WO2022227097A1

WO2022227097A1 - Method and apparatus for planning route of unmanned aerial vehicle, device, system and storage medium

Info

Publication number: WO2022227097A1
Application number: PCT/CN2021/091782
Authority: WO
Inventors: 贾焱超; 汪成; 吴伟佳
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2021-04-30
Filing date: 2021-04-30
Publication date: 2022-11-03
Also published as: CN116648640A

Abstract

A method and apparatus for planning a route of an unmanned aerial vehicle, a device, a system, and a storage medium. The method comprises: acquiring a target flight route of the unmanned aerial vehicle, the target flight route comprising at least one point cloud collection route segment and at least one calibration route segment, wherein the unmanned aerial vehicle is provided with a radar apparatus and a positioning and orientation system, the radar apparatus is used for collecting point cloud data at least in the process of the unmanned aerial vehicle flying in the point cloud collection route segment, and orientation data collected by the positioning and orientation system in the at least one calibration route segment is used for calibrating the point cloud data (S101); and outputting the target flight route (S102). The method can improve the accuracy of point cloud data.

Description

Route planning method, device, equipment, system and storage medium of unmanned aerial vehicle

technical field

The present application relates to the field of route planning, and in particular, to a route planning method, device, device, system and storage medium for an unmanned aerial vehicle.

Background technique

At present, the radar device is mainly installed in a fixed area, and the point cloud data of the fixed area is collected by the radar device. However, the working range of the radar device is limited. For a large area, multiple radar devices need to be installed, which is inconvenient. Collection of point cloud data. In order to solve the above problems, the UAV can be equipped with a radar device to plan the route of the UAV in the operation area, and the UAV can fly in the operation area according to the route to collect the point cloud data of the operation area through the radar device. However, by using the UAV to carry the radar device, there is the problem of the attitude offset of the radar device, which will lead to the low accuracy of the collected point cloud data, which in turn affects the accuracy of subsequent modeling based on the point cloud data.

SUMMARY OF THE INVENTION

Based on this, the embodiments of the present application provide a route planning method, device, device, system and storage medium for an unmanned aerial vehicle, aiming to improve the accuracy of point cloud data.

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

Obtain the target flight route of the drone, wherein the target flight route includes at least one point cloud collection route segment and at least one calibration route segment, the drone is provided with a radar device and a positioning and attitude system, the The radar device is used to collect point cloud data at least during the flight of the drone in the point cloud collection route segment, and the attitude data collected by the positioning and attitude determination system in at least one of the calibration route segments is used to calibrate all the points. Describe point cloud data;

The target flight route is output.

In a second aspect, an embodiment of the present application further provides a route planning device for an unmanned aerial vehicle, where the route planning device includes a memory and a processor;

the memory is used to store computer programs;

The processor is configured to execute the computer program and implement the following steps when executing the computer program:

The target flight route is output.

In a third aspect, an embodiment of the present application further provides a terminal device, where the terminal device includes a display device and the above-mentioned UAV route planning device.

In a fourth aspect, an embodiment of the present application further provides a control system, the control system includes an unmanned aerial vehicle and the above-mentioned terminal equipment, the terminal equipment is connected to the unmanned aerial vehicle in communication, and the unmanned aerial vehicle is connected to the unmanned aerial vehicle. It is equipped with a positioning and attitude system and a radar device.

In a fifth aspect, an embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the above-mentioned Route planning method for drones.

The embodiments of the present application provide a route planning method, device, equipment, system and storage medium for an unmanned aerial vehicle. By acquiring a target flight route including a plurality of point cloud collection route segments and at least one calibration route segment, and outputting the target When the UAV equipped with the radar device and the positioning and attitude determination system can fly according to the target flight route, the radar device can collect point cloud data at least in the process of collecting the route segment of the UAV flying point cloud. Among them, the attitude data is collected by the positioning and attitude system in the process of flying at least one calibrated route segment of the UAV, so that the attitude data collected by the positioning and attitude system can calibrate the point cloud data, which can greatly improve the point cloud data. accuracy.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not limiting of the present application.

Description of drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. For those of ordinary skill, other drawings can also be obtained from these drawings without any creative effort.

1 is a schematic diagram of a scenario for implementing the route planning method for an unmanned aerial vehicle provided by an embodiment of the present application;

2 is a schematic flowchart of steps of a method for planning a route of an unmanned aerial vehicle provided by an embodiment of the present application;

3 is a schematic diagram of a target flight route in an embodiment of the present application;

4 is another schematic diagram of a target flight route in an embodiment of the present application;

5 is another schematic diagram of a target flight route in an embodiment of the present application;

6 is another schematic diagram of a target flight route in an embodiment of the present application;

7 is another schematic diagram of a target flight route in an embodiment of the present application;

8 is another schematic diagram of a target flight route in an embodiment of the present application;

9 is another schematic diagram of a target flight route in an embodiment of the present application;

10 is another schematic diagram of the target flight route in the embodiment of the present application;

11 is another schematic diagram of the target flight route in the embodiment of the present application;

12 is another schematic diagram of the target flight route in the embodiment of the present application;

13 is another schematic diagram of the target flight route in the embodiment of the present application;

14 is another schematic diagram of the target flight route in the embodiment of the present application;

15 is another schematic diagram of the target flight route in the embodiment of the present application;

16 is another schematic diagram of the target flight route in the embodiment of the present application;

17 is a schematic flowchart of sub-steps of the route planning method of the UAV in FIG. 2;

FIG. 18 is a schematic diagram of the target operation area in the embodiment of the present application;

19 is a schematic diagram of a plurality of point cloud collection route segments in an embodiment of the present application;

20 is another schematic diagram of the target flight route in the embodiment of the present application;

21 is another schematic diagram of the target flight route in the embodiment of the present application;

22 is another schematic diagram of the target flight route in the embodiment of the present application;

23 is another schematic diagram of the target flight route in the embodiment of the present application;

24 is another schematic diagram of the target flight route in the embodiment of the present application;

25 is a schematic diagram of a candidate flight route in an embodiment of the present application;

26 is another schematic diagram of the target flight route in the embodiment of the present application;

27 is another schematic diagram of the target flight route in the embodiment of the present application;

FIG. 28 is another schematic diagram of the target flight route in the embodiment of the present application;

29 is a schematic block diagram of the structure of a route planning device for an unmanned aerial vehicle provided by an embodiment of the present application;

FIG. 30 is a schematic structural block diagram of a terminal device provided by an embodiment of the present application;

FIG. 31 is a schematic structural block diagram of a control system provided by an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

The flowcharts shown in the figures are for illustration only, and do not necessarily include all contents and operations/steps, nor do they have to be performed in the order described. For example, some operations/steps can also be decomposed, combined or partially combined, so the actual execution order may be changed according to the actual situation.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and features in the embodiments may be combined with each other without conflict.

In order to solve the above problems, the embodiments of the present application provide a route planning method, device, equipment, system and storage medium for an unmanned aerial vehicle. , and output the target flight route, so that when the UAV equipped with the radar device and the Position and Orientation System (POS) can fly according to the target flight route, it can fly through the radar device at least when the UAV is flying. Point cloud data is collected during the course of point cloud collection route segments. Among them, the attitude data is collected by the positioning and attitude system in the process of flying at least one calibrated route segment of the UAV, so that the attitude data collected by the positioning and attitude system can calibrate the point cloud data, which can greatly improve the point cloud data. accuracy.

It can be understood that the route planning method can be applied to terminal equipment, drones, and servers. Please refer to FIG. 1 . FIG. 1 is a schematic diagram of a scenario for implementing the route planning method for an unmanned aerial vehicle provided by an embodiment of the present application. As shown in FIG. 1 , the scene includes a drone 100 and a terminal device 200 , the drone 100 is connected in communication with the terminal device 200 , and the terminal device 200 is used to control the drone 100 . The terminal device 200 is used to plan the flight route of the UAV 100, and send the flight route to the UAV 100, and the UAV 100 performs operations according to the flight route.

In one embodiment, the UAV 100 includes an airframe 110 , a power system 120 , a radar device 130 , a positioning and attitude system (not shown in FIG. 1 ), and a control system (not shown in FIG. 1 ). Among them, the power system 120 , the radar device 130 , and the positioning and attitude determination system are installed in the radar device 130 or the pan/tilt for carrying the radar device 130 , the control system is installed in the body 110 , and the power system 120 is used to provide the UAV 100 with flight power , the radar device 130 is used to collect point cloud data, and the positioning and attitude system is used to collect the attitude data of the radar device 130 and the position of the UAV 100. The radar device 130 may be a laser radar or a millimeter wave radar.

Among them, the positioning and attitude determination system includes an inertial navigation system (Inertial Navigation System, INS) and a global navigation satellite system (Global Navigation Satellite System, GNSS). Or the positioning and attitude determination system includes an inertial navigation system (Inertial Navigation System, INS) and a carrier phase differential system (Real-time kinematic, RTK). INS outputs the position, velocity, attitude, acceleration and angular velocity of the UAV 100 in the world coordinate system, GNSS and RTK output the position of the UAV 100 in the world coordinate system, and the output of the positioning and attitude system is the fusion of INS and GNSS. The position, velocity, attitude, acceleration and angular velocity in the world coordinate system of , or the position, velocity, attitude, acceleration and angular velocity in the world coordinate system after the fusion of INS and RTK.

The power system 120 may include one or more propellers 121 , one or more motors 122 corresponding to the one or more propellers, and one or more electronic governors (referred to as ESCs for short). The motor 122 is connected between the electronic governor and the propeller 121, and the motor 122 and the propeller 121 are arranged on the body 110 of the UAV 100; the electronic governor is used to receive the driving signal generated by the control device, and provide the driving current according to the driving signal to the motor 122 to control the rotational speed of the motor 122 . The motor 122 is used to drive the propeller 121 to rotate, thereby providing power for the flight of the UAV 100, and the power enables the UAV 100 to achieve one or more degrees of freedom movement. In certain embodiments, the drone 100 may rotate about one or more axes of rotation. For example, the above-mentioned rotation axes may include a roll axis, a yaw axis, and a pitch axis. It should be understood that the motor 122 may be a DC motor or an AC motor. In addition, the motor 122 may be a brushless motor or a brushed motor.

Wherein, the control system may include a controller and a sensing system. The sensing system can be used to measure the pose information and motion information of the movable platform, for example, 3D position, 3D angle, 3D velocity, 3D acceleration, 3D angular velocity, etc., wherein the pose information includes the position information of the UAV 100 in space and posture information. For example, the sensing system may include at least one of a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (Inertial Measurement Unit, IMU), a visual sensor, a global navigation satellite system, and a barometer. For example, the global navigation satellite system may be the Global Positioning System (GPS). The controller is used to control the flight of the UAV 100, for example, the flight of the UAV 100 may be controlled according to the pose information and/or the pose information measured by the sensing system. It should be understood that the controller can automatically control the UAV 100 according to pre-programmed instructions.

The terminal device 200 includes a display device 210 , and the display device 210 is used to display the flight route of the drone planned by the terminal device 200 . It should be noted that the display device 210 includes a display screen provided on the terminal device 200 . Among them, the display screen includes an LED display screen, an OLED display screen, an LCD display screen, and the like. The terminal device 200 may include an electronic device with a display screen, such as a remote control, a mobile phone, a tablet computer, or a personal computer.

In one embodiment, the terminal device 200 acquires the target flight route of the UAV, wherein the target flight route includes a plurality of point cloud collection route segments and at least one calibration route segment, and the radar device 130 of the UAV 100 is used for at least The point cloud data is collected during the flight point cloud collection process of the UAV, and the attitude data collected by the positioning and attitude determination system of the UAV 100 in at least one calibration route segment is used to calibrate the point cloud data; output the target flight route. Wherein, outputting the target flight route includes displaying the target flight route on the display device or sending the target flight route to the UAV 100 .

The UAV 100 may be, for example, a quad-rotor UAV, a hexa-rotor UAV, or an octa-rotor UAV. Of course, it can also be a fixed-wing UAV, or a combination of a rotary-wing type and a fixed-wing UAV, which is not limited here. Terminal device 200 may include, but is not limited to, smart phones/mobile phones, tablet computers, personal digital assistants (PDAs), desktop computers, media content players, video game stations/systems, virtual reality systems, augmented reality systems, wearable devices (eg, watches, glasses, gloves, headwear (eg, hats, helmets, virtual reality headsets, augmented reality headsets, head mounted devices (HMDs), headbands), pendants, armbands, leg loops, shoes, vest), gesture recognition device, microphone, any electronic device capable of providing or rendering image data, or any other type of device. The terminal device 200 may be a handheld terminal, and the terminal device 200 may be portable. The terminal device 200 may be carried by a human user. In some cases, the end device 200 may be remote from the human user, and the user may control the end device 200 using wireless and/or wired communications.

Hereinafter, the route planning method for the UAV provided by the embodiment of the present application will be introduced in detail in conjunction with the scene in FIG. 1 . It should be noted that the scenario in FIG. 1 is only used to explain the route planning method of the UAV provided by the embodiment of the present application, but does not constitute a limitation on the application scenario of the route planning method of the UAV provided by the embodiment of the present application.

Please refer to FIG. 2. FIG. 2 is a schematic flowchart of steps of a method for planning a route of an unmanned aerial vehicle provided by an embodiment of the present application. The UAV route planning method can be applied to terminal devices, UAVs and servers to plan the UAV flight route and improve the accuracy of point cloud data.

As shown in FIG. 2 , the route planning method of the UAV may include steps S101 to S102.

Step S101, obtaining the target flight route of the UAV, wherein the target flight route includes at least one point cloud collection route segment and at least one calibration route segment, and the UAV is provided with a radar device and a positioning and attitude system , the radar device is used to collect point cloud data at least in the process of the drone flying the point cloud collection route segment, and the attitude data collected by the positioning and attitude system in at least one of the calibration route segments is used for for calibrating the point cloud data;

Step S102, outputting the target flight route.

The target flight route includes at least one point cloud collection route segment and at least one calibration route segment, and the UAV is provided with a radar device and a positioning and attitude determination system, and the radar device is used for at least one point cloud collection route segment when the UAV flies the point cloud collection route segment. The point cloud data is collected in the process of the positioning and attitude determination system, and the attitude data collected by the positioning and attitude determination system in at least one calibration route segment is used to calibrate the point cloud data.

In one embodiment, the method of calibrating the point cloud data with the attitude data collected by the positioning and attitude determination system in at least one calibration route segment may be: based on the attitude data collected by the positioning and attitude determination system in at least one calibration route segment. , to calibrate the attitude data collected by the positioning and attitude system in the point cloud collection route segment. Among them, the point cloud data collected by the radar device in the point cloud collection route segment corresponds to the attitude data collected by the positioning and attitude system in the point cloud collection route segment, that is, the attitude data collected in the point cloud collection route segment can be It is used to feed back the azimuth information of the laser radar detection point corresponding to the point in the point cloud data relative to the UAV, so that by calibrating the attitude data collected by the positioning and attitude determination system in the point cloud collection route segment, the point cloud is realized. Calibration of cloud data.

In one embodiment, at least one calibrated route segment includes at least one first calibrated route segment and/or at least one second calibrated route segment; the UAV flies at variable speed within the first calibrated route segment; the UAV flies along the second calibrated route segment After the flight segment, the drone rotates at least 360°. The first calibration route segment includes a first variable speed route segment and a second variable speed route segment, and the UAV accelerates and flies in the first variable speed route segment and decelerates in the second variable speed route segment. Decelerate flight in a variable speed route segment and accelerate flight in a second variable speed route segment, the second calibration route segment includes a first circular route segment and a second circular route segment, and the first circular route segment is tangent to the second circular route segment .

Among them, during the variable-speed flight of the UAV in the first calibration route segment, the positioning and attitude determination system collects attitude data in the first calibration route segment, and can determine the attitude by positioning during the post-processing process of the point cloud data. The attitude data collected by the system in the first calibration route segment makes the observation matrix of the positioning and attitude determination system tend to be full rank to improve the measurement accuracy of the positioning and attitude determination system, thereby improving the accuracy of the attitude data of the radar device collected by the positioning and attitude determination system. , to achieve the calibration of point cloud data.

Specifically, the attitude error information of the positioning and attitude determination system in the yaw yaw direction can be determined through the attitude data collected by acceleration and deceleration in the first calibration route segment, and the attitude error information in the yaw yaw direction of the conventional measurement unit can be found in After the point cloud data collection is completed, the attitude data corresponding to the point cloud data is corrected to calibrate the attitude data corresponding to the point cloud data to improve the accuracy of the point cloud data.

Among them, during the UAV flying the second calibration route segment, the positioning and attitude determination system collects attitude data. After the UAV flies along the second calibration route segment, the UAV rotates at least 360°. The system can collect at least 360° attitude data, and can calibrate the positioning and attitude system by rotating the attitude data collected by at least 360° in the process of post-processing the point cloud data, which can improve the measurement accuracy of the positioning and attitude system. Further, the accuracy of the attitude data of the radar device collected by the positioning and attitude determination system is improved, and the calibration of the point cloud data is realized.

Specifically, after the UAV flies along the second calibration route segment, the UAV rotates at least 360° based on the yaw direction, and the positioning can be determined by the attitude data collected based on the 360° rotation based on the yaw direction at least. The attitude error information of the attitude-fixing system in the yaw direction. Based on the attitude error information of the customary measurement unit in the yaw direction, the attitude data corresponding to the point cloud data can be corrected after the point cloud data collection, so as to calibrate the point cloud. The pose data corresponding to the data to improve the accuracy of the point cloud data.

In one embodiment, the at least one first calibrated route segment includes a plurality of first calibrated route segments, and the multiple first calibrated route segments overlap, and the drones fly on two adjacent first calibrated route segments in flight sequence. The directions are different, specifically, the UAVs fly in opposite directions on the two first calibrated route segments adjacent to each other in the flight sequence. Wherein, the first calibration route segment overlaps with some or all route segments in the point cloud collection route segment, or the first calibration route segment does not overlap with the point cloud collection route segment, and multiple point cloud collection route segments include multiple main route segments and multiple connecting flight segments, which are used to connect two adjacent main flight segments.

Exemplarily, as shown in FIG. 3 , the target flight route includes a route start point 11 , a route end point 12 , a first calibration route segment 13 and a plurality of point cloud collection route segments 14 , and the location of the first calibration route segment 13 is Also includes another first calibration route segment (not shown in FIG. 3) overlapping with the first calibration route segment 13, the overlapping first calibration route segment is marked as the first calibration route segment A, and the flight sequence is the first to fly first. Calibration route segment 13, and then fly the first calibration route segment A.

Therefore, when the UAV flies according to the target flight route shown in FIG. 3, the UAV accelerates the flight on the first calibrated route segment 13 from the route starting point 11, and when it reaches the midpoint of the first calibrated route segment 13 or reaches the When the speed is set, start to decelerate and fly on the first calibration route segment 13, so that the flight speed of the drone when it reaches the end point of the first calibration route segment 13 is zero, and then adjust the flight direction so that the flight direction of the drone is After the direction of the first calibration route segment A is consistent, the UAV starts to accelerate the flight in the first calibration route segment A. When it reaches the midpoint of the first calibration route segment A or reaches the set speed, it starts to fly at the first calibration route segment A. Decelerate and fly on the route segment A, so that the UAV reaches the end point of the first calibrated route segment A (the starting point 11 of the route), and the flight speed is zero. A point cloud collection route segment 14 is flown to collect point cloud data. The deceleration of the flight speed of the UAV described in the above example is only an example. When the UAV flies at a variable speed in the first calibration route segment, the speed of the UAV can also be decelerated to reach the set value, and the set value Greater than zero.

Exemplarily, as shown in FIG. 3 , the first calibration route segment 13 overlaps with a partial route segment of the point cloud collection route segment 14 . Exemplarily, as shown in FIG. 4 , the starting point of the first calibration route segment 15 is the route end point 12, and the first calibration route segment 15 does not overlap with any point cloud collection route segment. Exemplarily, as shown in FIG. 5 , the target flight route includes a first calibrated route segment a between waypoint 16 and waypoint 17 and a first calibrated route segment b between waypoint 17 and waypoint 18 . The calibration route segment a and the second calibration route segment b overlap evenly with point cloud collection route segments. When the UAV flies according to the target flight route shown in Figure 5, when the UAV arrives at waypoint 16, the UAV starts to fly at the first point. Decelerate and fly on a calibrated route segment a, reach the turning point with zero flight speed, and then make a turn. After the turn is completed, start to accelerate the flight on the first calibrated route segment a, and when it reaches waypoint 17, start on the first calibrated route. Slow down and fly on segment b, reach the turning point with zero flight speed, and then make a turn. After the turn is completed, start to accelerate the flight on the first calibrated route segment b, and start to fly at a constant speed after reaching waypoint 18.

It can be understood that the number of the first calibrated route segments in the connecting route segments in FIG. 5 is only exemplary, and does not limit the number of the first calibrated route segments in the connecting route segments. The number of a calibration route segment may also be 1, 3, 4, etc. In addition, the deceleration of the flying speed of the UAV described in the above example is only an example. When the UAV is flying at a variable speed in the first calibration route segment, the speed of the UAV can also be decelerated to reach the set value, and the setting The fixed value is greater than zero.

In one embodiment, the at least one first calibrated route segment includes a plurality of first calibrated route segments, and the plurality of first calibrated route segments form a closed preset shape. The preset shape may be set based on an actual situation, which is not specifically limited in this embodiment of the present application. For example, the preset shape includes a triangle or a quadrilateral. Exemplarily, as shown in FIG. 6 , the target flight route includes a first calibrated route segment 21, a first calibrated route segment 22 and a first calibrated route segment 23, and the first calibrated route segment 21, the first calibrated route segment 22 and the The first calibration route segment 23 forms a closed triangle, and the first calibration route segment 21 overlaps with some route segments in the point cloud collection route segment.

When the UAV flies according to the target flight route shown in FIG. 6 , the UAV first performs variable-speed flight according to the first calibration route segment 21 , the first calibration route segment 22 and the first calibration route segment 23 . The attitude determination system collects the attitude data of the radar device. After flying the three first calibration flight segments, the UAV flies according to multiple point cloud collection flight segments to collect point cloud data. It can be understood that the closed triangle formed by each first calibration route segment in FIG. 6 is only an example, and does not limit the closed shape formed by each first calibration route segment.

In one embodiment, the at least one first calibrated route segment includes a plurality of first calibrated route segments, and the plurality of first calibrated route segments are consecutive. Wherein, the flight direction of the UAV in each first calibrated route segment is the same, or the UAV in each first calibrated route segment has different flight directions, and some or all of the multiple first calibrated route segments The first calibration route segment overlaps with some route segments in the point cloud collection route segment.

Exemplarily, in the process of flying the UAV according to the target route, when it arrives at multiple first calibration route segments that overlap with some route segments in the point cloud collection route segment, the target waypoint is marked, and the UAV navigates from the target route. Point first to fly according to multiple first calibrated route segments, after flying multiple first calibrated route segments, return to the target waypoint, and then continue to fly according to the point cloud collection route segment. In this case, the radar device may not collect point cloud data when the UAV flies a plurality of first calibrated flight segments.

Exemplarily, in the process of flying the UAV according to the target route, when it arrives at multiple first calibration route segments that overlap with some route segments in the point cloud collection route segment, the target waypoint is marked, and the UAV navigates from the target route. The point first flies according to multiple first calibrated route segments, after flying multiple first calibrated route segments, it does not return to the target waypoint, but continues to follow the point from the waypoint after flying multiple first calibrated route segments. The cloud collection route segment continues to fly. In this case, the radar device may collect point cloud data during the flight of the UAV for a plurality of first calibrated flight segments.

Exemplarily, as shown in FIG. 5 , the first calibrated route segment a is continuous with the first calibrated route segment b, and the flying directions of the UAV on the first calibrated route segment a and the first calibrated route segment b are different, and The first calibrated route segment a and the first calibrated route segment b overlap with the uniform point cloud collection route segment. Exemplarily, as shown in FIG. 6 , the first calibration route segment 21 , the first calibration route segment 22 and the first calibration route segment 23 are continuous, and the UAV is in the first calibration route segment 21 and the first calibration route segment 22 . Different from the flight direction on the first calibration route segment 23, the first calibration route segment 21 overlaps with the point cloud collection route segment, while the first calibration route segment 22 and the first calibration route segment 23 do not overlap with the point cloud collection route segment.

Exemplarily, as shown in FIG. 7 , the target flight route includes a first calibrated route segment 31, a first calibrated route segment 32 and a first calibrated route segment 33, a first calibrated route segment 31, a first calibrated route segment 32 and a first calibrated route segment 32. A calibrated route segment 33 is continuous, the UAV is flying in the same direction on the first calibrated route segment 31 , the first calibrated route segment 32 and the first calibrated route segment 33 , and the first calibrated route segment 31 , the first calibrated route segment 31 , the first calibrated route segment 32 and the first calibration route segment 33 are evenly overlapped with the point cloud collection route segment. It can be understood that the number and position of the first calibration route segment in the target flight route in FIG. 7 are only exemplary, and do not limit the number and position of the first calibration route segment in the target flight route.

Exemplarily, as shown in FIG. 8 , the target flight route includes a first calibrated route segment 31, a first calibrated route segment 32 and a first calibrated route segment 34, and the first calibrated route segment 31, the first calibrated route segment 32 and the The first calibration route segment 34 is continuous, the UAV is flying in the same direction on the first calibration route segment 31, the first calibration route segment 32 and the first calibration route segment 34, and the first calibration route segment 31 and the first calibration route segment 31. Segment 32 overlaps with the point cloud acquisition route segment, while the first calibration route segment 34 does not overlap with the point cloud acquisition route segment. It can be understood that the number and position of the first calibration route segment in the target flight route in FIG. 8 are only exemplary, and do not limit the number and position of the first calibration route segment in the target flight route.

In one embodiment, the multiple point cloud collection route segments include multiple main route segments and multiple connecting route segments, and the connecting route segments are used to connect two adjacent main route segments, and at least one first calibration route. The segments include a plurality of first calibrated flight segments, and some or all of the intervals in the plurality of first calibrated flight segments are distributed within the main flight segment. Exemplarily, as shown in FIG. 9 , the target flight route includes 9 main route segments 41 and 8 connecting route segments 42, and the target flight route includes a first calibrated route segment 35 and a first calibrated route segment 36, and the first Both the calibration route segment 35 and the first calibration route segment 36 are distributed in the fifth main route segment at intervals. It can be understood that the number and position of the first calibration route segment in the target flight route in FIG. 9 are only exemplary, and do not limit the number and position of the first calibration route segment in the target flight route.

Exemplarily, as shown in FIG. 10 , the target flight route includes a first calibrated route segment 21 , a first calibrated route segment 22 , a first calibrated route segment 23 , a first calibrated route segment 37 and a first calibrated route segment 38 , and The first calibrated route segment 21, the first calibrated route segment 22, and the first calibrated route segment 23 are not distributed in the main route segment at intervals, while the first calibrated route segment 37 and the first calibrated route segment 38 are distributed in the sixth route. within the main flight segment. It can be understood that the number and position of the first calibration route segment in the target flight route in FIG. 10 are only exemplary, and do not limit the number and position of the first calibration route segment in the target flight route.

In one embodiment, the second calibrated route segment includes a first circular route segment and a second circular route segment, and the first circular route segment is tangent to the second circular route segment. Wherein, the shape of the first circular route segment is the same as the shape of the second circular route segment, or the shape of the first circular route segment is different from the shape of the second circular route segment, and the rotation of the drone on the first circular route segment The direction is different from the direction of rotation on the second circular flight segment. Wherein, the shape of the first circular route segment includes a circle, an ellipse or a rectangle, and the shape of the second circular route segment includes a circle, an ellipse or a rectangle. The sizes and the number of waypoints of the first circular route segment and the second circular route segment may be set based on actual conditions, which are not specifically limited in this embodiment of the present application. For example, the first circular route segment and the second circular route segment are circular route segments with a radius of 15 meters, and each circular route segment is composed of 8 waypoint samples.

Exemplarily, as shown in FIG. 11 , the second calibration route segment in the target flight route includes a first circular route segment 51 and a second circular route segment 52 , and one of the first circular route segment 51 and the second circular route segment 52 is The tangent point between them is the route starting point 11, the first circular route segment 51 and the second circular route segment 52 are circular, forming a "8"-shaped route segment, and the rotation direction of the drone on the first circular route segment 51 Different from the direction of rotation on the second circular flight segment 52 . It can be understood that the number and positions of the second calibration route segments in the target flight route in FIG. 11 are only exemplary, and do not limit the number and positions of the second calibration route segments in the target flight route.

When the drone flies according to the target flight route shown in Figure 11, the drone starts from the route starting point 11 and flies according to the first circular route segment 51. After flying according to the first circular route segment 51, the drone starts at the first circular route segment 51. Rotate 360° in one direction, and return to the route starting point 11, then start from the route starting point 11, and fly according to the second circular route segment 52. After flying according to the second circular route segment 52, the drone rotates in the second direction 360°, and return to the starting point 11 of the route, the first direction is opposite to the second direction, and then the drone flies according to the multiple point cloud collection route segments.

In one embodiment, the tangent point between the first circular route segment and the second circular route segment is located within the point cloud collection route segment. For example, as shown in FIG. 11 , the tangent point between the first circular route segment 51 and the second circular route segment 52 is the route start point 11 . Since the tangent point between the first circular route segment and the second circular route segment is within the point cloud collection route segment, it is convenient for the UAV to fly along the first circular route segment and the second circular route segment. The flight to the point cloud collection route segment.

Exemplarily, as shown in FIG. 12 , the first circular route segment 51 and the second circular route segment 52 are circular, forming a “8”-shaped route segment, and the rotation direction of the drone on the first circular route segment 51 The same as the direction of rotation on the second circular flight segment 52 . Exemplarily, as shown in FIG. 13 , the second calibration route segment in the target flight route includes a first circular route segment 53 and a second circular route segment 54 , and the first circular route segment 53 and the second circular route segment 54 The tangent point between them is the route termination point 12, the shape of the first circular route segment 53 is a circle, and the shape of the second circular route segment 54 is an ellipse. The direction of rotation on the second circular flight segment 54 is the same.

Exemplarily, as shown in FIG. 14 , the target flight route includes three second calibration route segments, the second calibration route segment located at the route start point 11 includes a first circular route segment 51 and a second circular route segment 52 , and The shape of the first circular route segment 51 and the second circular route segment 52 are the same, the second calibration route segment located at the route termination point 12 includes the first circular route segment 53 and the second circular route segment 54, and the first circular route segment is 53 and the second circular route segment 54 are different in shape, and the second calibration route segment located on the connecting route segment includes the first circular route segment 55 and the second circular route segment 56, and the first circular route segment 55 and the second circular route segment 55 and the second circular route segment 56. The shapes of the route segments 56 are different, and the tangent point between the first circular route segment 55 and the second circular route segment 56 is the waypoint 57 .

In one embodiment, the at least one second calibrated route segment includes a plurality of second calibrated route segments, and the plurality of second calibrated route segments overlap. Wherein, the rotation direction of the UAV on each second calibration route segment is the same, or the rotation direction of the UAV on two adjacent second calibration route segments in the flight sequence is different. Exemplarily, as shown in FIG. 15 , the two overlapping second calibration route segments at the route starting point 11 both include a first circular route segment 51 and a second circular route segment 52 , that is, the drone flies the first circular route segment twice. The circular route segment 51 and the second circular route segment 52, the two overlapping second calibration route segments at the route termination point 12 both include the first circular route segment 57 and the second circular route segment 58, that is, the drone flies twice A first circular flight segment 57 and a second circular flight segment 58 .

Exemplarily, as shown in FIG. 16 , the target flight route includes a first calibrated route segment c between waypoint 26 and waypoint 27 , a first calibrated route segment d between waypoint 27 and waypoint 28 , and a first calibrated route segment d between waypoint 27 and waypoint 28 . The second calibrated route segment at the starting point, the second calibrated route segment at the starting point of the route includes a first circular route segment 51 and a second circular route segment 52 .

It can be understood that the target flight route may include only the first calibrated route segment, or only the second calibrated route segment, or may include both the first calibrated route segment and the second calibrated route segment. It can be defined by the user, and can also be related to factors such as the length and shape of the point cloud collection route segment. The first calibration route segment or the second calibration route segment in the foregoing embodiments is only exemplary, and the first calibration route segment or the second calibration route segment in the foregoing embodiments may be combined with each other.

In one embodiment, the at least one calibrated route segment includes at least one first calibrated route segment and at least one second calibrated route segment, and the at least one first calibrated route segment and the at least one second calibrated route segment have an intersection. Wherein, when the first calibrated route segment and the second calibrated route segment coexist, and the first calibrated route segment and the second calibrated route segment have intersections, the UAV may only fly the first calibrated route segment, or only the first calibrated route segment. For the second calibration route segment, the first calibration route segment may be flown first, and then the second calibration route segment may be flown, or the second calibration route segment may be flown first, and then the first calibration route segment may be flown, which is not specified in this embodiment of the application. limited. In an embodiment, as shown in FIG. 17 , step S101 may include: sub-steps S1011 to S1012.

Sub-step S1011, acquiring the target operation area of the UAV.

The target operation area may be a closed area, or the target operation area may also be an open area, which is not specifically limited in this embodiment of the present application. Exemplarily, at least three boundary waypoints are determined, and the at least three boundary waypoints are sequentially connected in a clockwise or counterclockwise direction to obtain a target operation area of the UAV. Among them, at least three boundary waypoints can be determined by the user controlling the drone to fly on the boundary of the plot through the terminal device.

In one embodiment, a first reference point and a first reference direction corresponding to the first reference point are determined; a second reference point and a second reference direction corresponding to the second reference point are determined; The area bounded by the reference line between the two reference points, the reference line extending from the first reference point along the first reference direction, and the reference line extending from the second reference point along the second reference direction is determined as the target operation area. The first reference point, the first reference direction, the second reference point and the second reference direction may be determined by the user controlling the drone to fly over the land through the terminal device.

Exemplarily, control the drone to fly to a boundary point of the plot, and adjust the heading angle of the drone until the nose reference line of the drone is aligned with the boundary of the plot; The trigger operation of the reference point setting button on the route planning page determines the current position of the UAV as the first reference point, and determines the current heading angle of the UAV as the first reference direction; The drone flies to another boundary point of the plot, and adjusts the heading angle of the drone until the nose reference line of the drone is aligned with the boundary of the plot; in response to the user's reference to the route planning page displayed on the terminal device Click the trigger operation of the setting button to determine the current position of the drone as the second reference point, and determine the current heading angle of the drone as the second reference direction.

Sub-step S1012: Determine the target flight route of the UAV according to the target operation area.

In one embodiment, the target number of the calibration route segment is determined according to the area of the target operation area; the target flight route of the UAV in the target operation area is planned according to the target number. Among them, the target number of the calibration route segment has a positive correlation with the area of the target operation area, that is, the larger the area of the target operation area, the more the target number of the calibration route segment, and the smaller the area of the target operation area, the larger the target operation area. The lower the number of targets. Exemplarily, the mapping relationship between the pre-stored area of the operation area and the number of the calibrated route segments is acquired, and the target number of the calibrated route segments is determined according to the area of the target operation area and the mapping relationship. Based on the area of the target operation area, plan a target flight route including a corresponding number of calibration route segments in the target operation area, so that the calibration route segment in the planned target flight route is better, and it is convenient for subsequent use of the data collected in the calibration route segment. Attitude data calibrates point cloud data to improve the accuracy of point cloud data.

In one embodiment, the route start point and the route end point are determined according to the target operation area; a plurality of point cloud collection route segments are generated between the route start point and the route end point; A calibration route segment is planned in at least one of the point and point cloud collection route segments. Among them, the multiple point cloud collection route segments include multiple main route segments and multiple connection route segments, the connection route segment is used to connect two adjacent main route segments, and the determined route start point and route end point can be the target. The boundary point of the work area can also be a point within the target work area.

Exemplarily, multiple boundary points of the target operation area are determined, and the distance between every two boundary points is determined; the route start point and the route end point are determined according to the first and second boundary points that are farthest apart. For example, the first boundary point is determined as the route start point, and the second boundary point is determined as the route end point. For another example, the first boundary point is indented by a preset distance to obtain the start point of the route, and the second boundary point is indented by a preset distance to obtain the end point of the route. For another example, the first boundary point is expanded by a preset distance to obtain the start point of the route, and the second boundary point is expanded by a preset distance to obtain the end point of the route. The preset distance may be set based on an actual situation, which is not specifically limited in this embodiment of the present application.

As shown in Fig. 18, the target operation area includes boundary point 61, boundary point 62, boundary point 63 and boundary point 64. Since the distance between boundary point 61 and boundary point 63 is the farthest, it can be determined according to boundary point 61 and boundary point 63. 63 to determine the route start point and route end point. For example, the boundary point 61 is determined as the route start point, and the boundary point 63 is determined as the route end point. For another example, the boundary point 61 is retracted by a preset distance to obtain the route start point 61-1, and the boundary point 63 is retracted by the preset distance to obtain the route end point 63-1. For another example, the starting point 61-2 of the route can be obtained by expanding the boundary point 61 by a preset distance, and the ending point 63-2 of the route can be obtained by expanding the boundary point 63 by the preset distance. Taking the boundary point 61 as the start point of the route and the boundary point 63 as the end point of the route, multiple point cloud collection route segments as shown in FIG. 19 can be planned and obtained.

In one embodiment, if the target quantity is less than or equal to the first quantity threshold, a calibration route segment is planned at the route start point or the route end point. If the target quantity is greater than the first quantity threshold and less than or equal to the second quantity threshold, plan and calibrate route segments in at least two of the route start point, route end point and point cloud collection route segment. If the target quantity is greater than the second quantity threshold, the calibration route segment is planned at the route start point, the route end point and the point cloud collection route segment. The first quantity threshold and the second quantity threshold may be set based on actual conditions, which are not specifically limited in this embodiment of the present application. For example, the first quantity threshold is 2 and the second quantity threshold is 4.

Exemplarily, the calibration route segment is planned at the starting point of the route, and the target flight route shown in FIG. 20 can be obtained. The second calibration route segment in the target flight route shown in FIG. 20 includes the first circular route segment 71 and the second calibration route segment. The circular route segment 72, and the tangent point between the first circular route segment 71 and the second circular route segment 72 is the route start point 61, and the target flight route also includes 9 main route segments 65 and 8 connecting route segments 66, and 8 The connecting flight segment 66 is located at the outer edge of the target work area.

Exemplarily, planning a calibration route segment at the end point of the route, the target flight route shown in FIG. 21 can be obtained, and the second calibration route segment in the target flight route shown in FIG. 21 includes the first circular route segment 73 and the second calibration route segment. The circular route segment 74 , and the tangent point between the first circular route segment 73 and the second circular route segment 74 is the route termination point 63 .

Exemplarily, the calibration route segment is planned at the route start point and route end point, and the target flight route shown in FIG. 22 can be obtained. As shown in FIG. 22 , the target flight route includes the first calibration at the route start point 61. The route segment 75 , the second calibrated route segment at the route termination point 63 includes a first circular route segment 73 and a second circular route segment 74 .

Exemplarily, planning and demarcating the route segment at the route start point and the connecting route segment, the target flight route shown in FIG. 23 can be obtained. As shown in FIG. 23 , the target flight route includes the first calibration at the route start point 61. Airline segment 75 and first calibrated airway segment 76 and first calibrated airway segment 77 on the connecting airway segment.

Exemplarily, at the route start point, the route end point and the main route segment planning and calibration route segment, the target flight route shown in FIG. 24 can be obtained. As shown in FIG. 24 , the target flight route includes the route starting point 61 The first calibrated route segment 75, the second calibrated route segment at the route termination point 63 includes the first circular route segment 73 and the second circular route segment 74, the first calibrated route segment 78 and the first circular route segment 78 in the fifth main route segment Calibration route segment 79.

In one embodiment, a candidate flight route of the UAV is determined according to the target operation area; at least one calibrated route segment is added to the candidate flight route to obtain the target flight route. Wherein, the candidate flight route includes the route start point, the route end point, multiple main route segments and multiple connecting route segments. One calibrated route segment to obtain the target flight route includes: adding at least one calibrated route segment at at least one of the route start point, route end point, main route segment and connecting route segment in the candidate flight route. Exemplarily, as shown in FIG. 25 , the candidate flight route of the UAV determined based on the target operation area includes the route start point 81, the route end point 82, 9 main route segments 83 and 8 connecting route segments 84, and 8 A connecting flight segment 84 is located at the inner edge of the target operating area.

In one embodiment, if the number of main route segments in the first flight route is greater than the third number threshold, at least one calibration route segment is added at the route start point and route end point respectively; at least one connecting route segment or Add at least one calibration route segment to the main route segment. The third quantity threshold may be set based on the actual situation, which is not specifically limited in this embodiment of the present application.

In one embodiment, according to the number of main route segments in the candidate flight route, a first number of calibration route segments to be added is determined; the first number of calibration route segments is added in at least one connecting route segment or main route segment. Among them, the increase of the first number of the calibration route segment is positively correlated with the number of main route segments in the candidate flight route, that is, the more the number of main route segments in the candidate flight route, the increase of the first number of the calibration route segment. The larger the value, the smaller the number of main flight routes in the candidate flight route, and the smaller the first number of the added calibration route segments.

Exemplarily, the first number of the calibration route segment added in the connecting route segment or the main route segment is 1. As shown in FIG. 26 , the calibration route segment added at the route starting point 81 is the first calibration route segment 86 . , the calibration route segment added at the route termination point 82 is the first calibration route segment 85 , and the calibration route segment added within the third main route segment is the first calibration route segment 87 .

Exemplarily, the first number of the calibration route segment added in the connecting route segment or the main route segment is 2, as shown in FIG. 27 , the calibration route segment added at the route starting point 81 is the first calibration route segment 86 , the calibration route segment added at the route termination point 82 is the first calibration route segment 85, the calibration route segment added in the third main route segment is the first calibration route segment 87 and the increase in the sixth main route segment The calibration route segment is the first calibration route segment 88 .

Exemplarily, the first number of the calibration route segment added in the connecting route segment or the main route segment is 2. As shown in FIG. 28 , the calibration route segment added at the route starting point 81 is the first calibration route segment 86 . , the calibration route segment added at the route termination point 82 is the first calibration route segment 85, and the calibration route segment added at the fourth connecting route segment includes the first calibration route segment 89-1 and the first calibration route segment 89-2 , and the first calibration route segment 89-1 and the first calibration route segment 89-2 are located at the outer edge of the target operation area.

In one embodiment, at least one calibrated route segment is added at the route start point and route end point respectively; the main route segment whose route length is greater than or equal to the preset route length among the multiple main route segments is determined as the target main route segment; add at least one calibrated route segment to the target main route segment. Exemplarily, according to the route length of the target main route segment, it is determined to add a second number of calibrated route segments; within the target main route segment, a second number of calibrated route segments are added. The preset route length may be set based on the actual situation, which is not specifically limited in this embodiment of the present application. For example, the preset route length is 1000 m. The second number is positively correlated with the route length of the target main route segment, that is, the longer the route length of the target main route segment, the larger the second number, and the shorter the route length of the target main route segment, the second the smaller the number.

In one embodiment, the target position for adding the calibration route segment in the candidate flight route and the target number for increasing the calibration route segment in the target position are obtained; the calibration route segment is added in the candidate flight route according to the target number and the target position. Wherein, the target position and the target number of adding a calibrated route segment at the target position are determined according to the user's operation on the human-computer interaction page, and the target position includes the position of the route start point and the route end point in the candidate flight route Location, location within main flight segment and/or location within connecting flight segment.

In one embodiment, the number and route length of the main route segments in the candidate flight route are obtained; according to the number and route length of the main route segment in the candidate flight route, the target position is determined and the target number of the calibrated route segment is increased at the target location. . Exemplarily, if the number of main route segments in the candidate flight route is less than or equal to the first preset number, and the route lengths of the main route segments are all less than the preset route length, the route start point in the candidate flight route is The position of , or the position where the route end point is located is determined as the target position, and the number of targets at the target position is 2.

Exemplarily, if the number of main route segments in the candidate flight route is greater than the first preset number and less than or equal to the second preset number, and the route lengths of the main route segments are all less than the preset route length, the candidate flight route The position where the route start point and the route end point are located in is determined as the target position, and the number of targets at the target position is 3.

Exemplarily, if the number of main route segments in the candidate flight route is greater than the second preset number, and the route lengths of the main route segments are all less than the preset route length, the location of the route start point in the candidate flight route is determined. Determine as the first target position, determine the position where the route termination point is located as the second target position, determine the position within at least one connecting route segment as the third target position, and the number of targets at the first target position is 3, The number of targets at the second target position is 3, and the number of targets at the third target position is 2.

Exemplarily, if the number of main route segments in the candidate flight route is greater than the second preset number, and there are main route segments whose route lengths are all greater than or equal to the preset route length, the route starting point in the candidate flight route is set to The position at the destination is determined as the first target position, the position at the end point of the route is determined as the second target position, and the position in the main route segment whose route length is greater than or equal to the preset route length is determined as the third target position, And the number of targets at the first target position is 3, the number of targets at the second target position is 3, and the number of targets at the third target position is 1.

It can be understood that the first preset number is less than the second preset number, the second preset number is less than the third preset number, and the first preset number, the second preset number and the third preset number may be based on actual This is not specifically limited in this embodiment of the present application.

In one embodiment, outputting the target flight path includes displaying the target flight path. Among them, the display mode of the calibration route segment in the displayed target flight route is different from that of the point cloud collection route segment. Exemplarily, the line type, line color and/or line thickness of the calibration route segment and the point cloud collection route segment are different. It can be understood that the display mode of the calibration route segment and the point cloud collection route segment can be customized by the user.

In some embodiments, when the UAV route planning method provided by the embodiments of the present application is applied to a terminal device, the terminal device outputs the target flight route including displaying the target flight route or sending the target flight route to the UAV, while the application to the unmanned aerial vehicle In the case of man-machine, the UAV outputting the target flight route includes sending the target flight route to the terminal device, and the terminal device displays the received target flight route. When applied to the server, the server outputting the target flight route includes sending the target flight route to the terminal device. The terminal device displays the received target flight route, or sends the target flight route to the drone.

In one embodiment, in the process of the drone performing the point cloud data collection task according to the target flight route, the display mode of the calibration route segment is related to the position of the drone. Exemplarily, when the UAV does not arrive at the calibrated route segment, the calibrated route segment is displayed in the first display mode; when the UAV is flying along the calibrated route segment, the calibrated route segment is displayed in the second display mode; After the aircraft flies along the calibration route segment, the calibration route segment is displayed in a third display mode, wherein the first display mode, the second display mode and the third display mode are different.

It can be understood that, the first display mode, the second display mode and the third display mode can be set by the user. For example, when the UAV does not reach the calibration route segment, the calibration route segment is displayed as a white line segment. During the UAV flying along the calibration route segment, the calibration route segment is displayed as a red line segment. After the UAV flies along the calibration route segment, The calibrated route segment is shown as a gray line segment. For another example, when the UAV does not reach the calibration route segment, the calibration route segment is displayed as a white dotted line segment. During the flight of the UAV along the calibration route segment, the calibration route segment is displayed as a red solid line segment, and the UAV follows the calibration route segment. After flight, the calibration route segment is displayed as a gray line segment.

The route planning method for an unmanned aerial vehicle provided by the above-mentioned embodiment, by acquiring a target flight route including a plurality of point cloud collection route segments and at least one calibration route segment, and outputting the target flight route, so that a radar device and a positioning and attitude determination are provided. When the UAV of the system can fly according to the target flight route, the radar device can collect point cloud data at least in the process of collecting the route segment of the UAV flying point cloud. Among them, the attitude data is collected by the positioning and attitude system in the process of flying at least one calibrated route segment of the UAV, so that the attitude data collected by the positioning and attitude system can calibrate the point cloud data, which can greatly improve the point cloud data. accuracy.

Please refer to FIG. 29. FIG. 29 is a schematic block diagram of the structure of a route planning apparatus for an unmanned aerial vehicle provided by an embodiment of the present application.

As shown in FIG. 29 , the route planning apparatus 300 includes a processor 310 and a memory 320, and the processor 310 and the memory 320 are connected through a bus 330, such as an I2C (Inter-integrated Circuit) bus.

Specifically, the processor 310 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP) or the like.

Specifically, the memory 320 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.

Wherein, the processor 310 is configured to run the computer program stored in the memory 320, and implement the following steps when executing the computer program:

The target flight route is output.

In one embodiment, at least one of the calibrated flight segments includes at least one first calibrated flight segment and/or at least one second calibrated flight segment;

the drone flies at a variable speed within the first calibration route segment;

After the UAV flies along the second calibration route segment, the UAV rotates at least 360°.

In one embodiment, the first calibrated route segment includes a first variable speed route segment and a second variable speed route segment;

The UAV accelerates in the first variable speed flight segment and decelerates in the second variable speed flight segment, or the UAV decelerates in the first variable speed flight segment and flies in the second variable speed flight segment. Accelerate the flight within the second variable speed flight segment.

In one embodiment, the at least one first calibrated route segment includes a plurality of first calibrated route segments, the multiple first calibrated route segments overlap, and the drones are in two adjacent flight sequences. The flight directions on the first calibration route segment are different.

In one embodiment, the first calibration route segment overlaps with some or all of the point cloud collection route segments, or the first calibration route segment does not overlap with the point cloud collection route segment.

In one embodiment, at least one of the first calibration flight segments includes a plurality of first calibration flight segments, and the plurality of first calibration flight segments form a closed preset shape.

In one embodiment, at least one of the first calibrated flight segments includes a plurality of first calibrated flight segments, and the plurality of first calibrated flight segments are continuous.

In an embodiment, the flying directions of the drones in each of the first calibrated flight segments are the same, or the flight directions of the drones within each of the first calibrated flight segments are different.

In one embodiment, some or all of the first calibration route segments in the plurality of first calibration route segments overlap with some route segments in the point cloud collection route segments.

In one embodiment, at least one of the point cloud collection route segments includes multiple point cloud collection route segments, and the multiple point cloud collection route segments include multiple main route segments and multiple connection route segments, and the The connecting flight segment is used to connect two adjacent main flight segments;

At least one of the first calibrated flight segments includes a plurality of first calibrated flight segments, and some or all of the plurality of first calibrated flight segments are distributed in the main flight segment at intervals.

In one embodiment, the second calibrated route segment includes a first circular route segment and a second circular route segment, and the first circular route segment is tangent to the second circular route segment.

In one embodiment, the shape of the first circular flight segment is the same as the shape of the second circular flight segment, or the shape of the first circular flight segment is different from the shape of the second circular flight segment.

In one embodiment, the rotational direction of the drone on the first circular flight segment is different from the rotational direction on the second circular flight segment.

In one embodiment, at least one of the second calibration flight segments includes a plurality of second calibration flight segments, and the plurality of second calibration flight segments overlap.

In one embodiment, the rotation direction of the UAV on each of the second calibrated flight segments is the same, or the UAV is on two adjacent second calibrated flight routes in the flight sequence. the direction of rotation is different.

In one embodiment, when the processor acquires the target flight route of the UAV, the processor is configured to:

Obtain the target operation area of the UAV;

The target flight route of the UAV is determined according to the target operation area.

In one embodiment, when the processor determines the target flight route of the UAV according to the target operation area, the processor is configured to:

According to the area of the target operation area, determine the target quantity of the calibration route segment;

The target flight route of the UAV in the target operation area is planned according to the target quantity.

In one embodiment, the target number of the calibration route segment has a positive correlation with the area of the target operation area.

In one embodiment, when planning the target flight route of the UAV in the target operation area according to the target quantity, the processor is configured to:

According to the target operation area, determine the route start point and the route end point;

generating a plurality of point cloud collection route segments between the route start point and the route end point;

According to the target quantity, a calibration route segment is planned in at least one of the route start point, the route end point and the point cloud collection route segment.

In one embodiment, when the processor implements the planning and calibration of the route segment in at least one of the route start point, the route end point, and the point cloud collection route segment according to the target quantity, Used to implement:

If the target quantity is less than or equal to a first quantity threshold, a calibration route segment is planned at the route start point or the route end point.

If the target quantity is greater than the first quantity threshold and less than or equal to the second quantity threshold, plan a calibration route in at least two of the route start point, the route end point and the point cloud collection route segment part.

If the target quantity is greater than the second quantity threshold, a calibration route segment is planned at the route start point, the route end point and the point cloud collection route segment.

Determine the candidate flight route of the UAV according to the target operation area;

At least one calibration route segment is added to the candidate flight route to obtain the target flight route.

In one embodiment, the candidate flight route includes a route start point, a route end point, a plurality of main route segments and a plurality of connecting route segments, and the connecting route segments are used to connect two adjacent main route segments. ;

When implementing adding at least one calibrated route segment to the candidate flight route, the processor is configured to implement:

At least one calibration route segment is added at at least one of the route start point, the route end point, the main route segment, and the connecting route segment.

In one embodiment, when the processor implements adding at least one calibrated route segment at at least one of the route start point, the route end point, the main route segment, and the connecting route segment, Used to implement:

If the number of the main route segments in the first flight route is greater than a third number threshold, add at least one calibration route segment at the route start point and the route end point respectively;

At least one calibration route segment is added to at least one of the connecting route segments or the main route segment.

In one embodiment, when the processor implements adding at least one calibrated route segment in at least one of the connecting route segments or the main route segment, the processor is configured to implement:

According to the number of the main route segments in the candidate flight route, determining the first number of the calibration route segments to be added;

The first number of calibrated flight segments are added within at least one of the connecting flight segments or the main flight segment.

at least one calibration route segment is added at the start point of the route and the end point of the route;

Determining a main route segment whose route length is greater than or equal to the preset route length among the plurality of main route segments as the target main route segment;

At least one calibration flight segment is added to the target main flight segment.

In one embodiment, when the processor adds at least one calibrated flight segment to the target main flight segment, the processor is configured to:

According to the route length of the target main route segment, determine to increase the second number of the calibration route segment;

The second number of calibrated flight segments is added to the target main flight segment.

In one embodiment, when the processor adds at least one calibrated route segment to the candidate flight route, the processor is configured to:

Obtaining the target position of adding the calibration route segment in the candidate flight route and the target number of increasing the calibration route segment at the target position;

A calibration route segment is added to the candidate flight route according to the target number and the target position.

In one embodiment, the target position and the target number of increasing the calibrated route segment at the target position are determined according to the user's operation on the human-computer interaction page.

In one embodiment, when the processor achieves acquiring the target position for increasing the calibration route segment in the candidate flight route and increasing the target number of the calibration route segment at the target position, the processor is configured to:

Obtain the number and length of the main flight route in the candidate flight route;

According to the number and length of the main flight route in the candidate flight route, the target position is determined and the target number of the calibration route segment is increased at the target position.

In one embodiment, when the processor outputs the target flight route, the processor is configured to:

The target flight route is displayed by a display device, wherein the display mode of the calibration route segment and the point cloud collection route segment is different.

In one embodiment, the line type, line color and/or line thickness of the calibration route segment and the point cloud collection route segment are different.

In one embodiment, the display manner of the calibrated route segment is related to the position of the UAV.

In one embodiment, when the UAV does not reach the calibration route segment, the calibration route segment is displayed in a first display mode;

During the flight of the UAV along the calibration route segment, the calibration route segment is displayed in a second display mode;

After the drone flies along the calibration route segment, the calibration route segment is displayed in a third display mode;

Wherein, the first display manner, the second display manner and the third display manner are different.

It should be noted that the above-described UAV route planning device can be applied to terminal equipment, UAVs and servers. Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the above-described unmanned aerial vehicle is used. For the specific working process of the aircraft route planning device, reference may be made to the corresponding process in the foregoing embodiments of the UAV route planning method, which will not be repeated here.

Please refer to FIG. 30. FIG. 30 is a schematic structural block diagram of a terminal device provided by an embodiment of the present application. As shown in FIG. 30 , the terminal device 400 includes a display device 410 and a route planning device 420 for the drone. The route planning device 420 of the drone is used for planning the flight route of the drone, and the display device 410 is used to display the flight route planned by the route planning device 420 of the drone. The route planning device 420 of the UAV may be the route planning device 300 of the UAV in FIG. 29 .

It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of the description, for the specific working process of the terminal equipment described above, reference may be made to the corresponding process in the above-mentioned embodiment of the route planning method for an unmanned aerial vehicle, It is not repeated here.

Please refer to FIG. 31. FIG. 31 is a schematic structural block diagram of a control system provided by an embodiment of the present application. As shown in FIG. 31 , the control system 500 includes an unmanned aerial vehicle 510 and a terminal device 520 . The terminal equipment 520 is connected in communication with the unmanned aerial vehicle 510 , and the unmanned aerial vehicle 510 is provided with a positioning and attitude determination system and a radar device. The terminal device 520 may be the terminal device 400 in FIG. 30 .

It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of the description, for the specific working process of the control system 500 described above, reference may be made to the corresponding process in the above-mentioned embodiment of the route planning method for the UAV , and will not be repeated here.

Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and the computer program includes program instructions, and the processor executes the program instructions to realize the provision of the above embodiments. The steps of the UAV route planning method.

The computer-readable storage medium may be an internal storage unit of a terminal device, drone or server in any of the foregoing embodiments, such as a hard disk or memory of the terminal device, drone or server. The computer-readable storage medium can also be an external storage device of a terminal device, a drone or a server, such as a plug-in hard disk equipped on a terminal device, a drone or a server, a smart memory card (Smart Media Card, SMC) , Secure Digital (Secure Digital, SD) card, flash memory card (Flash Card) and so on.

It should be understood that the terms used in the specification of the present application herein are for the purpose of describing particular embodiments only and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural unless the context clearly dictates otherwise.

It will also be understood that, as used in this specification and the appended claims, the term "and/or" refers to and including any and all possible combinations of one or more of the associated listed items.

The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalents within the technical scope disclosed in the present application. Modifications or substitutions shall be covered by the protection scope of this application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

A route planning method for an unmanned aerial vehicle, comprising:

Obtain the target flight route of the drone, wherein the target flight route includes at least one point cloud collection route segment and at least one calibration route segment, the drone is provided with a radar device and a positioning and attitude system, the The radar device is used to collect point cloud data at least during the flight of the drone in the point cloud collection route segment, and the attitude data collected by the positioning and attitude determination system in at least one of the calibration route segments is used to calibrate all the points. Describe point cloud data;

The target flight route is output.
The route planning method according to claim 1, wherein at least one of the calibrated route segments includes at least one first calibrated route segment and/or at least one second calibrated route segment;

the drone flies at a variable speed within the first calibration route segment;

After the UAV flies along the second calibration route segment, the UAV rotates at least 360°.
The route planning method according to claim 2, wherein the first calibration route segment comprises a first variable speed route segment and a second variable speed route segment;

The UAV accelerates in the first variable speed flight segment and decelerates in the second variable speed flight segment, or the UAV decelerates in the first variable speed flight segment and flies in the second variable speed flight segment. Accelerate the flight within the second variable speed flight segment.
The route planning method according to claim 2, wherein the at least one first calibrated route segment comprises a plurality of first calibrated route segments, a plurality of the first calibrated route segments overlap, and the unmanned The flight directions of the aircraft on the two first calibrated flight segments adjacent to each other in the flight sequence are different.
The route planning method according to claim 2, wherein the first calibration route segment overlaps with some or all route segments in the point cloud collection route segment, or the first calibration route segment does not overlap with the point cloud collection route segment. The point cloud collection route segments overlap.
The route planning method according to claim 2, wherein at least one of the first calibration route segments includes a plurality of first calibration route segments, and the plurality of first calibration route segments form a closed preset shape.
The route planning method according to claim 2, wherein at least one of the first calibrated route segments includes a plurality of first calibrated route segments, and the plurality of first calibrated route segments are continuous.
The route planning method according to claim 7, wherein the flying direction of the UAV in each of the first calibrated route segments is the same, or the UAV is in each of the first calibration routes. The flight direction is different within the calibrated route segment.
The route planning method according to claim 7, wherein some or all of the first calibration route segments in the plurality of first calibration route segments overlap with some route segments in the point cloud collection route segments.
The route planning method according to claim 2, wherein at least one route segment for point cloud collection includes a plurality of route segments for point cloud collection, and a plurality of route segments for point cloud collection includes multiple main route segments and a plurality of connecting flight segments, the connecting flight segments are used to connect two adjacent main flight segments;

At least one of the first calibrated flight segments includes a plurality of first calibrated flight segments, and some or all of the plurality of first calibrated flight segments are distributed in the main flight segment at intervals.
The route planning method according to any one of claims 2-10, wherein the second calibration route segment comprises a first circular route segment and a second circular route segment, and the first circular route segment is the same as the The second circular flight segment is tangent.
The route planning method according to claim 11, wherein the shape of the first circular route segment is the same as the shape of the second circular route segment, or the shape of the first circular route segment is the same as the shape of the second circular route segment. The shape of the second circular flight segment is different.
The route planning method according to claim 11, wherein the rotation direction of the drone on the first circular route segment is different from the rotation direction on the second circular route segment.
The route planning method according to claim 11, wherein at least one of the second calibration route segments includes a plurality of second calibration route segments, and the plurality of second calibration route segments overlap.
The route planning method according to claim 14, wherein the rotation direction of the UAV on each of the second calibrated route segments is the same, or the UAV is in two adjacent flight sequences. The rotation directions on the second calibration route segments are different.
The route planning method according to any one of claims 1-10, wherein the acquiring the target flight route of the UAV comprises:

Obtain the target operation area of the UAV;

The target flight route of the UAV is determined according to the target operation area.
The route planning method according to claim 16, wherein the determining the target flight route of the UAV according to the target operation area comprises:

According to the area of the target operation area, determine the target quantity of the calibration route segment;

The target flight route of the UAV in the target operation area is planned according to the target quantity.
The route planning method according to claim 17, wherein the target number of the calibrated route segment is positively correlated with the area of the target operation area.
The route planning method according to claim 17, wherein the planning of the target flight route of the UAV in the target operation area according to the target quantity comprises:

According to the target operation area, determine the route start point and the route end point;

generating a plurality of point cloud collection route segments between the route start point and the route end point;

According to the target quantity, a calibration route segment is planned in at least one of the route start point, the route end point and the point cloud collection route segment.
The route planning method according to claim 19, characterized in that, according to the target quantity, planning is performed in at least one of the route start point, the route end point and the point cloud collection route segment Calibration route segments, including:

If the target quantity is less than or equal to a first quantity threshold, a calibration route segment is planned at the route start point or the route end point.
The route planning method according to claim 19, characterized in that, according to the target quantity, planning is performed in at least one of the route start point, the route end point and the point cloud collection route segment Calibration route segments, including:

If the target quantity is greater than the first quantity threshold and less than or equal to the second quantity threshold, plan a calibration route in at least two of the route start point, the route end point and the point cloud collection route segment part.
The route planning method according to claim 19, characterized in that, according to the target quantity, planning is performed in at least one of the route start point, the route end point and the point cloud collection route segment Calibration route segments, including:

If the target quantity is greater than the second quantity threshold, plan a calibration route segment at the route start point, the route end point and the point cloud collection route segment.
The route planning method according to claim 16, wherein the determining the target flight route of the UAV according to the target operation area comprises:

Determine the candidate flight route of the UAV according to the target operation area;

At least one calibration route segment is added to the candidate flight route to obtain the target flight route.
The route planning method according to claim 23, wherein the candidate flight route comprises a route start point, a route end point, a plurality of main route segments and a plurality of connection route segments, and the connection route segments are used to connect the two adjacent main flight segments;

The adding at least one calibrated route segment to the candidate flight route includes:

At least one calibration route segment is added at at least one of the route start point, the route end point, the main route segment, and the connecting route segment.
The route planning method according to claim 24, wherein at least one is added at at least one of the route start point, the route end point, the main route segment and the connecting route segment Calibration route segments, including:

If the number of the main route segments in the first flight route is greater than a third number threshold, add at least one calibration route segment at the route start point and the route end point respectively;

At least one calibration route segment is added to at least one of the connecting route segments or the main route segment.
The route planning method according to claim 25, wherein the adding at least one calibration route segment in at least one of the connecting route segments or the main route segment comprises:

According to the number of the main route segments in the candidate flight route, determining the first number of the calibration route segments to be added;

The first number of calibrated flight segments are added within at least one of the connecting flight segments or the main flight segment.
The route planning method according to claim 24, wherein at least one is added at at least one of the route start point, the route end point, the main route segment and the connecting route segment Calibration route segments, including:

at least one calibration route segment is added at the start point of the route and the end point of the route;

Determining a main route segment whose route length is greater than or equal to the preset route length among the plurality of main route segments as the target main route segment;

At least one calibration flight segment is added to the target main flight segment.
The route planning method according to claim 27, wherein the adding at least one calibrated route segment in the target main route segment comprises:

According to the route length of the target main route segment, determine to increase the second number of the calibration route segment;

The second number of calibrated flight segments is added to the target main flight segment.
The route planning method according to claim 23, wherein the adding at least one calibrated route segment to the candidate flight route comprises:

Obtaining the target position of adding the calibration route segment in the candidate flight route and the target number of increasing the calibration route segment at the target position;

A calibration route segment is added to the candidate flight route according to the target number and the target position.
The route planning method according to claim 29, wherein the target position and the target number of adding a calibrated route segment at the target position are determined according to a user's operation on a human-computer interaction page.
The route planning method according to claim 29, wherein the acquiring the target position of adding a calibrated route segment in the candidate flight route and the target number of increasing the demarcated route segment at the target position, comprising:

Obtain the number and length of the main flight route in the candidate flight route;

According to the number and length of the main flight route in the candidate flight route, the target position is determined and the target number of the calibration route segment is increased at the target position.
The route planning method according to any one of claims 1-10, wherein the outputting the target flight route comprises:

The target flight route is displayed, wherein the display mode of the calibration route segment and the point cloud collection route segment is different.
The route planning method according to claim 32, wherein the calibration route segment and the point cloud collection route segment are different in line type, line color and/or line thickness.
The route planning method according to claim 32, wherein the display mode of the calibrated route segment is related to the position of the UAV.
The route planning method according to claim 34, wherein when the UAV does not reach the calibration route segment, the calibration route segment is displayed in a first display mode;

During the flight of the UAV along the calibration route segment, the calibration route segment is displayed in a second display mode;

After the drone flies along the calibration route segment, the calibration route segment is displayed in a third display mode;

Wherein, the first display manner, the second display manner and the third display manner are different.
A route planning device for an unmanned aerial vehicle, characterized in that the route planning device includes a memory and a processor;

the memory is used to store computer programs;

The processor is configured to execute the computer program and implement the following steps when executing the computer program:

Obtain the target flight route of the drone, wherein the target flight route includes at least one point cloud collection route segment and at least one calibration route segment, the drone is provided with a radar device and a positioning and attitude system, the The radar device is used to collect point cloud data at least during the flight of the drone in the point cloud collection route segment, and the attitude data collected by the positioning and attitude determination system in at least one of the calibration route segments is used to calibrate all the points. Describe point cloud data;

The target flight route is output.
The route planning device according to claim 36, wherein at least one of the calibrated route segments includes at least one first calibrated route segment and/or at least one second calibrated route segment;

the drone flies at a variable speed within the first calibration route segment;

After the UAV flies along the second calibration route segment, the UAV rotates at least 360°.
The route planning device according to claim 37, wherein the first calibrated route segment comprises a first variable speed route segment and a second variable speed route segment;

The UAV accelerates in the first variable speed flight segment and decelerates in the second variable speed flight segment, or the UAV decelerates in the first variable speed flight segment and flies in the second variable speed flight segment. Accelerate the flight within the second variable speed flight segment.
The route planning device according to claim 37, wherein the at least one first calibrated route segment comprises a plurality of first calibrated route segments, and the plurality of the first calibrated route segments overlap, and the unmanned route segment includes a plurality of first calibrated route segments. The flight directions of the aircraft on the two first calibrated flight segments adjacent to each other in the flight sequence are different.
The route planning device according to claim 37, wherein the first calibration route segment overlaps with some or all route segments in the point cloud collection route segment, or the first calibration route segment does not overlap with the point cloud collection route segment. The point cloud collection route segments overlap.
The route planning apparatus according to claim 37, wherein at least one of the first calibration route segments includes a plurality of first calibration route segments, and the plurality of first calibration route segments form a closed preset shape.
The route planning apparatus according to claim 37, wherein at least one of the first calibrated route segments includes a plurality of first calibrated route segments, and the plurality of first calibrated route segments are continuous.
The route planning device according to claim 42, wherein the flying direction of the UAV in each of the first calibrated route segments is the same, or the UAV is in each of the first calibration routes. The flight direction is different within the calibrated route segment.
The route planning device according to claim 42, wherein some or all of the first calibration route segments in the plurality of first calibration route segments overlap with some route segments in the point cloud collection route segments.
The route planning device according to claim 37, wherein at least one route segment for point cloud collection includes a plurality of route segments for point cloud collection, and a plurality of route segments for point cloud collection includes multiple main route segments and a plurality of connecting flight segments, the connecting flight segments are used to connect two adjacent main flight segments;

At least one of the first calibrated flight segments includes a plurality of first calibrated flight segments, and some or all of the plurality of first calibrated flight segments are distributed in the main flight segment at intervals.
The route planning device according to any one of claims 36-45, wherein the second calibrated route segment comprises a first circular route segment and a second circular route segment, and the first circular route segment is the same as the The second circular flight segment is tangent.
The route planning device according to claim 46, wherein the shape of the first circular route segment is the same as the shape of the second circular route segment, or the shape of the first circular route segment is the same as the shape of the first circular route segment. The shape of the second circular flight segment is different.
The route planning device according to claim 46, wherein the rotation direction of the drone on the first circular route segment is different from the rotational direction on the second circular route segment.
The route planning apparatus according to claim 46, wherein at least one of the second calibration route segments includes a plurality of second calibration route segments, and the plurality of second calibration route segments overlap.
The route planning device according to claim 49, wherein the rotation direction of the unmanned aerial vehicle on each of the second calibrated route segments is the same, or the unmanned aerial vehicle is in two adjacent flight sequences. The rotation directions on the second calibration route segments are different.
The route planning device according to any one of claims 36-45, wherein when the processor obtains the target flight route of the unmanned aerial vehicle, the processor is configured to:

Obtain the target operation area of the UAV;

The target flight route of the UAV is determined according to the target operation area.
The route planning device according to claim 51, wherein when the processor determines the target flight route of the UAV according to the target operation area, the processor is configured to realize:

According to the area of the target operation area, determine the target quantity of the calibration route segment;

The target flight route of the UAV in the target operation area is planned according to the target quantity.
The route planning device according to claim 52, wherein the target number of the calibrated route segment has a positive correlation with the area of the target operation area.
The route planning device according to claim 52, wherein, when the processor plans the target flight route of the UAV in the target operation area according to the target quantity, the processor is configured to:

According to the target operation area, determine the route start point and the route end point;

generating a plurality of point cloud collection route segments between the route start point and the route end point;

According to the target quantity, a calibration route segment is planned in at least one of the route start point, the route end point and the point cloud collection route segment.
The route planning device according to claim 54, wherein the processor is performing at least one of the route start point, the route end point and the point cloud collection route segment according to the target quantity. When planning the calibration route segment in one item, it is used to realize:

If the target quantity is less than or equal to a first quantity threshold, a calibration route segment is planned at the route start point or the route end point.
The route planning device according to claim 54, wherein the processor is performing at least one of the route start point, the route end point and the point cloud collection route segment according to the target quantity. When planning the calibration route segment in one item, it is used to realize:

If the target quantity is greater than the first quantity threshold and less than or equal to the second quantity threshold, plan a calibration route in at least two of the route start point, the route end point and the point cloud collection route segment part.
The route planning device according to claim 54, wherein the processor is performing at least one of the route start point, the route end point and the point cloud collection route segment according to the target quantity. When planning the calibration route segment in one item, it is used to realize:

If the target quantity is greater than the second quantity threshold, plan a calibration route segment at the route start point, the route end point and the point cloud collection route segment.
The route planning device according to claim 51, wherein when the processor determines the target flight route of the UAV according to the target operation area, the processor is configured to realize:

Determine the candidate flight route of the UAV according to the target operation area;

At least one calibration route segment is added to the candidate flight route to obtain the target flight route.
The route planning apparatus according to claim 58, wherein the candidate flight routes include a route start point, a route end point, a plurality of main route segments, and a plurality of connecting route segments, and the connecting route segments are used to connect related routes. two adjacent main flight segments;

When implementing adding at least one calibrated route segment to the candidate flight route, the processor is configured to implement:

At least one calibration route segment is added at at least one of the route start point, the route end point, the main route segment, and the connecting route segment.
The route planning apparatus according to claim 59, wherein the processor implements at least one of the route start point, the route end point, the main route segment and the connecting route segment When at least one calibration route segment is added at the location, it is used to achieve:

If the number of the main route segments in the first flight route is greater than a third number threshold, add at least one calibration route segment at the route start point and the route end point respectively;

At least one calibration route segment is added to at least one of the connecting route segments or the main route segment.
The route planning device according to claim 60, wherein when the processor adds at least one calibrated route segment to at least one of the connecting route segments or the main route segment, the processor is configured to implement:

According to the number of the main route segments in the candidate flight route, determining the first number of the calibration route segments to be added;

The first number of calibrated flight segments are added within at least one of the connecting flight segments or the main flight segment.
The route planning apparatus according to claim 59, wherein the processor implements at least one of the route start point, the route end point, the main route segment and the connecting route segment When at least one calibration route segment is added at the location, it is used to achieve:

at least one calibration route segment is added at the start point of the route and the end point of the route;

Determining a main route segment whose route length is greater than or equal to the preset route length among the plurality of main route segments as the target main route segment;

At least one calibration flight segment is added to the target main flight segment.
The route planning device according to claim 62, wherein when adding at least one calibrated route segment to the target main route segment, the processor is configured to implement:

According to the route length of the target main route segment, determine to increase the second number of the calibration route segment;

The second number of calibrated flight segments is added to the target main flight segment.
The route planning device according to claim 58, wherein when adding at least one calibrated route segment to the candidate flight route, the processor is configured to:

Obtaining the target position of adding the calibration route segment in the candidate flight route and the target number of increasing the calibration route segment at the target position;

A calibration route segment is added to the candidate flight route according to the target number and the target position.
The route planning apparatus according to claim 64, wherein the target position and the target number of increasing the calibrated route segment at the target position are determined according to the user's operation on the human-computer interaction page.
The route planning apparatus according to claim 64, wherein when the processor realizes acquiring a target position for adding a calibrated route segment in the candidate flight route and increasing the target number of the calibrated route segment at the target position , which is used to implement:

Obtain the number and length of the main flight route in the candidate flight route;

According to the number and length of the main flight route in the candidate flight route, the target position is determined and the target number of the calibration route segment is increased at the target position.
The route planning device according to any one of claims 36-45, wherein when the processor outputs the target flight route, the processor is configured to:

The target flight route is displayed by a display device, wherein the display mode of the calibration route segment and the point cloud collection route segment is different.
The route planning device according to claim 67, wherein the calibration route segment and the point cloud collection route segment are different in line type, line color and/or line thickness.
The route planning device according to claim 67, wherein the display mode of the calibrated route segment is related to the position of the UAV.
The route planning device according to claim 69, wherein when the UAV does not reach the calibration route segment, the calibration route segment is displayed in a first display mode;

During the flight of the UAV along the calibration route segment, the calibration route segment is displayed in a second display mode;

After the drone flies along the calibration route segment, the calibration route segment is displayed in a third display mode;

Wherein, the first display manner, the second display manner and the third display manner are different.
A terminal device, characterized in that, the terminal device includes a display device and the UAV route planning device according to any one of claims 36-70.
A control system, characterized in that the control system comprises an unmanned aerial vehicle and the terminal device according to claim 71, the terminal device is connected to the unmanned aerial vehicle in communication, and the unmanned aerial vehicle is provided with positioning and attitude determination systems and radar installations.
A computer-readable storage medium, characterized in that, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements any one of claims 1-35. Route planning method for unmanned aerial vehicles.