CN114545961A

CN114545961A - Unmanned aerial vehicle route generation method, device, equipment and computer readable storage medium

Info

Publication number: CN114545961A
Application number: CN202011328443.5A
Authority: CN
Inventors: 马凡
Original assignee: Fengyi Technology Shenzhen Co ltd
Current assignee: Fengyi Technology Shenzhen Co ltd
Priority date: 2020-11-24
Filing date: 2020-11-24
Publication date: 2022-05-27

Abstract

The application provides an unmanned aerial vehicle route generation method, an unmanned aerial vehicle route generation device, equipment and a computer readable storage medium; the method in the application comprises the following steps: receiving an unmanned aerial vehicle navigation instruction, and acquiring an unmanned aerial vehicle identifier and navigation information associated with the navigation instruction; acquiring ground environment information between a starting address and a destination address in the navigation information, selecting navigation points according to the ground environment information, and summarizing the navigation points to form a navigation point set; acquiring performance parameters of the unmanned aerial vehicle corresponding to the unmanned aerial vehicle identification, and calculating to obtain the air route planning number according to the performance parameters and the navigation task amount and the navigation task time in the navigation information; selecting target navigation points from the navigation point set according to a preset route planning rule, and arranging the target navigation points to generate target routes corresponding to the route planning number; the method and the device reasonably plan the air route according to the navigation information and the performance information of the unmanned aerial vehicle, and effectively improve the transportation efficiency of the unmanned aerial vehicle.

Description

Unmanned aerial vehicle route generation method, device, equipment and computer readable storage medium

Technical Field

The application relates to the technical field of unmanned aerial vehicles, in particular to a method, a device, equipment and a computer readable storage medium for generating a route of an unmanned aerial vehicle.

Background

With the rapid development of computer technology, unmanned aerial vehicles are widely applied in the aspects of people's life; for example, drone cruising, drone spraying pesticides, drone logistics transportation, and the like.

Although the unmanned aerial vehicle is widely applied, the current air route of the unmanned aerial vehicle does not realize standardized management, that is, the air route planning modes of the current unmanned aerial vehicle are different, the air routes generated according to different planning modes are different, and the generated air routes are not necessarily in accordance with the application scene of the unmanned aerial vehicle, so that how to reasonably plan the air route of the unmanned aerial vehicle makes the air route of the unmanned aerial vehicle in accordance with the application scene of the unmanned aerial vehicle, and improving the transportation timeliness of the unmanned aerial vehicle becomes the current technical problem to be solved urgently.

Disclosure of Invention

The application provides an unmanned aerial vehicle route generation method, device, equipment and a computer readable storage medium, and aims to solve the technical problems that the route of an unmanned aerial vehicle cannot be reasonably planned at present and the transportation efficiency of the unmanned aerial vehicle is low.

In one aspect, the application provides a method for generating an unmanned aerial vehicle route, which includes the following steps:

receiving an unmanned aerial vehicle navigation instruction, and acquiring an unmanned aerial vehicle identifier and navigation information associated with the navigation instruction;

acquiring ground environment information between a starting address and a destination address in the navigation information, selecting navigation points according to the ground environment information, and summarizing the navigation points to form a navigation point set;

acquiring performance parameters of the unmanned aerial vehicle corresponding to the unmanned aerial vehicle identification, and calculating to obtain the air route planning number according to the performance parameters and the navigation task amount and the navigation task time in the navigation information;

and selecting target navigation points from the navigation point set according to a preset route planning rule, and arranging the target navigation points to generate target routes corresponding to the route planning number.

In some embodiments of the present application, the obtaining ground environment information between a start address and a destination address in the navigation information, selecting navigation points according to the ground environment information, and summarizing the navigation points to form a navigation point set includes:

extracting an initial address and a destination address in the navigation information, and determining a navigation transportation area by taking a line segment between the initial address and the destination address as a central line segment;

acquiring ground environment information of the navigation transportation area, and selecting a flyable area from the navigation transportation area according to ground building information, ground pedestrian flow information and ground natural resource information in the ground environment information;

and selecting navigation points in the flyable area by taking the starting address as a starting point and the destination address as an end point, and summarizing the navigation points to form a navigation point set.

In some embodiments of the present application, the obtaining a performance parameter of the unmanned aerial vehicle corresponding to the unmanned aerial vehicle identifier, and calculating to obtain the number of route plans according to the performance parameter, the navigation task amount and the navigation task time in the navigation information includes:

acquiring performance parameters of the unmanned aerial vehicle corresponding to the unmanned aerial vehicle identification, and calculating to obtain single transportation time according to the flight speed in the performance parameters and the starting address and the destination address in the navigation information;

calculating and obtaining the single-machine transportation times according to the navigation task time and the single transportation time in the navigation information;

calculating to obtain the total single machine transportation quantity according to the load quantity in the performance parameters and the single machine transportation times;

and calculating to obtain the planned number of the air routes according to the navigation task amount in the navigation information and the total traffic volume of the single machine.

In some embodiments of the present application, the selecting a target navigation point from the set of navigation points according to a preset route planning rule, and arranging the target navigation point to generate a target route corresponding to the route planning number includes:

selecting a target navigation point from the navigation point set according to a preset air route planning rule and an unmanned aerial vehicle turning included angle, an unmanned aerial vehicle climbing angle and an unmanned aerial vehicle diving angle in the performance parameters;

and arranging the target navigation points according to the spatial positions of the target navigation points to generate the target air routes corresponding to the air route planning number.

In some embodiments of the present application, after receiving a drone navigation instruction and acquiring a drone identifier and navigation information associated with the navigation instruction, the method includes:

extracting a starting address and a destination address in the navigation information, and judging whether a planned route exists between the starting address and the destination address;

if a planned route exists between the starting address and the destination address, acquiring performance parameters of the unmanned aerial vehicle corresponding to the unmanned aerial vehicle identification, and selecting a target route from the planned route according to the performance parameters, the navigation task amount and the navigation task time in the navigation information;

and if no planned route exists between the starting address and the destination address, executing the step of acquiring ground environment information between the starting address and the destination address in the navigation information, selecting navigation points according to the ground environment information, and summarizing the navigation points to form a navigation point set.

In some embodiments of the present application, if a planned route exists between the starting address and the destination address, acquiring a performance parameter of the unmanned aerial vehicle corresponding to the unmanned aerial vehicle identifier, and selecting a target route from the planned route according to the performance parameter, a navigation task amount and a navigation task time in the navigation information, includes:

if a planned route exists between the starting address and the destination address, acquiring environmental information of the planned route;

determining the priority level of the planned route according to the environmental information of the planned route;

acquiring performance parameters of the unmanned aerial vehicle corresponding to the unmanned aerial vehicle identification, and calculating and acquiring the number of used air routes according to the performance parameters and the navigation task amount and the navigation task time in the navigation information;

and arranging the planned routes from high to low according to the priority level, and selecting the target routes corresponding to the use number of the routes from the planned routes.

controlling an unmanned aerial vehicle to execute a navigation task along the air route, and acquiring state information of the unmanned aerial vehicle;

analyzing the state information of the unmanned aerial vehicle to obtain a flight risk coefficient of the unmanned aerial vehicle, and if the flight risk coefficient of the unmanned aerial vehicle is greater than a preset risk coefficient, adjusting a route of the unmanned aerial vehicle;

and counting the accident rate of the air route, and if the accident rate of the air route is higher than a preset threshold value, adjusting each navigation point in the air route to generate a new air route.

On the other hand, this application provides an unmanned aerial vehicle route generation device, unmanned aerial vehicle route generation device includes:

the request receiving module is used for receiving an unmanned aerial vehicle navigation instruction and acquiring an unmanned aerial vehicle identifier and navigation information associated with the navigation instruction;

the acquisition and aggregation module is used for acquiring ground environment information between a starting address and a destination address in the navigation information, selecting navigation points according to the ground environment information, and aggregating the navigation points to form a navigation point set;

the quantity determining module is used for acquiring performance parameters of the unmanned aerial vehicle corresponding to the unmanned aerial vehicle identification, and calculating and obtaining the air route planning quantity according to the performance parameters and the navigation task quantity and the navigation task time in the navigation information;

and the route generation module is used for selecting target navigation points from the navigation point set according to a preset route planning rule, arranging the target navigation points and generating target routes corresponding to the route planning number.

On the other hand, this application still provides an unmanned aerial vehicle route generation equipment, unmanned aerial vehicle route generation equipment includes: one or more processors; a memory; and one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor to implement the drone route generation method.

In another aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, where the computer program is loaded by a processor to execute the steps in the method for generating routes for unmanned aerial vehicles.

According to the technical scheme, an unmanned aerial vehicle navigation instruction is received, and an unmanned aerial vehicle identifier and navigation information associated with the navigation instruction are obtained; acquiring ground environment information between a starting address and a destination address in the navigation information, selecting navigation points according to the ground environment information, and summarizing the navigation points to form a navigation point set; acquiring performance parameters of the unmanned aerial vehicle corresponding to the unmanned aerial vehicle identification, and calculating to obtain the air route planning number according to the performance parameters and the navigation task amount and the navigation task time in the navigation information; and selecting target navigation points from the navigation point set according to a preset route planning rule, and arranging the target navigation points to generate target routes corresponding to the route planning number. According to the technical scheme, the navigation point set is determined according to the ground environment information, so that the influence of the ground environment on the flight of the unmanned aerial vehicle is reduced, the transportation safety of the unmanned aerial vehicle is guaranteed, and further, the navigation point is selected from the navigation point set according to the navigation information and the performance parameters of the unmanned aerial vehicle to generate the target route; all factors are comprehensively considered during route planning, so that the target route planning is more reasonable, the running route of the unmanned aerial vehicle is matched with the navigation task scene of the unmanned aerial vehicle, and finally the transportation efficiency of the unmanned aerial vehicle is improved, and efficient logistics is realized through the unmanned aerial vehicle.

Drawings

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

FIG. 1 is a schematic view of a scene generated by a route of an unmanned aerial vehicle according to an embodiment of the present application;

fig. 2 is a schematic flow chart of an embodiment of a method for generating routes for unmanned aerial vehicles provided in an embodiment of the present application;

fig. 3 is a schematic diagram of a specific scenario of an embodiment of a preset route planning rule in the unmanned aerial vehicle route generation method provided in the embodiment of the present application;

fig. 4 is a schematic diagram of a specific scenario of an embodiment of unmanned aerial vehicle route generation in the unmanned aerial vehicle route generation method provided in the embodiment of the present application;

fig. 5 is a schematic flow chart of an embodiment of a method for generating routes for unmanned aerial vehicles provided in an embodiment of the present application;

fig. 6 is a schematic flow chart of an embodiment of a method for generating routes for unmanned aerial vehicles provided in an embodiment of the present application;

fig. 7 is a schematic structural diagram of an embodiment of an unmanned aerial vehicle route generation device provided in an embodiment of the present application;

fig. 8 is a schematic structural diagram of an embodiment of the unmanned aerial vehicle route generation device provided in the embodiment of the present application.

Detailed Description

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

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In this application, the word "exemplary" is used to mean "serving as an example, instance, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. The following description is presented to enable any person skilled in the art to make and use the invention. In the following description, details are set forth for the purpose of explanation. It will be apparent to one of ordinary skill in the art that the present invention may be practiced without these specific details. In other instances, well-known structures and processes are not shown in detail to avoid obscuring the description of the invention with unnecessary detail. Thus, the present invention is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.

The embodiment of the application provides a method, a device and equipment for generating an unmanned aerial vehicle route and a computer readable storage medium, which are respectively described in detail below.

The unmanned aerial vehicle route generation method is applied to an unmanned aerial vehicle route generation device, the unmanned aerial vehicle route generation device is arranged on unmanned aerial vehicle route generation equipment, one or more processors, a memory and one or more application programs are arranged in the unmanned aerial vehicle route generation equipment, and the one or more application programs are stored in the memory and configured to be executed by the processor to realize the unmanned aerial vehicle route generation method; the unmanned aerial vehicle route generation device can be a terminal, such as a mobile phone or a tablet computer, and can also be a server or a service cluster formed by a plurality of servers.

As shown in fig. 1, fig. 1 is a schematic view of a scene generated by an unmanned aerial vehicle route in an embodiment of the present disclosure, where the scene generated by the unmanned aerial vehicle route in the embodiment of the present disclosure includes an unmanned aerial vehicle route generation device 100 (an unmanned aerial vehicle route generation device is integrated in the unmanned aerial vehicle route generation device 100), and the unmanned aerial vehicle route generation device 100 runs on an unmanned aerial vehicle route to generate a corresponding computer-readable storage medium, so as to execute a step of generating the unmanned aerial vehicle route.

It should be understood that the unmanned aerial vehicle route generation device in the scene generated by the unmanned aerial vehicle route shown in fig. 1, or the device included in the unmanned aerial vehicle route generation device, does not limit the embodiment of the present invention, that is, the number of devices and the type of devices included in the scene generated by the unmanned aerial vehicle route, or the number of devices and the type of devices included in each device do not affect the overall implementation of the technical solution in the embodiment of the present invention, and may be regarded as an equivalent replacement or derivative of the technical solution claimed in the embodiment of the present invention.

The unmanned aerial vehicle route generation device 100 in the embodiment of the invention is mainly used for:

In this embodiment of the present invention, the unmanned aerial vehicle route generation device 100 may be an independent unmanned aerial vehicle route generation device, or may be an unmanned aerial vehicle route generation device network or an unmanned aerial vehicle route generation device cluster formed by the unmanned aerial vehicle route generation devices, for example, the unmanned aerial vehicle route generation device 100 described in this embodiment of the present invention includes, but is not limited to, a computer, a network host, a single network unmanned aerial vehicle route generation device, a plurality of network unmanned aerial vehicle route generation device sets, or a cloud unmanned aerial vehicle route generation device formed by a plurality of unmanned aerial vehicle route generation devices. The cloud unmanned aerial vehicle route generation equipment is composed of a large number of computers based on cloud computing (cloud computing) or network unmanned aerial vehicle route generation equipment.

Those skilled in the art can understand that the application environment shown in fig. 1 is only one application scenario related to the present application, and does not constitute a limitation on the application scenario of the present application, and that other application environments may further include more or less unmanned aerial vehicle route generation devices than those shown in fig. 1, or a network connection relationship between the unmanned aerial vehicle route generation devices, for example, only 1 unmanned aerial vehicle route generation device is shown in fig. 1, and it can be understood that the unmanned aerial vehicle route generation scenario may further include one or more other unmanned aerial vehicle route generation devices, which is not limited herein; the drone route generation device 100 may also include memory for storing data.

In addition, in the scene generated by the unmanned aerial vehicle route, the unmanned aerial vehicle route generation equipment 100 can be provided with a display device, or the unmanned aerial vehicle route generation equipment 100 is not provided with a display device and is in communication connection with an external display device 200, and the display device 200 is used for outputting the result of the unmanned aerial vehicle route generation method in the unmanned aerial vehicle route generation equipment. The unmanned aerial vehicle route generation device 100 may access a background database 300 (the background database may be in a local memory of the unmanned aerial vehicle route generation device, and may also be set in the cloud), and information related to unmanned aerial vehicle route generation is stored in the background database 300.

It should be noted that the schematic view of the scene generated by the unmanned aerial vehicle route shown in fig. 1 is only an example, and the scene generated by the unmanned aerial vehicle route described in the embodiment of the present invention is for more clearly illustrating the technical solution of the embodiment of the present invention, and does not constitute a limitation on the technical solution provided by the embodiment of the present invention.

Based on the scene generated by the unmanned aerial vehicle route, the embodiment of the unmanned aerial vehicle route generation method is provided.

As shown in fig. 2, fig. 2 is a schematic flow chart of an embodiment of an unmanned aerial vehicle route generation method in the embodiment of the present application, and the unmanned aerial vehicle route generation method includes the following steps 201 to 204:

and 201, receiving a navigation instruction of the unmanned aerial vehicle, and acquiring an unmanned aerial vehicle identifier and navigation information associated with the navigation instruction.

The unmanned aerial vehicle route generation method in this embodiment is applied to an unmanned aerial vehicle route generation device, the type of the unmanned aerial vehicle route generation device is not specifically limited, for example, the unmanned aerial vehicle route generation device may be a terminal, a server, and the like, in this embodiment, the terminal is taken as an example for explanation, the terminal is in communication connection with the unmanned aerial vehicle, wherein the terminal may send a control instruction to control the unmanned aerial vehicle, the unmanned aerial vehicle may execute a navigation task according to the control instruction of the terminal, the specific structure of the unmanned aerial vehicle is not limited, for example, a shooting device is installed in the unmanned aerial vehicle, the shooting device is used for shooting video information, the unmanned aerial vehicle may send the shot video information to the terminal, so that a terminal user views the video information, and controls the unmanned aerial vehicle according to the video information.

The terminal receives a navigation instruction of the unmanned aerial vehicle, wherein the navigation instruction is an instruction for controlling the unmanned aerial vehicle to fly, and the navigation instruction is associated with an unmanned aerial vehicle identifier and navigation information, wherein the unmanned aerial vehicle identifier is identifier information for uniquely identifying the unmanned aerial vehicle, such as an unmanned aerial vehicle number or an unmanned aerial vehicle name; the navigation information refers to navigation related information of the controlled unmanned aerial vehicle, the navigation information includes navigation task amount of the unmanned aerial vehicle (the navigation task amount refers to the total freight quantity of the unmanned aerial vehicle, for example, 10 tons of emergency materials), navigation task time, starting address and destination address, etc.,

the navigation instruction can be actively triggered by a user, for example, the user clicks a button "call No. 001 unmanned aerial vehicle" on a terminal display interface to actively trigger the navigation instruction of the unmanned aerial vehicle; in addition, the navigation instruction may also be automatically triggered by the terminal, for example, the triggering condition of the navigation instruction preset in the terminal is as follows: newly adding a logistics task; the terminal detects logistics information of express delivery points in real time, and when a newly added logistics task is detected, the terminal automatically triggers a navigation instruction of the unmanned aerial vehicle.

The terminal receives an unmanned aerial vehicle navigation instruction, and acquires an unmanned aerial vehicle identifier and navigation information associated with the navigation instruction, wherein the unmanned aerial vehicle identifier is identification information for uniquely identifying the unmanned aerial vehicle, such as an unmanned aerial vehicle number or an unmanned aerial vehicle name; the navigation information refers to relevant information of unmanned aerial vehicle navigation, and the navigation information includes navigation task volume of the unmanned aerial vehicle (the navigation task volume refers to total freight volume of the unmanned aerial vehicle, for example, 10 tons of emergency materials), navigation task time, start address, destination address, and the like.

202, acquiring ground environment information between a starting address and a destination address in the navigation information, selecting navigation points according to the ground environment information, and summarizing the navigation points to form a navigation point set.

The terminal acquires an initial address and a destination address in the navigation information, the terminal acquires ground environment information between the initial address and the destination address, the terminal selects navigation points according to the ground environment information, and the selected navigation points are gathered to form a navigation point set; specifically, the method comprises the following steps:

(1) extracting an initial address and a destination address in the navigation information, and determining a navigation transportation area by taking a line segment between the initial address and the destination address as a central line segment;

(2) acquiring ground environment information of the navigation transportation area, and selecting a flyable area from the navigation transportation area according to ground building information, ground pedestrian flow information and ground natural resource information in the ground environment information;

(3) and selecting navigation points in the flying area by taking the starting address as a starting point and the destination address as an end point, and summarizing the navigation points to form a navigation point set.

The terminal extracts an initial address and a destination address in the navigation information, and determines a navigation transportation area by taking a line segment between the initial address and the destination address as a central line segment; for example, the terminal draws a circle by taking a starting address and a destination address as diameters, the terminal takes the circular area as a navigation transportation area, the terminal acquires ground environment information of the navigation transportation area, and the terminal selects a flyable area from the navigation transportation area according to ground building information, ground pedestrian flow information and ground natural resource information in the ground environment information; for example, the flyable area is an unmanned area (an area with less personnel flow and few personnel) as much as possible, such as a river surface, a river channel, a mountain area, a waste plant area and an idle construction site, the flyable area does not include sensitive building areas such as a commercial area, a dense residential area, a gas station and a power plant as much as possible, the flyable area is required to penetrate through the whole navigation transportation area under normal conditions, and if the flyable area is the sensitive building area, the flyable area can prompt an operator to pay attention to the flight state of the unmanned aerial vehicle.

After the flyable area is determined, the terminal takes the starting address as a starting point and a destination address as an end point, and selects a navigation point in the flyable area, wherein the navigation point refers to a point in a flight path where the flight state of the unmanned aerial vehicle changes, and the optimal point for adjusting the flight state in the flight path of the navigation point, and the navigation point conforms to a preset flight path planning rule (the preset flight path planning rule can be set according to a specific scene, for example, the preset flight path planning rule is set to be more than 20 meters away from the ground), that is, after the navigation point is in the flyable area and the flyable area is determined, the horizontal and vertical coordinates of the navigation point are determined, then the terminal determines the height information of the navigation point according to the flight height of the unmanned aerial vehicle, different navigation points are finally obtained by determining the three-dimensional coordinates of the navigation point, and the terminal collects the navigation points to form a navigation point set. In this embodiment, confirm the set of navigation points according to ground environment information, reduce the influence of ground environment to unmanned aerial vehicle flight like this, ensure unmanned aerial vehicle transportation security.

And 203, acquiring performance parameters of the unmanned aerial vehicle corresponding to the unmanned aerial vehicle identification, and calculating to obtain the air route planning number according to the performance parameters and the navigation task amount and the navigation task time in the navigation information.

The terminal acquires the performance parameter of the unmanned aerial vehicle corresponding to the unmanned aerial vehicle identifier, wherein the performance parameter refers to the working parameter of the unmanned aerial vehicle, and the performance parameter of the unmanned aerial vehicle comprises: the unmanned aerial vehicle load capacity, the unmanned aerial vehicle flying speed, the unmanned aerial vehicle residual capacity, the unmanned aerial vehicle turning included angle, the unmanned aerial vehicle climbing angle and the unmanned aerial vehicle diving angle are related, in addition, the performance parameters of the unmanned aerial vehicle are related to the type of the unmanned aerial vehicle, and when the type of the unmanned aerial vehicle is determined, the performance parameters of the unmanned aerial vehicle can be determined; the terminal calculates and obtains the planned number of routes according to the performance parameters and the navigation task amount and the navigation task time in the navigation information so as to reasonably plan the routes; specifically, the method comprises the following steps:

(1) acquiring performance parameters of the unmanned aerial vehicle corresponding to the unmanned aerial vehicle identification, and calculating to obtain single transportation time according to the flight speed in the performance parameters and the starting address and the destination address in the navigation information;

(2) calculating and obtaining the single-machine transportation times according to the navigation task time and the single transportation time in the navigation information;

(3) calculating to obtain the total single machine transportation quantity according to the load quantity in the performance parameters and the single machine transportation times;

(4) and calculating to obtain the planning number of the air routes according to the navigation task amount in the navigation information and the total transportation amount of the single machine.

The terminal is prestored with an unmanned aerial vehicle identifier and performance parameter mapping table, acquires the unmanned aerial vehicle identifier, queries the unmanned aerial vehicle identifier and performance parameter mapping table, and acquires the performance parameter corresponding to the unmanned aerial vehicle identifier, wherein the performance parameter comprises flight speed, load capacity, navigation task time and the like, the terminal calculates and acquires single transportation time according to the flight speed in the performance parameter and a starting address and a destination address in navigation information, for example, the distance of unmanned aerial vehicle transportation determined by the terminal according to the starting address and the destination address, namely, the unmanned aerial vehicle usually does not fly straight along the starting address to the destination address, but the transportation route of the unmanned aerial vehicle is usually larger than the straight distance between the starting address and the destination address and is smaller than n times the straight distance between the starting address and the destination address (n can be n times the straight distance between the starting address and the destination address, ground environment information determination). The terminal divides the distance of the unmanned aerial vehicle transportation by the flying speed to obtain the single transportation time of the unmanned aerial vehicle; the terminal divides the navigation task time in the navigation information by the single transportation time to obtain the single transportation times (the single transportation times refer to the transportation times of each unmanned aerial vehicle in the navigation task); the terminal performs product operation on the load quantity in the performance parameters and the single machine transportation times to obtain the single machine total transportation quantity of the unmanned aerial vehicle; and the terminal divides the navigation task amount in the navigation information by the total traffic of the single machine to obtain the planned number of the air routes. That is, in this embodiment, the navigation task amount in the navigation information is divided by the total transportation amount of the single aircraft to obtain the planned number of routes, which means that the route of the unmanned aerial vehicle is short, and one unmanned aerial vehicle flies on one route, but if the route of the unmanned aerial vehicle is long, a situation that multiple unmanned aerial vehicles fly on one route may occur, the terminal may convert the route planning data, for example, three unmanned aerial vehicles may take off on one route at intervals, the terminal divides the navigation task amount in the navigation information by the total transportation amount of the single aircraft to obtain initial data, and the terminal divides the initial data by three to obtain the planned number of routes.

In addition, when the planned number of routes is actually calculated, if the navigation task time is long, the task volume of the unmanned aerial vehicle and the execution time of the navigation task are not necessarily related under the normal condition, in order to improve the transportation efficiency, the terminal can set the navigation time according to the navigation task volume, under the condition that a plurality of unmanned aerial vehicles can be flown on one route at intervals, the terminal can reduce the planned number of routes, for example, the navigation task time is 4 hours, the single transportation time of the unmanned aerial vehicle is 1 hour, the terminal can control the unmanned aerial vehicle to take off every 20 minutes on the route, the terminal determines that the route can start 10 unmanned aerial vehicles, the terminal determines the final freight volume of each route according to the flight information of the unmanned aerial vehicles, so as to adjust the planned number of routes obtained through calculation, and obtain the final planned number of routes.

And 204, selecting target navigation points from the navigation point set according to a preset route planning rule, and arranging the target navigation points to generate target routes corresponding to the route planning number.

A route planning rule is preset in the terminal, wherein the preset route planning rule may be set according to a specific scene, with reference to fig. 3, and fig. 3 is a specific scene schematic diagram of an embodiment of the preset route planning rule in the unmanned aerial vehicle route generation method provided in the embodiment of the present application. Taking a certain model of unmanned aerial vehicle as an example, the preset air route planning rule is as follows: 1. all navigation points are higher than 20 meters in place, the requirements of the data on different types are different, and the main reason is to ensure the flight safety; 2. in a route section crossing a high mountain (ridge), a waypoint needs to be respectively arranged in front of and behind (more than 100 meters) the highest point of the peak, and the height of the two waypoints relative to the highest point (including trees, barriers and the like) of the peak is more than 40 meters; 3. the horizontal distance between the initial two waypoints (waypoint 0 and waypoint 1) and the final two waypoints (waypoint N-1 and waypoint N) of the route is more than 350m, and the horizontal distance between the other waypoints is more than 200 m; 4. the slope h/d of the air route (h: the vertical height between two waypoints, d: the horizontal distance between two waypoints) needs to be less than 0.18, and mainly prevents the unmanned aerial vehicle from climbing and diving at a large angle, so that the unmanned aerial vehicle flies more stably. 5. The horizontal contained angle of airline is greater than 45 degrees, and it is smooth mainly to guarantee to turn when unmanned aerial vehicle flies.

The terminal selects a target navigation point from the navigation point set according to a preset route planning rule, and arranges the target navigation points to generate target routes corresponding to the route planning number; specifically, the method comprises the following steps:

(1) selecting a target navigation point from the navigation point set according to a preset air route planning rule and an unmanned aerial vehicle turning included angle, an unmanned aerial vehicle climbing angle and an unmanned aerial vehicle diving angle in the performance parameters;

(2) and arranging the target navigation points according to the spatial positions of the target navigation points to generate the target air routes corresponding to the air route planning quantity.

The terminal selects a target navigation point from a navigation point set according to a preset air route planning rule and an unmanned aerial vehicle turning included angle, an unmanned aerial vehicle climbing angle and an unmanned aerial vehicle diving angle in performance parameters; that is, because the performances of different models are different, for example xx-type unmanned aerial vehicles, the climbing angle corresponding to the climbing performance is that the height ratio distance is less than 0.15, and then the terminal can select a target navigation point from the navigation point set according to the climbing angle of the unmanned aerial vehicle and by combining with a preset route planning rule; that is to say, the unmanned aerial vehicle performance parameters are different, the selected navigation points are different, and the terminal arranges the target navigation points to generate the target routes corresponding to the route planning number according to the spatial position of the target navigation point. In the embodiment, the target navigation point is selected according to the preset route planning rule and the performance parameters of the unmanned aerial vehicle, and the target route is generated, so that the unmanned aerial vehicles with different performances can be transported at different route points, and the space utilization rate is improved.

In the embodiment of the application, the navigation point set is determined according to the ground environment information, so that the influence of the ground environment on the flight of the unmanned aerial vehicle is reduced, the transportation safety of the unmanned aerial vehicle is guaranteed, and further, the navigation point is selected from the navigation point set according to the navigation information and the performance parameters of the unmanned aerial vehicle to generate the target route; all factors are comprehensively considered during route planning, so that the target route planning is more reasonable, the running route of the unmanned aerial vehicle is matched with the navigation task scene of the unmanned aerial vehicle, and finally the transportation efficiency of the unmanned aerial vehicle is improved, and efficient logistics is realized through the unmanned aerial vehicle.

For convenience of understanding, in this embodiment, the logistics transportation routes between express delivery points and the logistics transportation route for emergency rescue of materials in case of earthquake and flood disasters are respectively exemplified as follows:

the application scene one: the method comprises the steps that a logistics transportation route of an express point is planned, navigation information and a route planning rule of a logistics unmanned aerial vehicle exist in a terminal, the terminal determines coordinates (longitude, latitude and altitude) of the express point where the unmanned aerial vehicle conducts logistics transportation, the terminal obtains commercial map information (namely ground environment information between a starting address and a destination address), the position of the express point is marked, and the terminal starts planning the route according to the navigation information and the route planning rule.

The terminal determines that the area where the unmanned aerial vehicle passes through is an unmanned area (few personnel flow and few personnel) as much as possible, such as a river surface, a river channel, a mountain area, a waste plant area and an idle construction site, and does not pass through sensitive building areas such as a commercial area, a dense residential area, a gas station and a power plant as much as possible, if the sensitive building areas cannot be avoided, the red mark of the unmanned aerial vehicle gives an early warning, and a captain or an operator needs to pay attention to the flight state of the unmanned aerial vehicle, especially when the unmanned aerial vehicle operates on a large scale.

When the flight task is complex, if the goods are delivered from the point A to the point B for 1 ton in the same day, the terminal deduces the needed number of unmanned aerial vehicles according to the task amount, and the task can be completed by the number of flying frames; assuming a single traffic volume of 20kg for the drone, it is necessary to fly 50 round trips (50 round trips, no load when the drone returns). The number of the round-trip frames is 30 minutes, the number of the round-trip frames is 50 minutes, the day is calculated according to 8 hours, four unmanned aerial vehicles are required to fly at the same time to meet the requirement of the day flight task, the four unmanned aerial vehicles need four routes (the routes are common, the four unmanned aerial vehicles are sequentially released and fly in a complex situation), each route can be staggered by a certain distance (such as 30 meters horizontally and 20 meters vertically), the operation task is simultaneously executed, 80kg of materials can be transported each time, only 13 times of transportation are needed, and the time is 6.5 hours, so that the 1040kg of material transportation task can be completed.

When the flight line resources are limited or are limited by objective conditions (the more flight lines, the air risk is relatively increased, the area of the ground covered area is enlarged, and the ground risk is increased), two flight lines can be used, namely a departure flight line and a return flight line, the unmanned aerial vehicle flies for about 8 minutes, and the flying-off terminal can recommend a reasonable time interval for flying off in sequence according to the specific time of the flying-off stage, the cruising stage and the landing stage of the unmanned aerial vehicle, the flying-off and landing time-space domain safety rule (similar to civil aviation, when the unmanned aerial vehicle flies off or lands in the flying-off and landing stage, other airplanes and the flying-off and landing stage keep a certain distance requirement).

The airline planning in this embodiment is according to the timeliness requirement of logistics transportation and the characteristics of logistics distribution in the city, and it is delivered promptly to need to arrive usually, reduces the time that the goods were deposited and is waited for, consequently is fit for unmanned aerial vehicle and puts the mode of flying in order to improve unmanned aerial vehicle's transportation efficiency effectively.

Application scenario two: and under the condition of earthquake and flood disasters, planning a logistics transportation air route for emergently rescuing materials. The terminal has navigation information and route planning rules of the logistics unmanned aerial vehicle, determines a starting address and an ending address (longitude, latitude and altitude) of the logistics transportation of the unmanned aerial vehicle, determines ground environment information between the starting address and a destination address by using commercial map information, marks the starting address and the ending address, and starts to plan a route according to the navigation information and the route planning rules.

In addition, due to the burst property and the particularity of disasters, too much preparation work is not allowed to be done, when the rescue destination is too far (the distance is far, but the distance does not exceed the range limit of the unmanned aerial vehicle), and a communication signal is shielded and cannot cover a flying point and a landing point, the system gives the position of an aerial relay point, starts the communication relay unmanned aerial vehicle, and ensures the completion of a flight mission.

The purpose is rapid emergency rescue, the flight path is designed to have the shortest flight distance, and the flight path mainly avoids high-rise buildings (including forests and mountains) in the way and arrives at the destination at the first time; the routes are as many as possible, and rescue goods and living supplies can be carried as many as possible to reach rescue destinations; if 5 people are trapped at the rescue destination, 5 sets of life jackets and food are needed, the unmanned aerial vehicle is needed to execute the flight task as soon as possible, rescue goods and materials are transported to the destination at the first time, the system marks a flight line according to the flight task and by combining the flight performance of the unmanned aerial vehicle and the flight line planning rule, task guidance is given, and the captain or field rescue workers can carry out the flight task of the unmanned aerial vehicle according to the guidance suggestion.

The airline planning in this embodiment needs to combine detailed flight tasks including cargo category, cargo weight, and cargo aging, and automatically generates a specific airline task scheme according to specific requirements, so that the airline and the task are matched.

Referring to fig. 4, fig. 4 is a schematic view of a specific scene of an embodiment of unmanned aerial vehicle route generation in the unmanned aerial vehicle route generation method provided in the embodiment of the present application.

In some embodiments of the present application, in combination with the above specific route planning scenario, the route planning method for the unmanned aerial vehicle provided in this embodiment includes:

(1) the method comprises the steps of determining the type of the unmanned aerial vehicle, and determining performance parameters of the unmanned aerial vehicle according to the type of the unmanned aerial vehicle, specifically, under the full-power/full-oil state of the unmanned aerial vehicle, the full-load capacity (the maximum cargo loading capacity), the maximum range (the maximum distance capable of flying, considering the round trip), the cruising speed and the time of flight.

(2) And when the coordinates of the take-off and landing points are input, the terminal can calculate the flight range requirement, and if the flight range is greater than the maximum flight range of the unmanned aerial vehicle, the terminal cannot execute the flight task. When the unmanned aerial vehicle performance satisfies the task voyage, then calculate corresponding aircraft type corresponding flight duration, how long can reach the destination promptly after unmanned aerial vehicle takes off, if the current task is the transportation of emergency rescue goods and materials, then use all unmanned aerial vehicles on hand to carry out the transportation of unmanned aerial vehicle and deliver.

(3) And the air route task information output by the terminal comprises all air routes (generally 6 air routes, corresponding to 6 unmanned aerial vehicles, and 6 unmanned aerial vehicles are loaded on the vehicle-mounted transportation platform at the maximum). For example, road transportation of emergency materials to a destination point B is blocked, a rescue vehicle (an unmanned aerial vehicle-mounted platform) is driven to a road blocking point a, all rescue materials are installed, a route task automatic generation system generates 6 routes, 6 unmanned aerial vehicles receive 6 route information (the generated route information files are directly led into an unmanned aerial vehicle control ground station and distributed to the controlled unmanned aerial vehicles by the ground station, and the unmanned aerial vehicles can be operated by one computer) and execute flight tasks. And if the AB two points are shielded by high obstacles, a relay point route is generated to be used as a communication relay, and the carried rescue goods are replaced by communication relay equipment.

(4) The flight path information output by the terminal further comprises time of flight and taking-off and landing reference time, the example shows that when the rescue vehicle arrives at the site at 10 am, an operator inputs coordinates of a taking-off and landing point, and when the system 10:05 forms 6 flight paths, the single time of flight 20 minutes (assuming the speed of flight 20m/s and the range 24km) is obtained according to the model capacity, and 10: 10 can take off the unmanned aerial vehicle (5 minutes is the time for air route introduction and unmanned aerial vehicle take off preparation), 10:30 supplies will arrive the destination overhead and deliver, the whole process is reasonable and applicable.

The route planning method in the embodiment has the following advantages: 1. the calculation speed is high, and a plurality of routes can be generated for two points when the time from inputting the coordinates to obtaining the routes does not exceed 1 minute; 2. the temporary task is not needed, the survey is not needed, the complete air route path can be obtained only by inputting the starting point and the end point in the whole planning process, the field operation and the user training time are reduced, and the deployment can be rapidly implemented for the emergency material transportation under the natural disaster condition; 3. the expansibility is strong, a user can import data and compile ground risk rules by himself, the requirements of different scenes and tasks are met, and if a plurality of unmanned aerial vehicles of different models are required to execute flight tasks at the same time; 4. associating with the flight mission, planning a flight route, and giving flight mission guidance (which can be understood as flight information, flight number, frequency, take-off time and the like), wherein field personnel can select according to actual conditions; 5. the method comprises the steps of visualizing air route risks, and displaying ground risks and air risks by a system; 6. the device can normally work under different application scenes through large-scale actual measurement, and has strong stability and reliability.

Referring to fig. 5, fig. 5 is a schematic flowchart of an embodiment of unmanned aerial vehicle route generation in the unmanned aerial vehicle route generation method provided in the embodiment of the present application.

In some embodiments of the present application, specifically, when a planned route already exists, the selecting, by the terminal, a target route from the planned routes according to the performance parameters and the navigation information of the unmanned aerial vehicle includes the following steps 301 to 303:

301, extracting a starting address and a destination address in the navigation information, and judging whether a planned route exists between the starting address and the destination address.

The terminal extracts an initial address and a destination address in the navigation information, queries a database, and judges that a planned route exists between the initial address and the destination address if a flight record exists between the initial address and the destination address in the database; and if the flight record between the starting address and the destination address does not exist in the database, the terminal judges that a planned route does not exist between the starting address and the destination address.

302, if a planned route exists between the starting address and the destination address, acquiring performance parameters of the unmanned aerial vehicle corresponding to the unmanned aerial vehicle identification, and selecting a target route from the planned route according to the performance parameters, the navigation task amount and the navigation task time in the navigation information.

If a planned route exists between the starting address and the destination address, the terminal acquires performance parameters (the performance parameters comprise the load capacity of the unmanned aerial vehicle, the flight speed of the unmanned aerial vehicle, the residual electric quantity of the unmanned aerial vehicle, the turning included angle of the unmanned aerial vehicle, the climbing angle of the unmanned aerial vehicle and the diving angle of the unmanned aerial vehicle) of the unmanned aerial vehicle corresponding to the unmanned aerial vehicle identifier, and the terminal selects a target route from the planned routes according to the performance parameters and the navigation task quantity and the navigation task time in the navigation information; specifically, the method comprises the following steps:

(1) if a planned route exists between the starting address and the destination address, acquiring environmental information of the planned route;

(2) determining the priority level of the planned route according to the environmental information of the planned route;

(3) acquiring performance parameters of the unmanned aerial vehicle corresponding to the unmanned aerial vehicle identification, and calculating and acquiring the number of used air routes according to the performance parameters and the navigation task amount and the navigation task time in the navigation information;

(4) and arranging the planned routes from high to low according to the priority level, and selecting the target routes corresponding to the use number of the routes from the planned routes.

If a planned route exists between the starting address and the destination address, the terminal acquires environmental information of the planned route, wherein the environmental information of the planned route comprises wind speed information, wind direction information, flight height and the like of each point on the planned route; the terminal determines the priority level of the planned route according to the environmental information of the planned route; for example, the first implementation: the terminal converts the wind speed information, the wind direction information and the flight height on the air route into scores, counts the scores of all air routes, and determines the priority level of the planned air route according to the scores; and the terminal acquires the risk value of each air route, and determines the priority level of the planned air route according to the level of the risk value.

The terminal acquires performance parameters of the unmanned aerial vehicle corresponding to the unmanned aerial vehicle identification, and calculates and obtains the number of used air routes according to the performance parameters and the navigation task amount and the navigation task time in the navigation information; for example, a mapping table of an unmanned aerial vehicle identifier and a performance parameter is prestored in the terminal, the terminal acquires the unmanned aerial vehicle identifier, the terminal queries the unmanned aerial vehicle identifier and the performance parameter mapping table to acquire a performance parameter corresponding to the unmanned aerial vehicle identifier, wherein the performance parameter comprises flight speed, load capacity, navigation task time and the like, the terminal acquires the route of the planned route, and the terminal divides the route of the planned route by the flight speed to acquire single transportation time of the unmanned aerial vehicle; the unmanned aerial vehicle divides the navigation task time in the navigation information by the single transportation time to obtain the single transportation times; the terminal performs product operation on the load quantity in the performance parameters and the single machine transportation times to obtain the single machine total transportation quantity of the unmanned aerial vehicle; and the terminal divides the navigation task amount in the navigation information by the total traffic of the single machine to obtain the using number of the air routes.

The terminal arranges the planned routes from high to low according to priority levels, selects target routes corresponding to the used number of the routes from the planned routes, and starts the planned routes according to specific task conditions to reduce repeated planning of the routes.

303, if there is no planned route between the start address and the destination address, performing the step of obtaining the ground environment information between the start address and the destination address in the navigation information, selecting navigation points according to the ground environment information, and summarizing the navigation points to form a navigation point set.

If no planned route exists between the starting address and the destination address, the terminal acquires ground environment information between the starting address and the destination address in the navigation information, selects navigation points according to the ground environment information, summarizes the navigation points to form a navigation point set, the terminal acquires performance parameters of the unmanned aerial vehicle corresponding to the unmanned aerial vehicle identification, and calculates and acquires route planning quantity according to the performance parameters, navigation task quantity and navigation task time in the navigation information; and the terminal selects a target navigation point from the navigation point set according to a preset route planning rule, arranges the target navigation point and generates a target route corresponding to the route planning number.

In this embodiment, after receiving a navigation instruction of the unmanned aerial vehicle, the terminal acquires navigation information, extracts a start address and a destination address in the navigation information, and determines whether a planned route exists between the start address and the destination address, and the terminal selects the planned route according to a specific transportation scene, so that repeated planning of the route is avoided, and transportation efficiency is ensured.

Referring to fig. 6, fig. 6 is a schematic flowchart of an embodiment of unmanned aerial vehicle route generation in the unmanned aerial vehicle route generation method provided in the embodiment of the present application.

In some embodiments of the application, after the unmanned aerial vehicle route is generated in the unmanned aerial vehicle route generation method, the method comprises the following steps 401-403:

401, controlling the unmanned aerial vehicle to execute a navigation task along the air route, and acquiring the state information of the unmanned aerial vehicle.

The terminal control unmanned aerial vehicle carries out the navigation task along the airline to acquire unmanned aerial vehicle's status information, wherein, status information includes unmanned aerial vehicle's real-time flight speed, unmanned aerial vehicle flying height, unmanned aerial vehicle residual capacity etc..

402, analyzing the state information of the unmanned aerial vehicle, obtaining the flight risk coefficient of the unmanned aerial vehicle, and if the flight risk coefficient of the unmanned aerial vehicle is greater than the preset risk coefficient, adjusting the air route of the unmanned aerial vehicle.

The terminal analyzes the state information of the unmanned aerial vehicle, wherein the mode of analyzing the state information of the unmanned aerial vehicle by the terminal is not specifically limited, for example, a risk analysis algorithm is arranged in the terminal, the terminal processes the acquired state information according to the risk analysis algorithm to obtain a flight risk coefficient of the unmanned aerial vehicle, the terminal compares the flight risk coefficient of the unmanned aerial vehicle with a preset risk coefficient (the preset risk coefficient refers to the accident occurrence probability of the unmanned aerial vehicle flying, and can be flexibly set according to a specific scene), if the flight risk coefficient of the unmanned aerial vehicle is smaller than or equal to the preset risk coefficient, the current air route flying is kept, and if the flight risk coefficient of the unmanned aerial vehicle is larger than the preset risk coefficient, the air route of the unmanned aerial vehicle is adjusted.

And 403, counting the accident rate of the air route, and if the accident rate of the air route is higher than a preset threshold, adjusting each navigation point in the air route to generate a new air route.

The terminal counts accident occurrence rate of the air route, if the accident occurrence rate of the air route is higher than a preset threshold (the preset threshold can be set according to specific scenes, for example, set to be 10%), the terminal analyzes the condition of each navigation point in the air route, adjusts each navigation point in the air route, and generates a new air route.

In this embodiment, the terminal monitors the flight state of the unmanned aerial vehicle in real time to adjust the flight route of the unmanned aerial vehicle, and meanwhile, the terminal counts the accident occurrence rate of the unmanned aerial vehicle of each route, and if the accident occurrence rate of the route is higher than a preset threshold value, each navigation point in the route is adjusted to generate a new route, so that the route of the unmanned aerial vehicle is safer.

As shown in fig. 7, fig. 7 is a schematic structural diagram of an embodiment of the unmanned aerial vehicle route generation device.

In order to better implement the unmanned aerial vehicle route generation method in the embodiment of the present application, on the basis of the unmanned aerial vehicle route generation method, an unmanned aerial vehicle route generation device is further provided in the embodiment of the present application, and the unmanned aerial vehicle route generation device includes the following modules 501 and 504:

a request receiving module 501, configured to receive a navigation instruction of an unmanned aerial vehicle, and obtain an unmanned aerial vehicle identifier and navigation information associated with the navigation instruction;

an obtaining and summarizing module 502, configured to obtain ground environment information between a start address and a destination address in the navigation information, select a navigation point according to the ground environment information, and summarize the navigation point to form a navigation point set;

the quantity determining module 503 is configured to obtain a performance parameter of the unmanned aerial vehicle corresponding to the unmanned aerial vehicle identifier, and calculate to obtain the planned number of routes according to the performance parameter and the navigation task quantity and the navigation task time in the navigation information;

and the route generation module 504 is configured to select a target navigation point from the set of navigation points according to a preset route planning rule, arrange the target navigation point, and generate a target route corresponding to the planned number of routes.

In some embodiments of the present application, the acquiring and summarizing module 502 includes:

In some embodiments of the present application, the number determining module 503 includes:

In some embodiments of the present application, the route generation module 504 includes:

In some embodiments of the present application, the unmanned aerial vehicle route generation apparatus includes:

In some embodiments of the present application, if a planned route exists between the start address and the destination address, acquiring a performance parameter of the unmanned aerial vehicle corresponding to the unmanned aerial vehicle identifier, and selecting a target route from the planned route according to the performance parameter and the navigation task amount and the navigation task time in the navigation information, includes:

In some embodiments of the present application, the unmanned aerial vehicle route generation apparatus further includes:

selecting a target navigation point from the navigation point set according to a preset route planning rule, arranging the target navigation point and generating a target route corresponding to the route planning number, wherein the method comprises the following steps:

In the embodiment, an unmanned aerial vehicle navigation instruction is received in an unmanned aerial vehicle route generation device, and an unmanned aerial vehicle identifier and navigation information associated with the navigation instruction are obtained; acquiring ground environment information between a starting address and a destination address in the navigation information, selecting navigation points according to the ground environment information, and summarizing the navigation points to form a navigation point set; acquiring performance parameters of the unmanned aerial vehicle corresponding to the unmanned aerial vehicle identification, and calculating to obtain the air route planning number according to the performance parameters, the navigation task amount and the navigation task time in the navigation information; and selecting target navigation points from the navigation point set according to a preset route planning rule, and arranging the target navigation points to generate target routes corresponding to the route planning number. In the embodiment, the navigation point set is determined according to the ground environment information, so that the influence of the ground environment on the flight of the unmanned aerial vehicle is reduced, the transportation safety of the unmanned aerial vehicle is guaranteed, and further, the navigation point is selected from the navigation point set according to the navigation information and the performance parameters of the unmanned aerial vehicle to generate the target route; all factors are comprehensively considered during route planning, so that the target route planning is more reasonable, the running route of the unmanned aerial vehicle is matched with the navigation task scene of the unmanned aerial vehicle, and finally the transportation efficiency of the unmanned aerial vehicle is improved, and efficient logistics is realized through the unmanned aerial vehicle.

An embodiment of the present invention further provides an unmanned aerial vehicle route generation device, as shown in fig. 8, fig. 8 is a schematic structural diagram of an embodiment of the unmanned aerial vehicle route generation device provided in the embodiment of the present application.

The unmanned aerial vehicle route generation equipment integrates any one unmanned aerial vehicle route generation device provided by the embodiment of the invention, and the unmanned aerial vehicle route generation equipment comprises: one or more processors; a memory; and one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor for performing the steps of the drone route generation method in any of the drone route generation method embodiments described above.

Specifically, the method comprises the following steps: the drone route generation device may include components such as a processor 601 of one or more processing cores, memory 602 of one or more computer-readable storage media, a power supply 603, and an input unit 604. Those skilled in the art will appreciate that the unmanned aerial vehicle route generation facility configuration shown in fig. 8 does not constitute a limitation of the unmanned aerial vehicle route generation facility, and may include more or fewer components than shown, or some components in combination, or a different arrangement of components. Wherein:

the processor 601 is a control center of the unmanned aerial vehicle route generation device, connects each part of the whole unmanned aerial vehicle route generation device by using various interfaces and lines, and executes various functions and processing data of the unmanned aerial vehicle route generation device by running or executing software programs and/or modules stored in the memory 602 and calling data stored in the memory 602, thereby performing overall monitoring on the unmanned aerial vehicle route generation device. Optionally, processor 601 may include one or more processing cores; preferably, the processor 601 may integrate an application processor, which mainly handles operating systems, user interfaces, application programs, etc., and a modem processor, which mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 601.

The memory 602 may be used to store software programs and modules, and the processor 601 executes various functional applications and data processing by operating the software programs and modules stored in the memory 602. The memory 602 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data created from use of the unmanned aerial vehicle route generation device, and the like. Further, the memory 602 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, the memory 602 may also include a memory controller to provide the processor 601 with access to the memory 602.

The unmanned aerial vehicle route generation equipment further comprises a power supply 603 for supplying power to each component, preferably, the power supply 603 can be logically connected with the processor 601 through a power management system, so that functions of charging, discharging, power consumption management and the like can be managed through the power management system. The power supply 603 may also include any component of one or more dc or ac power sources, recharging systems, power failure detection circuitry, power converters or inverters, power status indicators, and the like.

The unmanned aerial vehicle route generation device may also include an input unit 604, the input unit 604 being operable to receive input numeric or character information and to generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

Although not shown, the unmanned aerial vehicle route generation device may further include a display unit and the like, which are not described in detail herein. Specifically, in this embodiment, the processor 601 in the unmanned aerial vehicle route generation device loads an executable file corresponding to a process of one or more application programs into the memory 602 according to the following instructions, and the processor 601 runs the application programs stored in the memory 602, thereby implementing various functions as follows:

It will be understood by those skilled in the art that all or part of the steps of the methods of the above embodiments may be performed by instructions or by associated hardware controlled by the instructions, which may be stored in a computer readable storage medium and loaded and executed by a processor.

To this end, an embodiment of the present invention provides a computer-readable storage medium, which may include: read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, and the like. The unmanned aerial vehicle route generation method comprises a first step of generating a route of the unmanned aerial vehicle, a second step of generating a route of the unmanned aerial vehicle, and a third step of generating a route of the unmanned aerial vehicle. For example, the computer program may be loaded by a processor to perform the steps of:

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and parts that are not described in detail in a certain embodiment may refer to the above detailed descriptions of other embodiments, and are not described herein again.

In a specific implementation, each unit or structure may be implemented as an independent entity, or may be combined arbitrarily to be implemented as one or several entities, and the specific implementation of each unit or structure may refer to the foregoing method embodiment, which is not described herein again.

The above operations can be implemented in the foregoing embodiments, and are not described in detail herein.

The unmanned aerial vehicle route generation method provided by the embodiment of the application is described in detail, a specific example is applied in the method to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for those skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims

1. An unmanned aerial vehicle route generation method is characterized by comprising the following steps:

2. The unmanned aerial vehicle route generation method of claim 1, wherein the obtaining ground environment information between a start address and a destination address in the navigation information, selecting navigation points according to the ground environment information, and summarizing the navigation points to form a set of navigation points comprises:

3. The unmanned aerial vehicle route generation method according to claim 1, wherein the obtaining of the performance parameter of the unmanned aerial vehicle corresponding to the unmanned aerial vehicle identifier and the calculating of the route planning number according to the performance parameter and the navigation task amount and the navigation task time in the navigation information comprise:

4. The unmanned aerial vehicle route generation method of claim 1, wherein the selecting a target navigation point from the set of navigation points according to a preset route planning rule, arranging the target navigation point to generate a target route corresponding to the route planning number comprises:

5. The unmanned aerial vehicle route generation method of claim 1, wherein after receiving the unmanned aerial vehicle navigation instruction and obtaining the unmanned aerial vehicle identification and navigation information associated with the navigation instruction, the method comprises:

extracting an initial address and a destination address in the navigation information, and judging whether a planned route exists between the initial address and the destination address;

6. The unmanned aerial vehicle route generation method according to claim 5, wherein if a planned route exists between the start address and the destination address, acquiring a performance parameter of the unmanned aerial vehicle corresponding to the unmanned aerial vehicle identifier, and selecting a target route from the planned route according to the performance parameter and a navigation task amount and a navigation task time in the navigation information includes:

7. The unmanned aerial vehicle route generation method of any one of claims 1 to 6, wherein selecting a target navigation point from the set of navigation points according to a preset route planning rule, arranging the target navigation point to generate a target route corresponding to the route planning number comprises:

8. An unmanned aerial vehicle route generation device, characterized in that, unmanned aerial vehicle route generation device includes:

9. An unmanned aerial vehicle route generation device, characterized in that unmanned aerial vehicle route generation device includes: one or more processors; a memory; and one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor to implement the unmanned aerial vehicle route generation method of any of claims 1-7.

10. A computer-readable storage medium, having stored thereon a computer program which is loaded by a processor to perform the steps in the unmanned aerial vehicle route generation method of any of claims 1 to 7.