CN113532434A - Aviation area construction method and device, storage medium and electronic equipment - Google Patents
Aviation area construction method and device, storage medium and electronic equipment Download PDFInfo
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Abstract
The disclosure relates to an aviation area construction method, an aviation area construction device, a storage medium and electronic equipment, wherein the method comprises the following steps: receiving region construction data; determining a target area according to the area construction data, wherein the target area is a flyable two-dimensional area; generating a plurality of first positioning nodes in the target area; and generating a target aviation area according to the range of the flying height and the plurality of first positioning nodes, wherein the target aviation area is a three-dimensional area capable of flying. Therefore, the first positioning node is generated after the target area is constructed, so that the method can be suitable for aviation area management of various types of area construction data, and the existing air route and virtual pipeline are not needed, so that the application range of the method can be effectively widened. And a target aviation area is generated based on the first positioning node and the range of the flying height, so that the node distribution of the aviation area is more comprehensive and accurate, the aviation area management precision can be improved, and the aviation area utilization rate is improved.
Description
Technical Field
The present disclosure relates to the field of computer technologies, and in particular, to an aviation area construction method and apparatus, a storage medium, and an electronic device.
Background
With the development of scientific technology, the application range of the unmanned aerial vehicle is wider and wider, for example, the unmanned aerial vehicle is distributed. The flight, management and planning of drones greatly depend on the management and the exploitation of the available flight areas. In the prior art, the flyable routes of the unmanned aerial vehicle can be planned, so that the flyable area of the unmanned aerial vehicle can be managed through each flyable route. Or the flyable area of the unmanned aerial vehicle is managed in a mode of adopting the virtual pipeline of the unmanned aerial vehicle. However, in the above manner, the route levels are divided by different heights based on the constructed flying routes, so that the utilization rate of the flying area of the unmanned aerial vehicle is reduced, and the utilization rate of the flying space of the unmanned aerial vehicle can be seriously reduced based on the manner of the virtual pipeline of the unmanned aerial vehicle.
Disclosure of Invention
The invention aims to provide an aviation area construction method, an aviation area construction device, a storage medium and electronic equipment, which are convenient to manage and high in utilization rate.
To achieve the above object, according to a first aspect of the present disclosure, there is provided an aviation area construction method, the method including:
Receiving region construction data;
determining a target area according to the area construction data, wherein the target area is a flyable two-dimensional area;
generating a plurality of first positioning nodes in the target area;
and generating a target aviation area according to the range of the flying height and the plurality of first positioning nodes, wherein the target aviation area is a three-dimensional area capable of flying.
Optionally, the region construction data is path data;
the determining a target region according to the region construction data includes:
determining nodes belonging to the same path according to the region construction data;
for each group of nodes belonging to the same path, determining the associated node of each node in the group of nodes; determining a sub-path corresponding to the group of nodes according to each node in the group of nodes and the associated node of the node, wherein the nodes contained in different sub-paths are different; merging the sub-paths corresponding to the group of nodes to generate a target path corresponding to the group of nodes; and generating a target area corresponding to the group of nodes according to the target path corresponding to the group of nodes.
Optionally, the determining a relevant node of each node in the set of nodes includes:
And determining a first node closest to the current node in the group of nodes and a second node taking the current node as an associated node as the associated node of the current node, wherein the first node and the second node are respectively different nodes of the group of nodes.
Optionally, the determining, according to each node in the group of nodes and the associated node of the node, a sub-path corresponding to the group of nodes includes:
and connecting each node in the group of nodes with the associated node thereof to obtain the sub-paths corresponding to the group of nodes, wherein the nodes on different sub-paths have no association relationship.
Optionally, the merging the sub-paths corresponding to the group of nodes to generate the target path corresponding to the group of nodes includes:
determining two sub-paths with the shortest distance in the sub-paths corresponding to the group of nodes;
merging a first sub-path and a second sub-path, taking a third node as an associated node of a fourth node, and taking the fourth node as an associated node of the third node, wherein the first sub-path and the second sub-path are respectively different sub-paths in two sub-paths with the nearest distance, the third node is a node with the nearest distance from the second sub-path in the first sub-path, and the fourth node is a node with the nearest distance from the first sub-path in the second sub-path;
And returning to the step of determining two closest sub-paths in the sub-paths corresponding to the group of nodes until the number of the sub-paths corresponding to the group of nodes is 1, and determining the obtained sub-paths as the target path.
Optionally, the generating a plurality of first positioning nodes in the target area includes:
determining a growth starting point in the target region, wherein the growth starting point is any data point in the region construction data for determining the target region;
based on the growth starting point, growing in the target area along a first direction by a first preset step length, and growing in the target area along a second direction by a second preset step length to grow a plurality of first positioning nodes, wherein the first direction is different from the second direction.
Optionally, the generating a target airspace zone according to the range of flyable altitudes and the plurality of first positioning nodes includes:
for each of the first positioning nodes, performing the steps of:
and generating a plurality of second positioning nodes in the vertical direction by using the first positioning nodes as a reference and a third preset step length based on the minimum value of the range of the flyable height to obtain the plurality of second positioning nodes, wherein the vertical direction is a direction perpendicular to the plane where the target area is located, and the height of the second positioning nodes in the vertical direction is less than or equal to the maximum value of the flyable height.
Determining an area formed by the plurality of second positioning nodes as the target airspace area.
According to a second aspect of the present disclosure, there is provided an airspace zone building apparatus, the apparatus comprising:
a receiving module for receiving the region construction data;
the determining module is used for determining a target area according to the area construction data, wherein the target area is a flyable two-dimensional area;
a first generating module for generating a plurality of first positioning nodes in the target area;
and the second generating module is used for generating a target aviation area according to the range of the flying height and the plurality of first positioning nodes, wherein the target aviation area is a three-dimensional area capable of flying.
Optionally, the region construction data is path data;
the determining module comprises:
the first determining submodule is used for determining nodes belonging to the same path according to the region construction data;
a second determining submodule, configured to determine, for each group of nodes belonging to the same path, a relevant node of each node in the group of nodes; determining a sub-path corresponding to the group of nodes according to each node in the group of nodes and the associated node of the node, wherein the nodes contained in different sub-paths are different; merging the sub-paths corresponding to the group of nodes to generate a target path corresponding to the group of nodes; and generating a target area corresponding to the group of nodes according to the target path corresponding to the group of nodes.
Optionally, the second determining sub-module includes:
and a third determining submodule, configured to determine, as an associated node of the current node, a first node closest to the current node in the group of nodes and a second node using the current node as the associated node, where the first node and the second node are different nodes of the group of nodes, respectively.
Optionally, the second determining sub-module includes:
and the connection sub-module is used for connecting each node in the group of nodes with the associated node thereof to obtain the sub-paths corresponding to the group of nodes, wherein the nodes on different sub-paths have no association relation.
Optionally, the second determining sub-module includes:
a fourth determining submodule, configured to determine two closest sub-paths in the sub-paths corresponding to the group of nodes;
a merging sub-module, configured to merge a first sub-path and a second sub-path, take a third node as an associated node of a fourth node, and take the fourth node as an associated node of the third node, where the first sub-path and the second sub-path are respectively different sub-paths in the two sub-paths closest to each other, the third node is a node closest to the second sub-path in the first sub-path, and the fourth node is a node closest to the first sub-path in the second sub-path; and triggering the fourth determining submodule to determine two sub-paths with the shortest distance in the sub-paths corresponding to the group of nodes until the number of the sub-paths corresponding to the group of nodes is 1, and determining the obtained sub-paths as the target path.
Optionally, the first generating module comprises:
a fifth determining submodule, configured to determine a growth starting point in the target region, where the growth starting point is any data point in the region construction data used for determining the target region;
and the growth submodule is used for growing in the target area along a first direction by a first preset step length and growing in the target area along a second direction by a second preset step length based on the growth starting point so as to grow a plurality of first positioning nodes, wherein the first direction is different from the second direction.
Optionally, the second generating module includes:
a processing submodule, configured to, for each of the first positioning nodes, perform the following steps:
and generating a plurality of second positioning nodes in the vertical direction by using the first positioning nodes as a reference and a third preset step length based on the minimum value of the range of the flyable height to obtain the plurality of second positioning nodes, wherein the vertical direction is a direction perpendicular to the plane where the target area is located, and the height of the second positioning nodes in the vertical direction is less than or equal to the maximum value of the flyable height.
A sixth determining submodule for determining an area formed by the plurality of second positioning nodes as the target airspace area.
According to a third aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of any of the methods of the first aspect described above.
According to a fourth aspect of the present disclosure, there is provided an electronic device comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the method of any of the first aspects above.
In the technical scheme, area construction data is received, a target area is determined according to the area construction data, the target area is a two-dimensional area capable of flying, so that a plurality of first positioning nodes can be generated in the target area, and a target aviation area is generated according to a flying height range and the first positioning nodes and is a three-dimensional area capable of flying. Therefore, according to the technical scheme, the first positioning node is generated after the target area is constructed, so that the method can be suitable for aviation area management of various types of area construction data, and the existing air route and virtual pipeline are not needed, so that the application range of the method can be effectively widened. And a target aviation area is generated based on the first positioning node and the range of the flying height, so that the node distribution of the aviation area is more comprehensive and accurate, the aviation area management precision can be improved, and the aviation area utilization rate is improved.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a flow chart of a method of construction of an airspace zone provided in accordance with one embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a path node provided in accordance with one embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a sub-path provided in accordance with one embodiment of the present disclosure;
FIGS. 4A, 4B are schematic diagrams of sub-paths provided according to another embodiment of the present disclosure;
FIG. 5A is a schematic diagram of a path node provided in accordance with another embodiment of the present disclosure;
FIG. 5B is a schematic diagram of a two-dimensional propagation of path nodes provided in accordance with another embodiment of the present disclosure;
FIG. 5C is a schematic diagram of a path node provided in accordance with another embodiment of the present disclosure;
FIG. 5D is a schematic diagram of a two-dimensional propagation of path nodes provided in accordance with another embodiment of the present disclosure;
6A-6D are schematic diagrams of region merging provided according to another embodiment of the present disclosure;
FIGS. 7A and 7B are schematic views of a growth node provided in accordance with an embodiment of the present disclosure;
FIG. 8 is a block diagram of an airspace zone building apparatus provided in accordance with an embodiment of the present disclosure;
FIG. 9 is a block diagram illustrating an electronic device in accordance with an exemplary embodiment;
FIG. 10 is a block diagram illustrating an electronic device in accordance with an example embodiment.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
Fig. 1 is a flowchart illustrating an aviation area construction method according to an embodiment of the present disclosure. In the technical solution of the present disclosure, an aviation area, that is, a flyable area of an unmanned aerial vehicle in a map system, as shown in fig. 1, the method includes:
in S11, region construction data is received, where the region construction data may be data of manually labeled discrete nodes, or data of discrete nodes in a high-frequency flight trajectory may be obtained based on the historical flight trajectory statistics of the unmanned aerial vehicle.
In S12, from the area construction data, a target area, which is a flyable two-dimensional area, is determined, which may be, for example, an area formed on a map plane by the area construction data.
In S13, a plurality of first positioning nodes are generated in the target area, wherein the plurality of first positioning nodes may be regularly and discretely distributed in the target area, so that the target area may be managed by being divided by the plurality of discrete first positioning nodes.
In S14, a target airspace zone is generated based on the flyable altitude range and the plurality of first positioning nodes, the target airspace zone being a flyable three-dimensional zone.
In this embodiment, the aviation areas can be managed and planned based on the nodes, and the target aviation area is generated based on the nodes, so that a plurality of discretely distributed nodes exist in the target aviation area, the target aviation area is conveniently divided, local control and adjustment are conveniently performed, the aviation area management precision is effectively improved, and the aviation area utilization rate is improved.
In the technical scheme, area construction data is received, a target area is determined according to the area construction data, the target area is a two-dimensional area capable of flying, so that a plurality of first positioning nodes can be generated in the target area, and a target aviation area is generated according to a flying height range and the first positioning nodes and is a three-dimensional area capable of flying. Therefore, according to the technical scheme, the first positioning node is generated after the target area is constructed, so that the method can be suitable for aviation area management of various types of area construction data, and the existing air route and virtual pipeline are not needed, so that the application range of the method can be effectively widened. And a target aviation area is generated based on the first positioning node and the range of the flying height, so that the node distribution of the aviation area is more comprehensive and accurate, the aviation area management precision can be improved, and the aviation area utilization rate is improved.
Optionally, each node in the target airspace area may be associated with environment-related information contained therein, such as signal strength, weather, distance information, and the like, and the environment-related information of each node may be updated, and the update of the node environment-related information may be obtained by reporting by an unmanned aerial vehicle in flight, or obtained by manually collecting information. Based on this, more comprehensive management and planning can be carried out on the target aviation area, so that accurate positioning, management and control, navigation and the like of non-extension flight in the target aviation area are realized, and dynamic adjustment of the target aviation area is facilitated.
Optionally, the area configuration data is path data, where the path data may be location information of a plurality of discrete nodes on a path, where the path data may be spatially disordered data or discrete multi-sub-path data, where the spatially disordered data indicates that the plurality of discrete nodes are stored in disorder, and the discrete multi-sub-path data indicates that a complete path is divided into a plurality of sub-paths for storage, where there may be area coincidence between the plurality of sub-path data, as shown in fig. 2, where nodes 0 to 4 are sub-paths, nodes 5 to 7 are sub-paths, and nodes 8 to 9 are sub-paths, then there is area coincidence between the above sub-paths, in the above case, the path data needs to be processed into spatially ordered data, so as to generate a target area, and therefore, the present disclosure further provides the following embodiments.
An exemplary implementation manner of determining the target area according to the area construction data is as follows, and the step may include:
and determining nodes belonging to the same path according to the region construction data, wherein the nodes belonging to the same path can be determined by semantic information filtering or a Point of Interest (POI) data cleaning mode, and illustratively, the POI attribute may include a path name, an identifier, and the like. The data cleaning method is the prior art and is not described herein again.
For each group of nodes belonging to the same path, determining the associated node of each node in the group of nodes; determining a sub-path corresponding to the group of nodes according to each node in the group of nodes and the associated node of the node, wherein the nodes contained in different sub-paths are different; merging the sub-paths corresponding to the group of nodes to generate a target path corresponding to the group of nodes; and generating a target area corresponding to the group of nodes according to the target path corresponding to the group of nodes.
In this embodiment, the associated nodes of the nodes are determined, so that the adjacent nodes of the nodes on the current path are determined, then the group of nodes are subjected to node division, so that a plurality of sub-paths are determined, so that the nodes in each sub-path are relatively ordered nodes, and further, the target paths are generated by combining the sub-paths, so that each node in the group of nodes is stored in order, and accurate data support is provided for the subsequent generation of the target region.
Alternatively, if the path data itself is a discrete node stored in order in spatial correlation, the target region may be generated directly according to a path formed by the relatively ordered node order.
In order to make those skilled in the art understand the technical solutions provided by the embodiments of the present invention, the following detailed descriptions are provided for the above steps.
Optionally, an exemplary implementation manner of determining an associated node of each node in the set of nodes is as follows, and the step may include:
and determining a first node closest to the current node in the group of nodes and a second node taking the current node as an associated node as the associated node of the current node, wherein the first node and the second node are respectively different nodes of the group of nodes.
The following describes in detail how to determine the nodes related to the nodes, taking the path nodes shown in fig. 2 as an example. Illustratively, assuming that there are N nodes in the set of nodes, each node in the set of nodes can be represented as data [ i ], where 0 ≦ i ≦ N-1, and 10 nodes in the set of nodes as shown in FIG. 2, then data [0] -data [9], respectively, for ease of representation, only the node number (Index) is shown in FIG. 2.
The nodes may then be traversed according to the number of each node in the set of nodes. For example, the associated node sequence corresponding to the group of nodes may be represented by a two-dimensional sequence, such as an ALL _ Index _ List, where ALL _ Index _ List [ i ] is used to represent the associated node of the group of nodes i, i is the number of the node.
And for the node i, determining a node closest to the node i, and recording the node as the min _ i _ Index, if the min _ i _ Index is not in the ALL _ Index _ List [ i ], adding the number min _ i _ Index of the min _ i _ Index to the ALL _ Index _ List [ i ], namely taking the min _ i _ Index as the associated node of the node i. Meanwhile, i is added to ALL _ Index _ List [ min _ i _ Index ], i.e., node i is taken as the associated node of node min _ i _ Index.
For example, as shown in fig. 2, the node 0 is initially traversed by traversing the node number, and if it is determined that the node closest to the node 0 is the node 5, 5 is added to ALL _ Index _ List [0] and 0 is added to ALL _ Index _ List [5 ]. And then traversing each node in sequence according to the node number. When traversing to the node 2, determining that the node closest to the node 2 is the node 3, adding 3 into ALL _ Index _ List [2], and adding 2 into ALL _ Index _ List [3 ]; when traversing to node 3, determining that the node closest to node 3 is node 7, then 7 is added to ALL _ Index _ List [3] and 3 is added to ALL _ Index _ List [7], where ALL _ Index _ List [3] contains the numbers of two nodes, i.e., 2 and 7. When traversing to the node 6, the node closest to the node 6 is determined to be the node 1, and since 1 already exists in the ALL _ Index _ List [6], the addition is not repeated at this time. The manner of determining the associated node by other nodes is similar to that described above, and is not described herein again. The determined associated node sequence corresponding to the group of nodes after traversal is as follows:
| |
0 | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 |
| All_Index_List | 5 | 6 | 3 | 2 7 | 5 | 0 4 | 1 | 3 | 9 | 8 |
Therefore, by the technical scheme, the associated node of each node can be preliminarily determined through the distance between the nodes, so that the adjacent node of each node in the group of nodes can be determined, accurate data support is provided for the subsequent formation of an ordered target path, meanwhile, the influence of unordered nodes on the generation result of the target area can be avoided, and the accuracy of the generated target area is ensured.
Optionally, according to each node in the group of nodes and the associated node of the node, an exemplary implementation manner of determining the sub-path corresponding to the group of nodes is as follows, and the step may include:
and connecting each node in the group of nodes with the associated node thereof to obtain the sub-paths corresponding to the group of nodes, wherein the nodes on different sub-paths have no association relationship.
The implementation of connecting each node in the set of nodes with its associated node is described in detail below. Illustratively, the Segment _ index _ vector represents a set of nodes included in each sub-path, and the Segment _ index _ list represents a two-dimensional sequence of nodes of a plurality of sub-paths.
And step 1, sequentially traversing the nodes in the group according to the numbers of the nodes, if the number of the associated nodes of the traversed node i is greater than 1, continuing to traverse the next node, if the number of the associated nodes of the traversed node i is 1, namely the number of the nodes in the All _ Index _ List [ i ] is 1, adding the number of the node i and the associated nodes of the node i All _ Index _ List [ i ] [0] to the node set Segment _ Index _ vector, and taking the associated nodes All _ Index _ List [ i ] [0] as the next node to be traversed and recording as the next node. At this time, to avoid traversing the node i again, All _ Index _ List [ i ] may be deleted from All _ Index _ List, and the occupation of storage resources may be saved.
And 2, determining the number K of the associated nodes of the next-index of the next node.
And step 3, if the K is 1, if the associated node ALL _ index _ List [ next _ index ] [0] of the next node next _ index is not in the node set Segment _ index _ vector, adding the associated node ALL _ index _ List [ next _ index ] [0] to the node set Segment _ index _ vector, adding the node set Segment _ index _ vector to the two-dimensional sequence Segment _ index _ List, deleting the associated node ALL _ index _ List [ i ] from the associated node sequence ALL _ index _ List, and returning to the step 1. ALL _ index _ list [ x ] [0] represents the 0 th associated node of the node x, and for example, ALL _ index _ list [3] [0] is 2 and ALL _ index _ list [3] [1] is 7. Otherwise, if the ALL _ index _ list [ next _ index ] [0] of the node set Segment _ index _ vector associated with the next node next _ index already exists in the next node set Segment _ index _ vector, adding the next node set Segment _ index _ vector into the two-dimensional sequence Segment _ index _ list, and returning to the step 1. After the node set Segment _ index _ vector is added to the two-dimensional sequence Segment _ index _ list, the node set Segment _ index _ vector may be cleared, so as to record the node in the next sub-path.
And 4, traversing the K associated nodes in the associated node ALL _ index _ list [ next _ index ] of the next node next _ index according to the association sequence (j is 0,1, … and K-1) of each associated node when K is larger than 1. If the associated node ALL _ index _ list [ next _ index ] [ j ] (0< ═ j < K) is not in the node set Segment _ index _ vector, the associated node ALL _ index _ list [ next _ index ] [ j ] is added to the node set Segment _ index _ vector, and the associated node ALL _ index _ list [ next _ index ] [ j ] is regarded as the next node of the traversal and is recorded as the node next _ index, and the procedure returns to step 2.
The above process is further explained below with reference to fig. 2. Illustratively, initially traverse node 0, with the number of associated nodes of node 0 being 1, then the numbers of nodes 0 and 5 (i.e., 0 and 5) are added to the node set. Taking the node 5 as the next node in the traversal, the associated nodes of the node 5 are the node 0 and the node 4, that is, it is determined that the number K of the associated nodes of the node 5 is 2, at this time, the associated node ALL _ index _ list [5] [0] is the node 0, at this time, the node 4 is already in the node set Segment _ index _ vector, the traversal continues through the associated node ALL _ index _ list [5] [1], that is, the node 4, at this time, the node 4 is not in the node set Segment _ index _ vector, the node 4 is added to the node set Segment _ index _ vector, and the node 4 is determined as the next node in the traversal, the step 2 is returned, it is determined that the number K of the associated nodes of the node next _ index (that is, the node 4) is 1, the associated nodes of the node 4 are the node 5, at this time, the node 5 is already in the node set Segment _ index _ vector, the node set Segment _ index _ vector is added to the two-dimensional sequence of the node set Segment _ index _ vector, at this time, the node 5 is added to the node set Segment _ index _ vector, and at this time, the node set Segment _ index _ vector includes the node 0 Node 5 and node 4, i.e., node 0, node 5 and node 4, form a sub-path. Thereafter, the set of nodes Segment _ index _ vector may be cleared to continue traversing the nodes in the set of nodes until each node is traversed.
The traversal mode of other nodes is the same as that described above, and is not described herein again. After the traversal is finished, each obtained sub-path is as shown in fig. 3, and is represented as follows:
sub-path L0: node 0, node 5, and node 4;
sub-path L1: node 1, node 6;
sub-path L2: node 2, node 3, and node 7;
sub-path L3: node 8, node 9.
Therefore, each node in the group of nodes can be further divided simply and accurately through the technical scheme, so that a plurality of non-crossed sub-paths are generated, the nodes contained in each sub-path are different, and the nodes of different sub-paths have no direct association relationship, so that the nodes in each sub-path are relatively ordered, the relative order of each node in the group of nodes is convenient to determine, and data support is provided for generating a target region.
Optionally, an exemplary implementation manner of merging the sub-paths corresponding to the group of nodes to generate the target path corresponding to the group of nodes is as follows, and the step may include:
and determining two sub-paths with the shortest distance in the sub-paths corresponding to the group of nodes. Following the above example, based on the determined sub-paths L0, L1, L2, L3, the distance between any two paths is determined. By way of example, the distance between two paths may be determined as follows:
The two end points of each sub-path are determined and can be represented by a node sequence Segment _ point, wherein the node sequence Segment _ point is a two-dimensional sequence, and one line in the two-dimensional sequence is used for representing the two end points of one sub-path. If the two end points of the sub-path L0 are respectively node 0 and node 4, then Segment _ point [0] [0] is node 0, Segment _ point [0] [1] is node 4, and the end points of the other paths represent the same, and are not described herein again.
When the distance between the end points in the two sub-paths is respectively determined, for example, when the distance between a sub-path m and a sub-path n is calculated, the following calculation is performed, where m and n are respectively used to represent the number of the sub-path, and m is different from n:
dmn_00＝distance(data[Segment_point[n][0]],data[Segment_point[m][0]])；
dmn_01＝distance(data[Segemnt_point[n][0]],data[Segment_point[m][1]])；
dmn_10＝distance(data[Segment_point[n][1]],data[Segemnt_point[m][0]])；
dmn_11＝distance(data[Segment_point[n][1]],data[Segemnt_point[m][1]])；
dmn＝min(dmn_00,dmn_01,dmn_10,dmn_11)；
the distance () is used to determine the distance between two points, and the min () is used to find the minimum value. As can be seen from the above, the determined minimum distance dmn is the distance between the sub-path m and the sub-path n, and the distance between any two sub-paths can be sequentially determined in the above manner, so that two sub-paths with the shortest distance can be determined, for example, as illustrated in fig. 3, the determined sub-paths with the shortest distance are the sub-path L0 and the sub-path L1.
And then, merging the first sub-path and the second sub-path, taking a third node as an associated node of a fourth node, and taking the fourth node as an associated node of the third node, wherein the first sub-path and the second sub-path are respectively different sub-paths in the two sub-paths with the shortest distance, the third node is a node in the first sub-path with the shortest distance to the second sub-path, and the fourth node is a node in the second sub-path with the shortest distance to the first sub-path.
In the above example, if the first sub-path is the sub-path L0, the second sub-path is the sub-path L1, where the nodes closest to the sub-path L0 and the sub-path L1 are the node 0 and the node 6, respectively, that is, the third node is the node 0, and the fourth node is the node 6. If the first sub-path and the second sub-path are merged, the third node and the fourth node may be connected, and the merged sub-path includes all the nodes of the first sub-path and the second sub-path, and the end point of the merged sub-path is updated.
For example, when the sub-path L0 and the sub-path L1 are merged, the node 0 and the node 6 may be connected, so that the merged sub-path L01 includes the node 0, the node 5, the node 4, the node 1, and the node 6, and the end points of the sub-path L01 are the node 4 and the node 1. Meanwhile, the node 6 is regarded as a related node of the node 0, and the node 0 is regarded as a related node of the node 6.
At this time, the sub-paths corresponding to the set of nodes are shown in fig. 4A as follows:
sub-path L01: node 0, node 5 and node 4, node 1, node 6, wherein the merged connection of node 0 and node 6 is shown in dashed lines;
sub-path L2: node 2, node 3, and node 7;
sub-path L3: node 8, node 9.
Then, the step of determining two closest sub-paths in the sub-paths corresponding to the group of nodes may be returned until the number of the sub-paths corresponding to the group of nodes is 1, and the obtained sub-paths are determined as the target path, as shown in fig. 4B. The steps of merging and updating the sub-paths are described in detail above, and are not described herein again. After merging the sub-paths to obtain the target path, the updated associated node sequence is represented as follows:
| |
0 | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 |
| All_Index_List | 5 6 | 6 2 | 3 1 | 2 7 | 5 | 0 4 | 1 0 | 3 8 | 9 7 | 8 |
after the target path is determined, the node distribution of the group of nodes with relatively ordered storage space can be obtained. Illustratively, the ordered distribution of nodes in the target path may be determined by:
and a, sequentially traversing according to the number of the nodes, if the number of the associated nodes of the traversed node i is greater than 1, continuing to traverse the next node, if the number of the associated nodes of the traversed node i is 1, namely the number of the nodes in the All _ Index _ List [ i ] is 1, sequentially adding the number of the node i and the associated nodes of the node i, namely the All _ Index _ List [ i ] [0], into the ordered node set Segment _ final, and taking the associated nodes, namely the All _ Index _ List [ i ] [0], as the next node of the traversal and marking as the next node of the traversal.
And b, determining the number K of the associated nodes of the next _ index node.
And c, when the K is larger than 1, traversing the K associated nodes in the associated node ALL _ index _ list [ next _ index ] of the next node next _ index according to the association sequence (j is 0,1, … and K-1) of each associated node. And if the associated node ALL _ index _ list [ next _ index ] [ j ] (0< ═ j < K) is not in the ordered node set Segment _ final, adding the associated node ALL _ index _ list [ next _ index ] [ j ] to the ordered node set Segment _ final, marking the associated node ALL _ index _ list [ next _ index ] [ j ] as a next node of traversal as the node next _ index, and returning to the step b.
And d, if the K is 1, if the associated node ALL _ index _ list [ next _ index ] [0] of the next node next _ index is not in the ordered node set Segment _ final, adding the associated node ALL _ index _ list [ next _ index ] [0] to the ordered node set Segment _ final, and the adding sequence of each node in the ordered node set Segment _ final is the relative sequence of the node in the target path. As shown in FIG. 2, the addition order of each node in the ordered node set Segment _ final is {4,5,0,6,1,2,3,7,8,9} in order from early to late.
After the traversal of each node i is completed, the associated node of the node i does not need to be used again, and then All _ Index _ List [ i ] may be deleted or cleared from All _ Index _ List, or All _ Index _ List may be directly deleted or cleared after the traversal of All nodes is completed, so as to save the occupation of storage resources.
Therefore, by the technical scheme, the unordered nodes can be processed into the ordered nodes, so that the target area can be generated based on the ordered nodes, and the accuracy and the availability of the target area are ensured.
Optionally, an exemplary embodiment of generating the target area corresponding to the group of nodes according to the target path corresponding to the group of nodes is as follows, where the step may include:
according to the relative sequence of each node in the target path, two adjacent nodes in the ordered node set Segment _ final are obtained and recorded as point _0 and point _1, and a line Segment D01 formed by the two nodes is two-dimensionally widened based on the widening width, wherein the specific two-dimensional widening mode is as follows:
step I, creating and initializing 4 corner points of an area S01 obtained after a line segment D01 is subjected to two-dimensional widening, marking the 4 corner points as corner points point _ a, point _ b, point _ c and point _ D, and initializing the corner points: point _ a and point _ b and point _ c and point _ d and point _1, respectively. As shown in fig. 5A, during initialization, the position information of point _ a, point _ b and point _0 is the same, and the position information of point _ c, point _ d and point _1 is the same. The position information of each node can be represented based on a rectangular spatial coordinate system, point _ i [0] represents an abscissa (X coordinate) of the node i, and point _ i [1] represents an ordinate (Y coordinate) of the node i.
In step II, if the vertical coordinates of point _0[1] ═ point _1[1], that is, the vertical coordinates of point _0 and point _1 are the same, and the slope of the line segment D01 is 0, the position information of point _ a, point _ b, point _ c, and point _ D can be updated in the following manner:
point_a[1]＝point_a[1]+width，point_b[1]＝point_b[1]-width，
point_c[1]＝point_c[1]+width，point_d[1]＝point_d[1]-width；
the positions of the updated corner points are shown in fig. 5B.
Step III, if point _0[1] is different from point _1[1], as shown in fig. 5C, the position information of the corner point _ a, point _ b, point _ C, and point _ d can be updated in the following manner:
(point _1[0] -point _0[0])/(point _1[1] -point _0[1]), said slope being used to determine the component value of the extent width in the X, Y coordinate direction;
width _ X ═ width/sqrt (slope × slope +1), where the width _ X is used to represent a component value of the expansion width in the X coordinate direction;
width _ Y ═ width _ slope/sqrt (slope _ slope +1), where the width _ Y is used to represent the component value of the extent width in the Y coordinate direction;
point_a[1]＝point_a[1]+width_y，point_a[0]＝point_a[0]+width_x，
point_b[1]＝point_b[1]-width_y，point_b[0]＝point_b[0]-width_x，
point_c[1]＝point_c[1]+width_y，point_c[0]＝point_c[0]+width_x，
point_d[1]＝point_d[1]-width_y，point_d[0]＝point_d[0]-width_x；
the positions of the updated corner points are shown in fig. 5D.
Through the above manner, the line Segment formed by every two adjacent nodes in the ordered node set Segment _ final can be two-dimensionally expanded, and then, the two-dimensionally expanded regions can be merged according to the order of the nodes in the ordered node set Segment _ final.
If the corner points of the neighboring regions coincide with each other, as shown in fig. 6A, the neighboring regions T1 and T2 may be directly merged, and the merged region is shown as T12 in fig. 6B. If the corner points of the neighboring regions do not coincide, as shown in fig. 6C, the neighboring regions may be merged as follows:
determining an intersection point P of line segments formed by point _ a and point _ c of each of the adjacent regions, determining an intersection point Q of line segments formed by point _ b and point _ D of each of the adjacent regions, updating the position information of point _ b in the region T1 and point _ D in the region T2 to the position information of the intersection point P, updating the position information of point _ a in the region T1 and point _ c in the region T2 to the position information of the intersection point Q, thereby realizing merging of the adjacent regions, and the region obtained after merging is shown in fig. 6D.
According to the technical scheme, the target path can be expanded in two dimensions, the target area is obtained, namely the plane area where the unmanned aerial vehicle can fly is determined, and in the technical scheme, the line segment formed by every two adjacent points is expanded, so that the areas corresponding to the line segments are combined, smooth processing is convenient to carry out when the areas are combined, the accuracy and the normalization of the generated target area are ensured, the plane area which can fly is accurately expanded, and the accuracy of the subsequently generated aviation area can be ensured.
Optionally, the region building path may be region data, for example, region corner data that may be artificially labeled, and the region building path may be directly connected in order of the diagonal point data according to the labeling order, so as to determine the target region.
Optionally, an exemplary embodiment of generating a plurality of first positioning nodes in the target area is as follows, and the step may include:
determining a growth starting point in the target region, wherein the growth starting point is any data point in the region construction data for determining the target region;
based on the growth starting point, growing in the target area along a first direction by a first preset step length, and growing in the target area along a second direction by a second preset step length to grow a plurality of first positioning nodes, wherein the first direction is different from the second direction. It should be noted that the first preset step length and the second preset step length may be the same or different, and both may be set according to an actual usage scenario. The smaller the preset step length setting is, the greater the density of the generated first positioning nodes is, and the higher the management accuracy of the constructed aviation area is.
For example, as shown in fig. 7A, the node O is the starting point of the growth, and a plurality of first positioning nodes are obtained by growing on the basis of the node O in the target area, which may be generating a next-level node O1 on the basis of the node O, generating a next-level node O2 on the basis of the node O1, and so on until no new node can be generated in the target area.
By way of example, the first positioning node may be generated by:
the selected node O is a growth starting point, and the first direction may be an X-axis direction (including X-axis positive and negative directions), and the second direction may be a Y-axis direction (including Y-axis positive and negative directions).
Storing the growth starting point O into a growth point set points _ saved, wherein finished is a growth end identifier, and finishing is initialized to false;
if finished is false, finishing is set to true, traversing the nodes in the growing point set point _ saved, taking 4-direction growing as an example, and according to the nodes point _ saved [ i ] in the growing point set point _ saved, circularly executing the following steps:
aiming at the direction 1, generating a new node, initializing that the position information of the new node new _ position _1 is the same as the position information of the node points _ saved [ i ], and updating the position information of the new node new _ position _1 based on a second preset step size move _ dist _ y: new _ position _1[1] ═ new _ position _1[1] + move _ dist _ y; if the new node new _ position _1 is in the target area and not in the growing point set points _ saved, storing the new node new _ position _1 into the growing point set points _ saved, and updating the growing end identifier finished to false;
Aiming at the direction 2, generating a new node, initializing that the position information of the new node new _ position _2 is the same as the position information of the node points _ saved [ i ], and updating the position information of the new node new _ position _2 based on a second preset step size move _ dist _ y: new _ position _2[1] ═ new _ position _2[1] -move _ dist _ y; if the new node new _ position _2 is in the target area and not in the growing point set points _ saved, storing the new node new _ position _2 into the growing point set points _ saved, and updating the growing end identifier finished to false;
aiming at the direction 3, generating a new node, initializing that the position information of the new node new _ position _3 is the same as the position information of the node points _ saved [ i ], and updating the position information of the new node new _ position _3 based on a first preset step size move _ dist _ x: new _ position _3[0] ═ new _ position _3[0] + move _ dist _ x; if the new node new _ position _3 is in the target area and not in the growing point set points _ saved, storing the new node new _ position _3 into the growing point set points _ saved, and updating the growing end identifier finished to false;
aiming at the direction 4, generating a new node, initializing that the position information of the new node new _ position _4 is the same as the position information of the node points _ saved [ i ], and updating the position information of the new node new _ position _4 based on a first preset step size move _ dist _ x: new _ position _4[0] ═ new _ position _4[0] + move _ dist _ x; if the new node new _ position _4 is within the target area and not in the growing point set points _ saved, the new node new _ position _4 is stored in the growing point set points _ saved and the end of growth flag is updated to false.
The schematic diagram of generating new nodes new _ position _1, new _ position _2, new _ position _3 and new _ position _4 in 4 directions based on the points _ saved [ i ] is shown in fig. 7B, and exemplarily, the nodes may be represented in the form of voxels, such as the square shown in fig. 7B. After the generation is finished, each node in the points _ saved set of growing points is the first positioning node generated.
Therefore, by means of the technical scheme, the first positioning nodes which are regularly arranged can be generated in the target area, so that the target aviation area can be locally divided and updated based on the first positioning nodes, the standardization and the standard of the target area are improved, and the construction of the target aviation area and the unmanned aerial vehicle management and control and planning based on the target aviation area are facilitated.
Optionally, an exemplary implementation of the generating the target airspace according to the range of flyable heights and the plurality of first positioning nodes may include:
for each of the first positioning nodes, performing the steps of:
and generating a plurality of second positioning nodes in the vertical direction by using the first positioning nodes as a reference and a third preset step length based on the minimum value of the range of the flyable height to obtain the plurality of second positioning nodes, wherein the vertical direction is a direction perpendicular to the plane where the target area is located, and the height of the second positioning nodes in the vertical direction is less than or equal to the maximum value of the flyable height.
Determining an area formed by the plurality of second positioning nodes as the target airspace area.
In this embodiment, the second positioning node may be based on each first positioning node adding a vertical coordinate (Z coordinate), where the Z coordinate of node i may be represented by point _ i [2 ]. For example, if the flyable height range is [ height _ L, height _ H ], then for each first positioning node points _ saved [ i ], it may generate a plurality of second positioning nodes by:
generating a three-dimensional node, initializing that X, Y coordinates in the position information of the three-dimensional node new _ position _ Z are the same as the position information of a first positioning node point _ saved [ i ], wherein the new _ position _ Z [2] is height, the height is initialized to height _ L, and the height is circularly updated based on a third preset step size move _ dist _ Z to generate Z coordinates of a plurality of three-dimensional nodes new _ position _ Z: height + move _ dist _ z until height _ H is reached. Therefore, three-dimensional nodes with different Z coordinates and regular arrangement can be generated based on each first positioning node, and the three-dimensional nodes are a plurality of second positioning nodes corresponding to the first positioning nodes.
Through the technical scheme, the plurality of three-dimensional nodes can be regularly arranged in the range of the vertical flying height of the target area, so that the target aviation area is constructed based on the three-dimensional nodes, on one hand, the three-dimensional nodes are discretely and regularly arranged in the target aviation area, the utilization rate of the target aviation area can be effectively improved, on the other hand, the related information of the nodes can be simply and dynamically updated based on the three-dimensional nodes, the management precision is more accurate, the resource occupation required by node information updating can be effectively reduced, the updating efficiency of the target aviation area is improved, and the use experience of a user is improved.
The present disclosure also provides an aviation zone building apparatus, as shown in fig. 8, the apparatus 10 including:
a receiving module 100, configured to receive region construction data;
a determining module 200, configured to determine a target area according to the area construction data, where the target area is a flyable two-dimensional area;
a first generating module 300 for generating a plurality of first positioning nodes in the target area;
a second generating module 400, configured to generate a target aviation area according to the flyable altitude range and the plurality of first positioning nodes, where the target aviation area is a flyable three-dimensional area.
Optionally, the region construction data is path data;
the determining module comprises:
the first determining submodule is used for determining nodes belonging to the same path according to the region construction data;
a second determining submodule, configured to determine, for each group of nodes belonging to the same path, a relevant node of each node in the group of nodes; determining a sub-path corresponding to the group of nodes according to each node in the group of nodes and the associated node of the node, wherein the nodes contained in different sub-paths are different; merging the sub-paths corresponding to the group of nodes to generate a target path corresponding to the group of nodes; and generating a target area corresponding to the group of nodes according to the target path corresponding to the group of nodes.
Optionally, the second determining sub-module includes:
and a third determining submodule, configured to determine, as an associated node of the current node, a first node closest to the current node in the group of nodes and a second node using the current node as the associated node, where the first node and the second node are different nodes of the group of nodes, respectively.
Optionally, the second determining sub-module includes:
and the connection sub-module is used for connecting each node in the group of nodes with the associated node thereof to obtain the sub-paths corresponding to the group of nodes, wherein the nodes on different sub-paths have no association relation.
Optionally, the second determining sub-module includes:
a fourth determining submodule, configured to determine two closest sub-paths in the sub-paths corresponding to the group of nodes;
a merging sub-module, configured to merge a first sub-path and a second sub-path, take a third node as an associated node of a fourth node, and take the fourth node as an associated node of the third node, where the first sub-path and the second sub-path are respectively different sub-paths in the two sub-paths closest to each other, the third node is a node closest to the second sub-path in the first sub-path, and the fourth node is a node closest to the first sub-path in the second sub-path; and triggering the fourth determining submodule to determine two sub-paths with the shortest distance in the sub-paths corresponding to the group of nodes until the number of the sub-paths corresponding to the group of nodes is 1, and determining the obtained sub-paths as the target path.
Optionally, the first generating module comprises:
a fifth determining submodule, configured to determine a growth starting point in the target region, where the growth starting point is any data point in the region construction data used for determining the target region;
and the growth submodule is used for growing in the target area along a first direction by a first preset step length and growing in the target area along a second direction by a second preset step length based on the growth starting point so as to grow a plurality of first positioning nodes, wherein the first direction is different from the second direction.
Optionally, the second generating module includes:
a processing submodule, configured to, for each of the first positioning nodes, perform the following steps:
and generating a plurality of second positioning nodes in the vertical direction by using the first positioning nodes as a reference and a third preset step length based on the minimum value of the range of the flyable height to obtain the plurality of second positioning nodes, wherein the vertical direction is a direction perpendicular to the plane where the target area is located, and the height of the second positioning nodes in the vertical direction is less than or equal to the maximum value of the flyable height.
A sixth determining submodule for determining an area formed by the plurality of second positioning nodes as the target airspace area.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Fig. 9 is a block diagram illustrating an electronic device 700 in accordance with an example embodiment. As shown in fig. 9, the electronic device 700 may include: a processor 701 and a memory 702. The electronic device 700 may also include one or more of a multimedia component 703, an input/output (I/O) interface 704, and a communication component 705.
The processor 701 is configured to control the overall operation of the electronic device 700, so as to complete all or part of the steps in the aviation area construction method. The memory 702 is used to store various types of data to support operation at the electronic device 700, such as instructions for any application or method operating on the electronic device 700 and application-related data, such as contact data, transmitted and received messages, pictures, audio, video, and the like. The Memory 702 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk. The multimedia components 703 may include screen and audio components. Wherein the screen may be, for example, a touch screen and the audio component is used for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may further be stored in the memory 702 or transmitted through the communication component 705. The audio assembly also includes at least one speaker for outputting audio signals. The I/O interface 704 provides an interface between the processor 701 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 705 is used for wired or wireless communication between the electronic device 700 and other devices. Wireless Communication, such as Wi-Fi, bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more of them, which is not limited herein. The corresponding communication component 705 may thus include: Wi-Fi module, Bluetooth module, NFC module, etc.
In an exemplary embodiment, the electronic Device 700 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the aviation area construction method described above.
In another exemplary embodiment, a computer-readable storage medium comprising program instructions which, when executed by a processor, implement the steps of the method of aerial area construction described above is also provided. For example, the computer-readable storage medium may be the memory 702 described above that includes program instructions executable by the processor 701 of the electronic device 700 to perform the method of aerospace region construction described above.
Fig. 10 is a block diagram illustrating an electronic device 1900 according to an example embodiment. For example, the electronic device 1900 may be provided as a server. Referring to fig. 10, an electronic device 1900 includes a processor 1922, which may be one or more in number, and a memory 1932 for storing computer programs executable by the processor 1922. The computer program stored in memory 1932 may include one or more modules that each correspond to a set of instructions. Further, processor 1922 may be configured to execute the computer program to perform the airline region construction method described above.
Additionally, electronic device 1900 may also include a power component 1926 and a communication component 1950, the power component 1926 may be configured to perform power management of the electronic device 1900, and the communication component 1950 may be configured to enable communication, e.g., wired or wireless communication, of the electronic device 1900. In addition, the electronic device 1900 may also include input/output (I/O) interfaces 1958. The electronic device 1900 may operate based on an operating system, such as Windows Server, Mac OS XTM, UnixTM, LinuxTM, etc., stored in memory 1932.
In another exemplary embodiment, a computer-readable storage medium comprising program instructions which, when executed by a processor, implement the steps of the method of aerial area construction described above is also provided. For example, the computer readable storage medium may be the memory 1932 described above that includes program instructions executable by the processor 1922 of the electronic device 1900 to perform the airline region construction method described above.
In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the method of aerial area construction described above when executed by the programmable apparatus.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (10)
1. A method of aviation zone construction, the method comprising:
receiving region construction data;
determining a target area according to the area construction data, wherein the target area is a flyable two-dimensional area;
generating a plurality of first positioning nodes in the target area;
and generating a target aviation area according to the range of the flying height and the plurality of first positioning nodes, wherein the target aviation area is a three-dimensional area capable of flying.
2. The method of claim 1, wherein the region construction data is path data;
the determining a target region according to the region construction data includes:
determining nodes belonging to the same path according to the region construction data;
for each group of nodes belonging to the same path, determining the associated node of each node in the group of nodes; determining a sub-path corresponding to the group of nodes according to each node in the group of nodes and the associated node of the node, wherein the nodes contained in different sub-paths are different; merging the sub-paths corresponding to the group of nodes to generate a target path corresponding to the group of nodes; and generating a target area corresponding to the group of nodes according to the target path corresponding to the group of nodes.
3. The method of claim 2, wherein determining the associated node of each node in the set of nodes comprises:
and determining a first node closest to the current node in the group of nodes and a second node taking the current node as an associated node as the associated node of the current node, wherein the first node and the second node are respectively different nodes of the group of nodes.
4. The method of claim 2, wherein determining the sub-path corresponding to the set of nodes according to each node in the set of nodes and the associated node of the node comprises:
and connecting each node in the group of nodes with the associated node thereof to obtain the sub-paths corresponding to the group of nodes, wherein the nodes on different sub-paths have no association relationship.
5. The method of claim 2, wherein the merging the sub-paths corresponding to the set of nodes to generate the target path corresponding to the set of nodes comprises:
determining two sub-paths with the shortest distance in the sub-paths corresponding to the group of nodes;
merging a first sub-path and a second sub-path, taking a third node as an associated node of a fourth node, and taking the fourth node as an associated node of the third node, wherein the first sub-path and the second sub-path are respectively different sub-paths in two sub-paths with the nearest distance, the third node is a node with the nearest distance from the second sub-path in the first sub-path, and the fourth node is a node with the nearest distance from the first sub-path in the second sub-path;
And returning to the step of determining two closest sub-paths in the sub-paths corresponding to the group of nodes until the number of the sub-paths corresponding to the group of nodes is 1, and determining the obtained sub-paths as the target path.
6. The method of claim 1, wherein generating a plurality of first positioning nodes in the target area comprises:
determining a growth starting point in the target region, wherein the growth starting point is any data point in the region construction data for determining the target region;
based on the growth starting point, growing in the target area along a first direction by a first preset step length, and growing in the target area along a second direction by a second preset step length to grow a plurality of first positioning nodes, wherein the first direction is different from the second direction.
7. The method of claim 1, wherein generating a target airspace from the range of flyable heights and the plurality of first positioning nodes comprises:
for each of the first positioning nodes, performing the steps of:
and generating a plurality of second positioning nodes in the vertical direction by using the first positioning nodes as a reference and a third preset step length based on the minimum value of the range of the flyable height to obtain the plurality of second positioning nodes, wherein the vertical direction is a direction perpendicular to the plane where the target area is located, and the height of the second positioning nodes in the vertical direction is less than or equal to the maximum value of the flyable height.
Determining an area formed by the plurality of second positioning nodes as the target airspace area.
8. An airborne area-building apparatus, characterized in that the apparatus comprises:
a receiving module for receiving the region construction data;
the determining module is used for determining a target area according to the area construction data, wherein the target area is a flyable two-dimensional area;
a first generating module for generating a plurality of first positioning nodes in the target area;
and the second generating module is used for generating a target aviation area according to the range of the flying height and the plurality of first positioning nodes, wherein the target aviation area is a three-dimensional area capable of flying.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
10. An electronic device, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 7.
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| WO (1) | WO2021213387A1 (en) |
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| CN113532434B (en) | 2023-06-30 |
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