between the path point 61 and the reference point 52 by averaging the distances. And stopping inserting the path point between the path point 61 and the reference point 52 if the distance between the path point 61 and the path point 63 and the distance between the path point 63 and the reference point 52 are both smaller than the preset distance threshold.

In one embodiment, the route planning apparatus may also determine whether an inserted waypoint is collinear with an adjacent waypoint, and if so, may delete the inserted waypoint in the first flight route that is collinear with the adjacent waypoint. That is, not all of the inserted waypoints are waypoints in the first flight path and not all of the inserted waypoints remain.

Taking FIG. 6a as an example, if the flight path planning equipment determines that the interpolated waypoint 61 is collinear with the

reference points

51 and 52, the interpolated waypoint 61 may be deleted in the first flight path 54.

By this embodiment, collinear redundant waypoints other than waypoints may be deleted, further optimizing waypoints in the first flight path. Wherein the reference point may not be deleted when optimizing the waypoint in the first flight path.

Besides the optimization mode, the inserted path points with the height difference between the adjacent waypoints and the preset height value or the inserted path points with the front-back distance difference between the adjacent waypoints and the preset distance value can be deleted, so that the smoothness of the unmanned aerial vehicle in the actual flight process is further improved.

In one embodiment, the route planning apparatus, in determining whether the inserted waypoint and the adjacent waypoint are collinear, may determine whether the waypoint and the adjacent waypoint are collinear based on the inserted waypoint and the height information of the adjacent waypoint. For example, the inserted waypoint and the adjacent waypoint are not at the same height, and the inserted waypoint and the adjacent waypoint are not collinear, specifically, whether the distance between the inserted waypoint and the adjacent waypoint is smaller than a preset threshold value or not is calculated by connecting the adjacent waypoints, and if the distance is smaller than the preset threshold value, the inserted waypoint and the adjacent waypoint can be determined to be collinear. It will be appreciated that co-linearity includes the inserted waypoints being collinear with adjacent waypoints, and also allows the inserted waypoints to be within a certain distance of the line between adjacent waypoints.

In one embodiment, each of the waypoints includes semantic information including task attributes for instructing the drone to execute or stop executing the first designated task at the respective waypoint. In one example, when the first designated task is a spray task, the task attributes of the semantic information for each waypoint include spray switch attributes, i.e., an on state and an off state of a spray switch.

In one embodiment, the drone may execute or stop executing the first designated task at each waypoint in the order of the respective waypoint based on task attributes included in the semantic information for each waypoint on the first flight path. Through the implementation mode, the unmanned aerial vehicle can be prevented from executing the task at the waypoint without executing the task when executing the first specified task, and resources are saved.

Taking 6a as an example, assuming that the first flight path is a flight path for deleting the inserted waypoint 61 in the first flight path 54, and the first designated task is a spraying task, if the task attribute of the reference point 51 is in an open state, the task attribute of the waypoint 62 is in a closed state, the task attribute of the waypoint 63 is in an open state, and the task attribute of the reference point 52 is in an open state, the unmanned aerial vehicle may execute the spraying tasks at the reference point 51, stop executing the spraying tasks at the waypoint 62, and execute the spraying tasks at the waypoint 63 and the reference point 52 in the order of the respective flight paths.

In one embodiment, at least some of the waypoints include semantic information including obstacle information for instructing the drone to perform obstacle avoidance operations at the respective waypoint.

In one embodiment, the drone may bypass waypoints that include the obstacle information in the order of the respective waypoints based on the obstacle information included in the semantic information for each waypoint on the first flight path. Through this kind of embodiment, help unmanned aerial vehicle to avoid the barrier, improve unmanned aerial vehicle's security.

Taking 6a as an example, assuming that the first flight path is a flight path for deleting the inserted waypoint 61 in the first flight path 54, the first designated task is a spraying task, and if the task attribute of the reference point 51 is in an open state, the task attribute of the waypoint 62 is in a closed state, the semantic information of the waypoint 63 is obstacle information, and the task attribute of the reference point 52 is in an open state, the unmanned aerial vehicle may execute the spraying task at the reference point 51, stop executing the spraying task at the waypoint 62, and bypass the waypoint 63 to fly to the reference point 52 according to the sequence of the respective flight points.

In the embodiment of the invention, the route planning equipment can acquire selection operation about a reference point on a first user interface, determine a plurality of reference points according to the selection operation, and generate a first flight route according to the sequence of the selection operation and the reference points, so that the unmanned aerial vehicle can execute a first designated task according to the first flight route; wherein each waypoint in the first flight path includes altitude information. The reference point is set through the selection operation, the air route is customized and planned according to the sequence of the selection operation, the freedom degree of the air route edited by a user is improved, the user enables the generated air route to better reflect the intention of the user through the mode of setting the reference point, any expected air route can be generated, complex air routes such as ascending and descending or reciprocating can be effectively avoided through the selection of the user, the operation efficiency of the unmanned aerial vehicle is improved, the balance between automatic planning and manual planning is achieved, and the small manual workload is brought to great efficiency improvement.

Referring to fig. 7 specifically, fig. 7 is a schematic flowchart of another air route planning method provided in the embodiment of the present invention, where the method may be executed by an air route planning device in an air route planning system, and a specific explanation of the air route planning system is as described above, and the embodiment of the present invention takes the air route planning device as a remote control device of an unmanned aerial vehicle as an example for explanation. The embodiment of the present invention is different from the embodiment shown in fig. 2 in that the embodiment of the present invention is explained for the embodiment in the second mode. Specifically, the method of the embodiment of the present invention includes the following steps.

S701: a selection operation on the first user interface with respect to the reference point is obtained.

In the embodiment of the present invention, the route planning device may obtain the selection operation on the first user interface with respect to the reference point, and the specific embodiment is as described above, and details are not described here again.

S702: and determining a plurality of reference points according to the selection operation.

In the embodiment of the invention, the route planning equipment can determine a plurality of reference points according to the selection operation. The specific embodiments and examples are as described above and will not be described herein again.

S703: and acquiring a current task mode of the unmanned aerial vehicle, and generating a first flight route according to the sequence of the selection operation, the plurality of reference points and the current task mode of the unmanned aerial vehicle, wherein the task mode comprises a second mode, and each waypoint in the first flight route comprises height information.

In the embodiment of the invention, the route planning equipment can acquire the current task mode of the unmanned aerial vehicle, and generate the first flight route according to the sequence of the selection operation, the plurality of reference points and the current task mode of the unmanned aerial vehicle, wherein each waypoint in the first flight route comprises height information. In some embodiments, the task mode includes a second mode for indicating that waypoints in the first flight path include task points determined based on the reference point, which in one example may be tree-centered spray tasks and the task points may be tree centers.

In one example, when the method is applied to a spraying unmanned aerial vehicle, the second mode may be a tree center spraying task mode, and if the route planning device obtains a selection operation on the second user interface about the tree center spraying task mode, the route planning device may determine that the current task mode of the unmanned aerial vehicle is the tree center spraying task mode according to the selection operation.

In one embodiment, when the current task mode of the unmanned aerial vehicle is the second mode, the route planning device may obtain the sequence of the selection operation when generating the first flight route according to the sequence of the selection operation and the plurality of reference points, determine the sequence of each reference point according to the sequence of the selection operation, connect every two of the reference points according to the sequence of each reference point to generate a reference route, and determine the first flight route of the unmanned aerial vehicle according to the reference route.

In one embodiment, when determining the first flight path of the unmanned aerial vehicle according to the reference flight path, the flight path planning device may determine task points within a preset range of the reference flight path, and determine the first flight path of the unmanned aerial vehicle according to the task points, where each task point is a flight point in the first flight path.

In some embodiments, the task point may be obtained by identifying a task point in a working area after the flight path planning device performs three-dimensional reconstruction on the working area on a map to determine three-dimensional spatial information. In one example, assuming that the task point is a tree center, after the route planning device performs three-dimensional reconstruction on a target object area on a map to determine three-dimensional spatial information, the tree center of a tree in the working area may be identified. The identification of the tree center can be realized through machine learning.

By the implementation, the task points such as the tree center and the like can be determined according to the reference routes generated by the user-defined reference points, and the routes aiming at the task points can be generated according to the determined task points.

In one embodiment, when determining the task point within the preset range of the reference route, the route planning equipment may determine two reference lines parallel to the reference route on two sides of the reference route and determine the task point between the two reference lines. In some embodiments, the predetermined distance between each of the reference lines and the reference route is the same. In some embodiments, points on both of the reference lines may belong to a task point. Through the implementation mode, the task points can be effectively determined so as to determine the air route formed by the task points, and therefore the unmanned aerial vehicle can be helped to perform tasks such as spraying at the task points such as the tree center.

Taking fig. 5c as an example, fig. 5c is an interface schematic diagram of another route provided by the embodiment of the invention, and as shown in fig. 5c, the route planning equipment may determine two reference lines, i.e., a reference line 55 and a reference line 56, parallel to the reference route 54 on both sides of the reference route 54, and determine a task point 57, a task point 58, a task point 59, a task point 510, and a task point 511 between the reference line 55 and the reference line 56.

In some embodiments, the route planning device may construct circles with the respective reference points as centers and the preset distances as radii, and determine task points within the respective circles. In other embodiments, the route planning device may also determine the task point in other manners, and the embodiment of the present invention does not specifically limit the task point determined within the preset range of the reference route.

In one embodiment, when determining the first flight path of the unmanned aerial vehicle according to the task points, the path planning device may obtain an arrangement sequence of projection points of the task points on the reference flight path along the length direction of the reference flight path, and connect each task point two by two according to the arrangement sequence to generate the first flight path of the unmanned aerial vehicle.

Taking fig. 5d as an example, and fig. 5d is an interface schematic diagram of another route provided by an embodiment of the present invention, a route planning device may obtain an arrangement sequence of projection points of task points 57, 58, 59, 510, and 511 on the reference route 54 along a length direction of the reference route 54, and connect each task point two by two according to the arrangement sequence to generate a first flight route 512 of the unmanned aerial vehicle.

In an embodiment, when the current task mode of the unmanned aerial vehicle is the second mode, the air route planning device may obtain position information of each task point of the unmanned aerial vehicle, determine a distance between adjacent task points according to the position information of each task point of the unmanned aerial vehicle, and determine that a condition for inserting a path point is satisfied if the distance between adjacent task points is greater than a preset distance threshold.

Taking fig. 5d as an example, when the current task mode of the unmanned aerial vehicle is the second mode, the airline planning device may obtain the location information of task point 57, task point 58, task point 59, task point 510, and task point 511 of the unmanned aerial vehicle, and determine, according to the location information of task point 57, task point 58, task point 59, task point 510, and task point 511 of the unmanned aerial vehicle, the distance between task point 57 and task point 58, the distance between task point 58 and task point 59, the distance between task point 59 and task point 510, the distance between task point 510 and task point 511, and the distance between task point 511 and task point 512, if the distance between task point 57 and task point 58 is greater than the preset distance threshold, or the distance between task point 58 and task point 59 is greater than the preset distance threshold, or the distance between task point 59 and task point 510 is greater than the preset distance threshold, or the distance between task point 510 and task point 511 is greater than a preset distance threshold, it may be determined that the condition for inserting a waypoint is satisfied.

In one embodiment, when the current mission mode of the drone is the second mode, the airline planning device may interpolate waypoints at average distance points between adjacent mission points by calculating the average distance between adjacent mission points.

In an example, taking fig. 6b as an example, fig. 6b is an interface schematic diagram of another insertion path point provided by the embodiment of the present invention. When the current task mode of the unmanned aerial vehicle is the second mode, if the calculated distance between the task point 57 and the task point 58 is larger than the preset distance threshold value, the route planning equipment can insert a path point 64 between the task point 57 and the task point 58 in an average distance mode, wherein after the path point 64 is inserted, the distance between the task point 57 and the path point 64 and the distance between the path point 64 and the task point 58 are both smaller than the preset distance threshold value.

In one embodiment, the route planning apparatus may also determine whether an inserted waypoint is collinear with an adjacent waypoint, and if so, may delete the inserted waypoint in the first flight route that is collinear with the adjacent waypoint. Using FIG. 6b as an example, if the route planning equipment determines that the interpolated waypoint 64 is collinear with reference point 57 and reference point 58, the interpolated waypoint 64 may be deleted in the first flight route 512. By this embodiment, collinear redundant waypoints may be removed, further optimizing waypoints in the airline.

In one embodiment, the route planning apparatus, in determining whether the inserted waypoint and the adjacent waypoint are collinear, may determine whether the waypoint and the adjacent waypoint are collinear based on the inserted waypoint and the height information of the adjacent waypoint.

Taking 6b as an example, assuming that the first flight path is a flight path for deleting the inserted waypoint 64 in the first flight path 512, and the first designated task is a spraying task, if the task attribute of the task point 57 is in an open state, the task attribute of the task point 58 is in a closed state, the task attribute of the task point 59 is in a closed state, the task attribute of the task point 510 is in an open state, and the task attribute of the task point 511 is in an open state, the drone may execute the spraying task at the task point 57, stop executing the spraying task at the task point 58, stop executing the spraying task at the task point 59, execute the spraying task at the task point 510, and execute the spraying task at the task point 511 in the order of the respective task points.

In one embodiment, at least some of the waypoints include semantic information including obstacle information for instructing the drone to perform obstacle avoidance operations at the respective waypoint. In some embodiments, the semantic information for each waypoint on the first flight path may include task attributes and obstacle information; in some embodiments, the semantic information for the portion of waypoints on the first flight path may include task attributes and obstacle information; in some embodiments, the semantic information for each waypoint on the first flight path may include obstacle information; in some embodiments, the semantic information for the portion of waypoints on the first flight path may include obstacle information. When the semantic information of each waypoint includes obstacle information, the obstacle information can indicate that the obstacle needs to be avoided or does not need to be avoided, and when the semantic information of partial waypoints includes the obstacle information, the obstacle information can indicate that the obstacle needs to be avoided.

In one embodiment, the unmanned aerial vehicle may perform the obstacle avoidance operation at the corresponding waypoint in the order of each waypoint according to the obstacle information included in the semantic information of the corresponding waypoint on the first flight route. Through this kind of embodiment, help unmanned aerial vehicle to avoid the barrier, improve unmanned aerial vehicle's security.

Taking 6b as an example, the first flight path is a path for deleting the inserted waypoint 64 in the first flight path 512, the first designated task is a spraying task, and if the task attribute of the task point 57 is in an open state, the task attribute of the task point 58 is in a closed state, the task attribute of the task point 59 is in a closed state, the semantic information of the task point 510 includes obstacle information, and the task attribute of the task point 511 is in an open state, the drone may execute the spraying task at the task point 57, stop executing the spraying task at the task point 58, stop executing the spraying task at the task point 59, and fly to the task point 511 to execute the spraying task by bypassing the task point 510 according to the sequence of the respective task points.

In the embodiment of the invention, the route planning equipment can acquire selection operation on a reference point on a first user interface, determine a plurality of reference points according to the selection operation, and generate a first flight route according to the sequence of the selection operation, the plurality of reference points and the current task mode of the unmanned aerial vehicle by acquiring the current task mode of the unmanned aerial vehicle, wherein the task mode comprises a second mode so that the unmanned aerial vehicle can execute a first designated task according to the first flight route; wherein each waypoint in the first flight path includes altitude information. The route of the task aiming at the task point is self-defined and planned by selecting the reference point set by operation, according to the sequence of the selection operation and the identified task point, the freedom degree of the route edited by a user is improved, the user enables the generated route to better reflect the intention of the user by setting the form of the reference point, so that any expected route can be generated, complex routes such as ascending and descending for many times or reciprocating type and the like can be effectively avoided by means of the selection of the user, the operation efficiency of the unmanned aerial vehicle is improved, the balance of automatic planning and manual planning is realized, the manual workload is small, and the great efficiency improvement is brought. For example, for a tree core spraying task such as a fruit tree, since the fruit trees are not planted on a strict straight line and sometimes are distributed in an area in a scattered manner, compared with a traditional zigzag reciprocating mode, a large amount of useless movement of the unmanned aerial vehicle is reduced through selection of a reference point by a user, the unmanned aerial vehicle can be guaranteed to perform efficient operation according to actual fruit tree distribution and a mode expected by the user, a large area of tree-free area is bypassed, and the specific distribution of the fruit trees does not need selection of the user one by one, but automatic range division is performed in combination with the selection of the user, and the tree core is identified, so that balance of automatic planning and manual planning is embodied.

Referring to fig. 8 specifically, fig. 8 is a schematic flowchart of another route planning method provided in the embodiment of the present invention, which may be executed by a route planning device in a route planning system, where a specific explanation of the route planning system is as described above, and the embodiment of the present invention takes the route planning device as a remote control device of an unmanned aerial vehicle as an example for explanation. The embodiment of the invention differs from the embodiment described in fig. 7 in that the embodiment of the invention is illustrative of an embodiment in which the second flight path is generated from the altitude information of the reference point and the reference point. Specifically, the method of the embodiment of the present invention includes the following steps.

S801: a selection operation on the first user interface with respect to the reference point is obtained.

S802: and determining a plurality of reference points according to the selection operation.

S803: and acquiring height information of each reference point.

In the embodiment of the invention, the route planning equipment can acquire the height information of each reference point. As shown in fig. 3, the altitude information that the route planning apparatus can acquire the reference point 311 is 5 m.

S804: and generating a second flight route according to the height information of the reference points and the reference points, so that the unmanned aerial vehicle executes a second designated task according to the second flight route, wherein each waypoint in the second flight route comprises height information.

In the embodiment of the present invention, the route planning device may generate a second flight route according to the altitude information of each reference point and a plurality of reference points, so that the unmanned aerial vehicle executes a second designated task according to the second flight route, where each waypoint in the second flight route includes altitude information. In some embodiments, the second designated task may be a task within the same height range, and in one example, the second designated task may be a terrace spray task. Wherein, in the course of one task execution, can include the task in a plurality of different height scopes.

In one embodiment, when the route planning device generates the second flight route according to the height information of each reference point and the plurality of reference points, the route planning device may determine the height sequence of each reference point according to the height information of each reference point, and connect each reference point two by two to generate the second flight route according to the height sequence of each reference point. Through the implementation mode, the second flight route can be automatically generated according to the reference point and the height information of the reference point, the self-defined planning of the flight route in the same height range is realized, and the efficiency of the unmanned aerial vehicle for executing tasks in the same height range is improved.

Taking fig. 9 as an example, fig. 9 is a schematic interface diagram of another route provided by the embodiment of the present invention, and it is assumed that the route planning device acquires the reference point 91, the reference point 92, and the reference point 93, if the acquired height information of the reference point 91 is 5m, the height information of the reference point 92 is 6m, and the height information of the reference point 93 is 4m, the airline planning device may determine, according to the altitude information of each of the reference points, that the order of the altitude ranking of each of the reference points from low to high is the reference point 93, the reference point 91, and the reference point 92, and the airline planning device may generate the second flight route 94 by connecting the reference point 93 with the reference point 91 and connecting the reference point 91 with the reference point 92 according to the altitude ranking of each of the reference points from low to high, so that unmanned aerial vehicle can operate according to the high order in proper order, effectively avoided the action that unmanned aerial vehicle goes up and down repeatedly. For example, the spraying unmanned aerial vehicle can be made to effectively perform a terrace spraying task according to the second flight route 94, the terrace can include a plurality of spraying areas with different height ranges due to the reason of the terrain, and thus the spraying areas on the same altitude can be sprayed, and the spraying areas in different height ranges can be sequentially sprayed according to the sorting of the height ranges.

It is understood that, in the process of generating the second flight path, the related technologies in the foregoing embodiments, such as selection of a mission mode, insertion of a waypoint, optimization of a path, and the like, may also be used to achieve similar technical effects, and therefore, no further description is provided herein.

In the embodiment of the invention, the route planning equipment can acquire a selection operation about a reference point on the first user interface, determine a plurality of reference points according to the selection operation, and acquire the height information of each reference point, so that a second flight route is generated according to the height information of each reference point and the plurality of reference points, and the unmanned aerial vehicle can execute a second designated task according to the second flight route, wherein each waypoint in the second flight route comprises the height information. The second flight route in the same height range is generated by selecting the height information of the reference point set by operation and the reference point, so that the operation efficiency of the unmanned aerial vehicle for executing the second designated task in the same height range is improved.

Referring to fig. 10, fig. 10 is a schematic structural diagram of an airline planning apparatus according to an embodiment of the present invention, specifically, the airline planning apparatus includes: memory 1001, processor 1002, and data interface 1003.

The memory 1001 may include a volatile memory (volatile memory); the memory 1001 may also include a non-volatile memory (non-volatile memory); the memory 1001 may also comprise a combination of memories of the kind described above. The processor 1002 may be a Central Processing Unit (CPU). The processor 1002 may further include hardware route planning equipment. The hardware lane planning device may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. Specifically, the programmable logic device may be, for example, a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.

Further, the memory 1001 is used for storing programs, and when the programs are executed, the processor 1002 may call the programs stored in the memory 1001 for performing the following steps:

wherein each waypoint in the first flight path includes altitude information.

Further, the processor 1002 is further configured to:

acquiring a current task mode of the unmanned aerial vehicle;

when the processor 1002 generates the first flight path according to the sequence of the selection operation and the plurality of reference points, the method is specifically configured to:

and generating a first flight path according to the sequence of the selection operation, the plurality of reference points and the current task mode of the unmanned aerial vehicle.

Further, when the processor 1002 acquires the current task mode of the unmanned aerial vehicle, the processor is specifically configured to:

acquiring a selection operation related to the task mode on a second user interface;

and determining the current task mode of the unmanned aerial vehicle according to the selection operation.

Further, the task mode includes a first mode and a second mode;

wherein the first mode is to indicate that the waypoint in the first flight path includes the reference point and the second mode is to indicate that the waypoint in the first flight path includes a mission point determined based on the reference point.

Further, when the processor 1002 generates the first flight path according to the sequence of the selection operation and the plurality of reference points, it is specifically configured to:

acquiring the sequence of the selection operation;

determining the sequence of each reference point according to the sequence of the selection operation;

and determining a reference route generated by connecting every two reference points as a first flight route according to the sequence of each reference point.

Further, each of the reference points is a waypoint in the first flight path.

Further, when the processor 1002 determines the reference route generated by connecting every two of the reference points as the first flight route according to the sequence of each of the reference points, the method is specifically configured to:

connecting every two reference points to generate a reference route according to the sequence of each reference point;

and determining a first flight path of the unmanned aerial vehicle according to the reference flight path.

Further, when the processor 1002 determines the first flight path of the unmanned aerial vehicle according to the reference flight path, it is specifically configured to:

determining a task point within a preset range of the reference route;

and determining a first flight path of the unmanned aerial vehicle according to the task points, wherein each task point is a waypoint in the first flight path.

Further, when the processor 1002 determines a task point within the preset range of the reference route, it is specifically configured to:

determining two reference lines parallel to the reference route on two sides of the reference route;

a task point between the two reference lines is determined.

Further, the preset distance between each reference line and the reference route is the same.

Further, when the processor 1002 determines the first flight path of the unmanned aerial vehicle according to the task point, it is specifically configured to:

acquiring the arrangement sequence of the projection points of the task points on the reference route along the length direction of the reference route;

and connecting every two task points to generate a first flight path of the unmanned aerial vehicle according to the arrangement sequence.

Further, the processor 1002 is further configured to:

determining whether a distance between adjacent waypoints of the drone meets a condition for inserting a waypoint;

and if so, inserting path points between adjacent waypoints, and determining at least part of the path points as waypoints in the first flight route.

Further, when the processor 1002 determines whether the distance between adjacent waypoints of the drone satisfies the condition of inserting a waypoint, it is specifically configured to:

acquiring position information of each waypoint of the unmanned aerial vehicle;

determining the distance between adjacent waypoints according to the position information of each waypoint of the unmanned aerial vehicle;

and if the distance between the adjacent waypoints is greater than a preset distance threshold, determining that the condition of inserting the route point is met.

Further, the processor 1002 is further configured to:

determining whether the inserted waypoint and the adjacent waypoint are collinear;

and if the two routes are collinear, deleting the inserted path point which is collinear with the adjacent route point in the first flight route.

Further, each of the waypoints includes semantic information including task attributes for instructing the drone to execute or stop executing the first designated task at the respective waypoint.

Further, at least part of the waypoints include semantic information including obstacle information for instructing the unmanned aerial vehicle to perform obstacle avoidance operations at the corresponding waypoints.

Further, the processor 1002 is further configured to:

and outputting the height information of the reference point in the process of the selection operation.

Further, the processor 1002 is further configured to:

and in the selection operation process, if the height difference between the current reference point and the previous reference point is greater than a preset height threshold, outputting information for prompting a user to reselect the current reference point.

Further, the processor 1002 is further configured to:

acquiring height information of each reference point;

generating a second flight route according to the height information of each reference point and the plurality of reference points, so that the unmanned aerial vehicle executes a second designated task according to the second flight route;

wherein each waypoint in the second flight path includes altitude information.

Further, when the processor 1002 generates the second flight path according to the altitude information of each of the reference points and the plurality of reference points, it is specifically configured to:

determining the height sequence of each reference point according to the height information of each reference point;

and connecting every two reference points to generate a second flight path according to the height sequence of each reference point.

The embodiment of the invention also provides a route planning system, which comprises route planning equipment and an unmanned aerial vehicle,

Further, the route planning apparatus is further configured to:

acquiring a current task mode of the unmanned aerial vehicle;

when the route planning device generates the first flight route according to the sequence of the selection operation and the plurality of reference points, the route planning device is specifically configured to:

Further, when the route planning device acquires the current task mode of the unmanned aerial vehicle, the route planning device is specifically configured to:

Further, the task mode includes a first mode and a second mode;

Further, when the route planning device generates the first flight route according to the sequence of the selection operation and the plurality of reference points, the route planning device is specifically configured to:

acquiring the sequence of the selection operation;

Further, each of the reference points is a waypoint in the first flight path.

Further, when the route planning device determines, as the first flight route, the reference route generated by connecting every two reference points according to the sequence of each reference point, the route planning device is specifically configured to:

Further, when the route planning device determines the first flight route of the unmanned aerial vehicle according to the reference route, the route planning device is specifically configured to:

determining a task point within a preset range of the reference route;

Further, when the route planning device determines a task point within the preset range of the reference route, the route planning device is specifically configured to:

a task point between the two reference lines is determined.

Further, when the route planning device determines the first flight route of the unmanned aerial vehicle according to the task point, the route planning device is specifically configured to:

Further, the route planning apparatus is further configured to:

Further, when the route planning device determines whether the distance between adjacent waypoints of the unmanned aerial vehicle satisfies a condition for inserting a waypoint, the route planning device is specifically configured to:

acquiring position information of each waypoint of the unmanned aerial vehicle;

Further, the route planning apparatus is further configured to:

Further, each of the waypoints comprises semantic information, the semantic information comprising task attributes; the unmanned aerial vehicle is also used for:

and executing or stopping executing the first specified task at each waypoint according to task attributes included in the semantic information of each waypoint in the first flight route.

Further, at least a portion of the waypoints comprise semantic information comprising obstacle information; the unmanned aerial vehicle is also used for:

and executing obstacle avoidance operation at the corresponding waypoint according to the obstacle information included in the semantic information of the corresponding waypoint in the first flight route.

Further, the route planning apparatus is further configured to:

acquiring height information of each reference point;

wherein each waypoint in the second flight path includes altitude information.

Further, when the route planning device generates the second flight route according to the altitude information of each reference point and the plurality of reference points, the route planning device is specifically configured to:

In the embodiment of the invention, the air route planning system can acquire a selection operation about a reference point on a first user interface through air route planning equipment, determine a plurality of reference points according to the selection operation, generate a first flight route according to the sequence of the selection operation and the plurality of reference points, and send the first flight route to the unmanned aerial vehicle, so that the unmanned aerial vehicle can execute a first designated task according to the first flight route; wherein each waypoint in the first flight path includes altitude information. The reference point is set through the selection operation, the air route is customized and planned according to the sequence of the selection operation, the freedom degree of the air route edited by a user is improved, the user enables the generated air route to better reflect the intention of the user through the mode of setting the reference point, any expected air route can be generated, complex air routes such as ascending and descending or reciprocating can be effectively avoided through the selection of the user, the operation efficiency of the unmanned aerial vehicle is improved, the balance between automatic planning and manual planning is achieved, and the small manual workload is brought to great efficiency improvement.

In an embodiment of the present invention, a computer-readable storage medium is further provided, where a computer program is stored, and when the computer program is executed by a processor, the method for planning an airline according to the embodiment of the present invention described in fig. 2, fig. 7, or fig. 8 is implemented, and an airline planning device according to an embodiment of the present invention described in fig. 10 may also be implemented, which is not described herein again.

The computer readable storage medium may be an internal storage unit of the device according to any of the preceding embodiments, for example, a hard disk or a memory of the device. The computer readable storage medium may also be an external storage device of the device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc. provided on the device. Further, the computer-readable storage medium may also include both an internal storage unit and an external storage device of the apparatus. The computer-readable storage medium is used for storing the computer program and other programs and data required by the apparatus. The computer readable storage medium may also be used to temporarily store data that has been output or is to be output.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.

The above disclosure is intended to be illustrative of only some embodiments of the invention, and is not intended to limit the scope of the invention.

Claims

1. A method of route planning, comprising:

wherein each waypoint in the first flight path includes altitude information.

2. The method of claim 1, further comprising:

acquiring a current task mode of the unmanned aerial vehicle;

the generating a first flight path according to the sequence of the selection operation and the plurality of reference points comprises:

3. The method of claim 2, wherein the obtaining the current mission pattern of the drone comprises:

4. The method of claim 2,

the task mode comprises a first mode and a second mode;

5. The method of claim 1, wherein generating a first flight path according to the sequence of the pick operation and the plurality of reference points comprises:

acquiring the sequence of the selection operation;

6. The method of claim 5, wherein each of said reference points is a waypoint in said first flight path.

7. The method of claim 5, wherein determining the reference flight path generated by connecting the reference points two by two as the first flight path according to the sequence of each reference point comprises:

8. The method of claim 7, wherein said determining a first flight path of the drone from the reference path comprises:

determining a task point within a preset range of the reference route;

9. The method of claim 8, wherein the determining the mission points within the preset range of the reference route comprises:

a task point between the two reference lines is determined.

10. The method of claim 9, wherein the predetermined distance between each of the reference lines and the reference lane is the same.

11. The method of claim 8, wherein said determining a first flight path of the drone from the mission point comprises:

12. The method according to claim 6 or 8, characterized in that the method further comprises:

13. The method of claim 12, wherein determining whether a distance between adjacent waypoints of the drone satisfies a condition for intervening waypoints comprises:

acquiring position information of each waypoint of the unmanned aerial vehicle;

14. The method of claim 12, further comprising:

15. The method of claim 6, 8 or 12,

each of the waypoints includes semantic information including task attributes for instructing the drone to execute or stop executing the first designated task at the respective waypoint.

16. The method of claim 6, 8 or 12,

at least part of the waypoints comprise semantic information, the semantic information comprises barrier information, and the barrier information is used for indicating the unmanned aerial vehicle to execute obstacle avoidance operation at the corresponding waypoint.

17. The method of claim 1, further comprising:

18. The method of claim 1, further comprising:

19. The method of claim 1, further comprising:

acquiring height information of each reference point;

wherein each waypoint in the second flight path includes altitude information.

20. The method of claim 19, wherein generating a second flight path from the altitude information for each of the reference points and the plurality of reference points comprises:

21. An airline planning apparatus, comprising: a memory and a processor;

the memory is used for storing programs;

wherein each waypoint in the first flight path includes altitude information.

22. The device of claim 21, wherein the processor is further configured to:

acquiring a current task mode of the unmanned aerial vehicle;

the processor is specifically configured to, when generating the first flight path according to the sequence of the selection operation and the plurality of reference points:

23. The device according to claim 22, wherein the processor, when obtaining the current task mode of the drone, is specifically configured to:

24. The apparatus of claim 22,

the task mode comprises a first mode and a second mode;

25. The apparatus of claim 21, wherein the processor, when generating the first flight path based on the sequence of the selection operation and the plurality of reference points, is specifically configured to:

acquiring the sequence of the selection operation;

26. The apparatus of claim 25 wherein each said reference point is a waypoint in said first flight path.

27. The apparatus of claim 25, wherein the processor, when determining the reference flight path generated by connecting the reference points two by two as the first flight path according to the order of each of the reference points, is specifically configured to:

28. The apparatus of claim 27, wherein the processor, when determining the first flight path of the drone from the reference path, is specifically configured to:

determining a task point within a preset range of the reference route;

29. The apparatus of claim 28, wherein the processor, when determining a mission point within a preset range of the reference route, is specifically configured to:

a task point between the two reference lines is determined.

30. The apparatus of claim 29, wherein the predetermined distance between each of the reference lines and the reference profile is the same.

31. The apparatus of claim 28, wherein the processor, when determining the first flight path of the drone from the mission point, is further configured to:

32. The apparatus of claim 26 or 28, wherein the processor is further configured to:

33. The device of claim 32, wherein the processor, when determining whether the distance between adjacent waypoints of the drone satisfies the condition for intervening waypoints, is specifically configured to:

acquiring position information of each waypoint of the unmanned aerial vehicle;

34. The device of claim 32, wherein the processor is further configured to:

35. The apparatus of claim 26, 28 or 32,

36. The apparatus of claim 26, 28 or 32,

37. The device of claim 21, wherein the processor is further configured to:

38. The device of claim 21, wherein the processor is further configured to:

39. The device of claim 21, wherein the processor is further configured to:

acquiring height information of each reference point;

wherein each waypoint in the second flight path includes altitude information.

40. The apparatus as claimed in claim 39, wherein said processor, when generating the second flight path from the altitude information for each of said reference points and the plurality of reference points, is configured to:

41. An airline planning system, comprising: a route planning device and an unmanned aerial vehicle,

42. The system of claim 41, wherein the airline planning device is further configured to:

acquiring a current task mode of the unmanned aerial vehicle;

43. The system of claim 42, wherein the airline planning device, when obtaining the current mission pattern of the UAV, is specifically configured to:

44. The system of claim 42,

the task mode comprises a first mode and a second mode;

45. The system of claim 41, wherein the route planning facility, in generating the first flight route based on the sequence of selection operations and the plurality of reference points, is configured to:

acquiring the sequence of the selection operation;

46. The system of claim 45 wherein each said reference point is a waypoint in said first flight path.

47. The system of claim 45, wherein the route planning device is further configured to, when determining a reference route generated by connecting each of the reference points two by two as the first flight route according to the order of each of the reference points, in particular:

48. The system of claim 47, wherein the route planning facility, when determining the first flight route of the drone from the reference route, is specifically configured to:

determining a task point within a preset range of the reference route;

49. The system of claim 48, wherein the route planning device, when determining a mission point within a preset range of the reference route, is specifically configured to:

a task point between the two reference lines is determined.

50. The system of claim 49, wherein the predetermined distance between each of the reference lines and the reference profile is the same.

51. The system of claim 48, wherein the route planning device, when determining the first flight route of the drone from the mission point, is configured to:

52. The system of claim 46 or 48, wherein the airline planning device is further configured to:

53. The system according to claim 52, wherein the route planning device is configured to, when determining whether the distance between adjacent waypoints of the drone satisfies the condition for intervening waypoints, in particular:

acquiring position information of each waypoint of the unmanned aerial vehicle;

54. The system of claim 52, wherein the airline planning device is further configured to:

55. The system of claim 46, 48 or 52, wherein each of the waypoints comprises semantic information including task attributes; the unmanned aerial vehicle is also used for:

56. The system of claim 46, 48 or 52, wherein at least a portion of the waypoints comprise semantic information including obstacle information; the unmanned aerial vehicle is also used for:

57. The system of claim 41, wherein the airline planning device is further configured to:

58. The system of claim 41, wherein the airline planning device is further configured to:

59. The system of claim 41, wherein the airline planning device is further configured to:

acquiring height information of each reference point;

wherein each waypoint in the second flight path includes altitude information.

60. The system of claim 59, wherein the course planning facility, in generating the second flight course based on the altitude information for each of the reference points and the plurality of reference points, is further configured to:

61. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 20.