CN109035871B

CN109035871B - Unmanned aerial vehicle flight route planning method, device and system and intelligent terminal

Info

Publication number: CN109035871B
Application number: CN201810784777.XA
Authority: CN
Inventors: 赵自超; 闫小乐; 万耿栋; 陈星宏; 骆艺特
Original assignee: Shenzhen Changfeng Information Technology Co ltd
Current assignee: Shenzhen Lingyue Aviation Technology Co ltd
Priority date: 2018-07-17
Filing date: 2018-07-17
Publication date: 2020-05-22
Anticipated expiration: 2038-07-17
Also published as: CN109035871A

Abstract

The embodiment of the invention discloses a method, a device and a system for planning flight routes of an unmanned aerial vehicle and an intelligent terminal, wherein the method comprises the following steps: acquiring waypoint information of waypoints; displaying each waypoint at a corresponding position of a map of the land parcel to be operated according to the waypoint information, and recording the waypoints; receiving a route generation instruction of a user, and sequentially connecting each waypoint to generate a flight route of the unmanned aerial vehicle according to the route generation instruction; and calculating the ground-imitation flight track of the unmanned aerial vehicle between two adjacent waypoints in the unmanned aerial vehicle route according to the ridge according to the waypoint information. Therefore, the embodiment of the invention can improve the operation safety, accuracy and operation effect of the unmanned aerial vehicle in the environment with large relief.

Description

Unmanned aerial vehicle flight route planning method, device and system and intelligent terminal

Technical Field

The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a method, a device and a system for planning a flight path of an unmanned aerial vehicle, and an intelligent terminal.

Background

Along with the continuous development of unmanned aerial vehicle technique, unmanned aerial vehicle's application also more and more extensively.

The unmanned aerial vehicle application field's is various, leads to the operation topography that unmanned aerial vehicle faced complicated changeable. For example, in the field of plant protection, plant protection unmanned aerial vehicles often need to work on plots with large terrain relief, such as mountainous regions and sloping fields. When the unmanned aerial vehicle operates in the plots with large relief, the reasonable planning of the flight route is very important.

At present, an unmanned aerial vehicle flight route is generally automatically generated according to boundary points of an operation plot, namely, the boundary points of the operation plot are recorded in a route mapping mode; and then automatically planning flight path information after setting relevant operation parameters, wherein the flight path information refers to the relative height relative to the ground height. According to the boundary point automatic generation unmanned aerial vehicle flight route, still can carry out on the operation plot that the relief is level, however, if at the great operation plot of relief height fluctuation, still according to the boundary point automatic planning flight route, can make unmanned aerial vehicle on the great operation plot of relief height fluctuation, still fly according to the relative height on ground, can produce safety problem such as crashing the aircraft under the more convex condition of relief, and the automatic airline that generates is not assorted with relief and ridge potential trend, can produce the poor problem of operation effect when the more concave place of relief and by operation object ridge interval sparseness irregularity.

Disclosure of Invention

In view of this, embodiments of the present invention provide a method, an apparatus, a system, and a terminal for planning a flight path of an unmanned aerial vehicle, so as to solve the problem that a flight path obtained by using a conventional unmanned aerial vehicle flight path planning method does not conform to terrain fluctuation and ridge trend under a relief environment or a sparse and irregular ridge space of an operated object, and the problems of high potential safety hazard and poor operation effect of the unmanned aerial vehicle caused thereby.

In order to solve the above problems, embodiments of the present invention provide the following technical solutions:

in a first aspect, an embodiment of the present invention provides an unmanned aerial vehicle flight route planning method, including:

acquiring waypoint information of waypoints; the navigation points are selected based on the relief of the land to be operated and according to a preset dotting rule and the ridge relief trend of the operated object of the land to be operated;

displaying each waypoint at a corresponding position of a map of the land to be operated according to the waypoint information;

receiving a route generation instruction of a user, and sequentially connecting each waypoint to generate a flight route of the unmanned aerial vehicle according to the route generation instruction;

and calculating the flight track of the unmanned aerial vehicle between two adjacent waypoints in the unmanned aerial vehicle route according to the ridge ground imitation according to the waypoint information.

Optionally, the calculating, according to the waypoint information, a ground-imitation flight trajectory of the unmanned aerial vehicle between two adjacent waypoints in the route of the unmanned aerial vehicle according to the ridge includes:

calculating the relative position between two adjacent waypoints according to the geographical position information of the two adjacent waypoints;

calculating the relative height between two adjacent waypoints in the route of the unmanned aerial vehicle according to the altitude information of the two adjacent waypoints;

calculating the ground-following flight trajectory of the unmanned aerial vehicle between two adjacent waypoints in the route of the unmanned aerial vehicle according to the relative position and the relative height; the unmanned aerial vehicle follows the ridge to imitate the ground flight path and is a path which is consistent with the ridge potential topography;

wherein the waypoint information comprises the geographical location information and the altitude information.

Optionally, the receiving a route generation instruction of a user, and sequentially connecting each waypoint to generate a flight route of the unmanned aerial vehicle according to the route generation instruction includes:

receiving a click instruction of clicking a waypoint in a waypoint coordinate area by the user;

according to the click command and the click sequence, sequentially displaying the target waypoints clicked by the user in a sequencing area;

and sequentially connecting the target waypoints in the sequencing area to generate the flight route of the unmanned aerial vehicle.

receiving a waypoint connection instruction of the user;

and connecting target waypoints in sequence according to the waypoint connection instruction to generate the flight route of the unmanned aerial vehicle.

Optionally, after the calculating, according to the waypoint information, a ground-imitation flight trajectory of the unmanned aerial vehicle between two adjacent waypoints in the route of the unmanned aerial vehicle according to the ridge, the method further includes:

and sending the flight route of the unmanned aerial vehicle and the flight track of the unmanned aerial vehicle according to the ridge imitation land to a cloud end so as to enable the cloud end to store the flight track information of the unmanned aerial vehicle according to the ridge imitation land.

Optionally, after the displaying each waypoint at a corresponding position of the map of the parcel to be operated according to the waypoint information, the method further includes:

displaying the waypoint information at a preset interface position;

receiving a waypoint recording instruction of the user;

and recording the waypoints according to the waypoint recording instruction.

In a second aspect, an embodiment of the present invention provides an unmanned aerial vehicle flight route planning apparatus, which is integrated in an intelligent terminal, and the unmanned aerial vehicle flight route planning apparatus includes:

the acquisition module is used for acquiring waypoint information of waypoints; the navigation points are selected based on the relief of the land to be operated and according to a preset dotting rule and the ridge relief trend of the operated object of the land to be operated;

the display module is used for displaying each waypoint at a corresponding position of the map of the land to be operated according to the waypoint information;

the route generation module is used for receiving a route generation instruction of a user and sequentially connecting each waypoint to generate a flight route of the unmanned aerial vehicle according to the route generation instruction;

and the ridge-based ground-imitating flight trajectory calculation module is used for calculating the ridge-based ground-imitating flight trajectory of the unmanned aerial vehicle between two adjacent waypoints in the unmanned aerial vehicle route according to the waypoint information.

In a third aspect, an embodiment of the present invention provides an unmanned aerial vehicle flight route planning system, where the system includes a mapping terminal, a mapping base station, and an intelligent terminal; the mapping terminal is in communication connection with the mapping base station and the intelligent terminal;

the mapping terminal is used for measuring waypoint information of waypoints and sending the waypoint information to the intelligent terminal;

the intelligent terminal is used for acquiring the waypoint information; the navigation points are selected based on the relief of the land to be operated and according to a preset dotting rule and the ridge relief trend of the operated object of the land to be operated; displaying each waypoint at a corresponding position of a map of the land to be operated according to the waypoint information; receiving a route generation instruction of a user, and sequentially connecting each waypoint to generate a flight route of the unmanned aerial vehicle according to the route generation instruction; and calculating the flight track of the unmanned aerial vehicle between two adjacent waypoints in the unmanned aerial vehicle route according to the ridge ground imitation according to the waypoint information.

In a fourth aspect, an embodiment of the present invention provides an intelligent terminal, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the method according to any one of the above first aspects when executing the computer program.

In a fifth aspect, the present invention provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the steps of the method according to any one of the above first aspects.

Compared with the prior art, the embodiment of the invention has the following beneficial effects:

according to the embodiment of the invention, the navigation points are selected based on the relief of the plot to be operated, the preset dotting rule and the ridge trend of the operated object of the plot to be operated, so that the course accuracy of the flight route of the unmanned aerial vehicle in the environment with large relief is ensured; the flight path of the unmanned aerial vehicle according to the ridge ground imitation is calculated through the waypoint information, namely, the unmanned aerial vehicle can be kept at a certain height above the ridge potential trend of the operated object when flying, the flying height of the unmanned aerial vehicle in an environment with large terrain fluctuation relative to the operated object is ensured to be accurate, the safety problems of collision and the like of the unmanned aerial vehicle are further avoided, and the unmanned aerial vehicle can be kept flying right above the operated object when the ridge distance of the operated object is sparse; and then the operation safety, the accuracy and the operation effect of the unmanned aerial vehicle in the environment with large relief and sparse and irregular ridge intervals are improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic block diagram of a system architecture of an unmanned aerial vehicle flight route planning system according to an embodiment of the present invention;

fig. 2 is a schematic flow chart of a method for planning a flight path of an unmanned aerial vehicle according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a comparison of flight paths provided by an embodiment of the present invention;

fig. 4 is another schematic flow chart of a method for planning a flight path of an unmanned aerial vehicle according to an embodiment of the present invention;

FIG. 5 is a flowchart illustrating an implementation of step 404 according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of a mapping interface provided by an embodiment of the present invention;

FIG. 7 is a flowchart illustrating another implementation of step 404 according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of a method for generating a ground-following flight trajectory according to ridges according to an embodiment of the present invention;

FIG. 9 is a schematic diagram of an interaction flow provided by an embodiment of the present invention;

FIG. 10 is a schematic view of an operation effect of a flight trajectory provided by an embodiment of the present invention;

fig. 11 is a block diagram schematically illustrating a structure of an unmanned aerial vehicle flight route planning apparatus according to an embodiment of the present invention;

fig. 12 is a schematic diagram of an intelligent terminal according to an embodiment of the present invention.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

In order to explain the technical means of the present invention, the following description will be given by way of specific examples.

Example one

Referring to fig. 1, a schematic block diagram of a system architecture of an unmanned aerial vehicle flight path planning system provided in an embodiment of the present invention is shown, where the system may include a mapping terminal 11, a mapping base station 12, and an intelligent terminal 13; the surveying and mapping terminal 11 is in communication connection with the surveying and mapping base station 12 and the intelligent terminal 13;

the surveying and mapping terminal is used for measuring waypoint information of waypoints and sending the waypoint information to the intelligent terminal;

the intelligent terminal is used for acquiring waypoint information; the navigation points are selected based on the relief of the land to be operated and according to the preset dotting rule and the ridge relief trend of the operated object of the land to be operated; displaying each waypoint at a corresponding position of a map of the land to be operated according to the waypoint information; receiving a route generation instruction of a user, and sequentially connecting each waypoint to generate a flight route of the unmanned aerial vehicle according to the route generation instruction; and calculating the ground-imitation flight track of the unmanned aerial vehicle between two adjacent waypoints in the unmanned aerial vehicle route according to the ridge according to the waypoint information.

It should be noted that the above-mentioned intelligent terminal may be but is not limited to one of a mobile phone, a tablet, an intelligent wearable device and other terminals, and this intelligent terminal may be regarded as a ground station of an unmanned aerial vehicle. The communication mode, data protocol and the like among the intelligent terminal, the surveying and mapping terminal and the surveying and mapping base station can be any, as long as the data exchange among the intelligent terminal, the surveying and mapping terminal and the surveying and mapping base station can be ensured.

The surveying terminal may specifically be an RTK handheld surveying terminal, correspondingly, the surveying base station is specifically an RTK surveying base station. The handheld RTK mapping terminal has the advantages of high precision, light volume, simplicity in operation, concise interface and the like, and is used for carrying out airline mapping through the handheld RTK mapping terminal, so that the positioning precision reaches a millimeter level, and meanwhile, the handheld RTK mapping terminal is convenient to carry and operate during outdoor mapping. Of course, the mapping terminal may also be embodied as other types of mapping terminals as long as it can achieve the positioning accuracy of the RTK handheld mapping terminal.

A user can perform dotting on a land to be operated through the surveying and mapping terminal; the surveying and mapping terminal sends the waypoint information of each waypoint to the intelligent terminal, and the intelligent terminal displays the waypoints at corresponding positions on a map of the to-be-operated land block according to the received waypoint information; the user enables the intelligent terminal to generate a corresponding flight route by operating the intelligent terminal; after the flight route is generated, the intelligent terminal calculates the flight track of the unmanned aerial vehicle between two adjacent waypoints according to the ridge ground imitation.

After calculating unmanned aerial vehicle and following the imitative ground flight orbit in ridge, can upload flight route and unmanned aerial vehicle to unmanned aerial vehicle flight control according to parameter information such as the imitative ground flight orbit in ridge, afterwards, unmanned aerial vehicle then can be according to flight route, the flight orbit that plans and carry out the flight operation.

And in order to guarantee the persistence of information such as the flight route planned, the ground-imitating flight trajectory according to the ridge, above-mentioned unmanned aerial vehicle flight route planning system can also include the high in the clouds 14 that links to each other with intelligent terminal communication, and this high in the clouds can be equated to the server, and it can save data, carry out the flight regulation and control. At the moment, after the intelligent terminal obtains parameter information such as a flight route, a ground-imitating flight track according to ridges and the like, the parameter information can be uploaded to a cloud for storage, and subsequent calling or flight regulation and control are facilitated.

In the embodiment, the navigation points are selected based on the relief of the land to be operated, the preset dotting rule and the ridge trend of the operated object of the land to be operated, so that the course accuracy of the flight route of the unmanned aerial vehicle in the environment with large relief is ensured; the ridge-pressing ground-imitating flying track of the unmanned aerial vehicle is calculated through the waypoint information, namely, the unmanned aerial vehicle can be kept at a certain height above the ridge trend of the operated object during flying, the flying height of the unmanned aerial vehicle in an environment with large relief relative to the operated object is ensured to be accurate, the safety problems of collision and the like of the unmanned aerial vehicle are further avoided, and the unmanned aerial vehicle can be kept flying right above the operated object when the ridge distance of the operated object is sparse; and then the operation safety, the accuracy and the operation effect of the unmanned aerial vehicle in the environment with large relief and sparse and irregular ridge intervals are improved.

Example two

After the system architecture of the unmanned aerial vehicle flight path planning system is introduced, a detailed description will be given below of a specific planning process of the unmanned aerial vehicle flight path planning method provided by the embodiment of the present invention.

Referring to fig. 2, a schematic flow chart of a method for planning a flight path of an unmanned aerial vehicle according to an embodiment of the present invention is shown, where the method includes the following steps:

step 201, acquiring waypoint information of waypoints; the navigation points are selected according to the ridge potential trend of the operated object of the land block to be operated according to the preset dotting rule based on the relief of the land block to be operated.

The land to be worked may be a land with large relief change, such as a mountain land or a sloping land, or a land with small relief change, such as a plain. Compared with the prior art, the technical scheme provided by the embodiment of the invention has obvious effect when being applied to the plots with large relief change and sparse and irregular ridge intervals, such as mountainous regions, sloping fields and the like, but the technical scheme provided by the embodiment of the invention can also be applied to the plots with small relief change, such as plains and the like, so that the purpose of the embodiment of the invention is realized.

The land to be operated can be a plant protection operation land, and at the moment, the operated object is correspondingly a planting crop. That is, the plant protection unmanned aerial vehicle performs plant protection operations, such as pesticide spraying operations, according to the planned flight route; other types of work plots are also possible, for example, search and rescue work plots, i.e., search and rescue unmanned aerial vehicles perform search and rescue work according to the planned flight route. In this case, the ridge of the object to be operated may not be a ridge in a general sense, and it is not limited to be a soil row for planting crops, but may specifically indicate the topography of the plot to be operated, the operation route, and the like. In short, the technical solution of the embodiment of the present invention may be specifically applied to the field of plant protection operation of unmanned aerial vehicles, and may also be applied to other fields, which are not limited herein. The preset dotting rule may be specifically based on different terrains, and the number and positions of dotting. It may be embodied as: when dotting is carried out, under the condition that the terrain is concave, no pit is recorded, namely, no dotting is carried out at the pit, so that the unmanned aerial vehicle cannot enter the pit terrain and can fly above the pit terrain, and the occurrence of a machine explosion event when flying into a concave plot is avoided; when the terrain is convex, the points are punched on the convex points as much as possible, namely, the distance between two navigation points is shortened as much as possible, so that the ground-imitating flight of the unmanned aerial vehicle can be ensured to the maximum extent, and the phenomenon that the unmanned aerial vehicle explodes when colliding with the convex point terrain is avoided; when the terrain is relatively flat, the number of points can be reduced, namely, the distance between two waypoints is prolonged as much as possible, but the premise is to ensure that the operation requirement is met, for example, when the terrain is plant protection operation, the effect of the plant protection operation needs to be considered, and the distance between the waypoints cannot be prolonged without limit.

When selecting the waypoint, the waypoint is selected according to the preset dotting rule and the relief, and the selection is also needed according to the ridge trend of the operated object of the land block to be operated. The navigation points are selected according to the ridge trend of plant planting or the operation ridge trend (such as the search and rescue ridge trend) and the like, so that the accuracy of the course can be ensured, and the operation effect can be ensured to the maximum extent. For example, for plant protection, the spraying operation can be performed according to the ridge trend of plant planting, and the optimal spraying operation effect can be ensured. In addition, the unmanned aerial vehicle can be ensured to have the accuracy of the flight course of the unmanned aerial vehicle under the ridge-shaped irregular operation plots to the maximum extent by dotting according to the ridges.

Specifically, can receive the waypoint information that mapping terminal sent, promptly, the mapping personnel pass through mapping terminal, according to the relief of operation plot, predetermine the rule of dotting and the operation plot by the back of dotting of the ridge potential trend of operation object, mapping terminal can send waypoint information to intelligent terminal. Or receiving the waypoint information input by the user, wherein the waypoints are recorded in advance.

And 202, displaying each waypoint at a corresponding position of the map of the land to be operated according to the waypoint information.

It can be understood that the map of the land to be worked may be a three-dimensional map, or may be a two-dimensional map.

It should be noted that the waypoint information may include, but is not limited to, geographical location information and altitude information, and the geographical location information may specifically include longitude and latitude information, and the like.

Specifically, after receiving waypoint information, the intelligent terminal correspondingly displays the waypoint on a map of the land to be operated. In addition, the corresponding waypoints can be recorded according to the waypoint recording instruction of the user. The intelligent terminal can also record the waypoints actively without waypoint recording instructions of the user, namely, the intelligent terminal records the received waypoints.

And 203, receiving a route generation instruction of the user, and sequentially connecting each waypoint to generate a flight route of the unmanned aerial vehicle according to the route generation instruction.

It should be noted that the route generation instruction may be a connection instruction input by a user, that is, the user may manually connect each waypoint on the map of the parcel to be operated according to the sequence of waypoint flight, and after connection is completed, generate a corresponding flight route of the unmanned aerial vehicle according to the waypoint connected by the user and the sequence of connection; the intelligent terminal can be used for generating a flight route, and the flight route can be generated by connecting the intelligent terminal with the navigation points in sequence after the sequencing is finished.

And 204, calculating the land-imitation flying track of the unmanned aerial vehicle between two adjacent waypoints in the flying route of the unmanned aerial vehicle according to the waypoint information.

It should be noted that the above-mentioned unmanned aerial vehicle is capable of following the flight trajectory of the ground imitation according to the ridge, and may include, but is not limited to, heading information, longitude and latitude information, and information such as the flight altitude of the ground imitation between two waypoints. This unmanned aerial vehicle can be for the straight line orbit according to the imitative ground flight orbit in ridge, can be arc line orbit or broken line orbit, also can be the orbit of other forms, does not do the restriction here. That is, between any two adjacent waypoints, the flight trajectory of the drone may be arbitrary.

The flight path generation of the unmanned aerial vehicle can specifically generate a corresponding flight path by calculating the relative position and the relative height between the waypoints.

The ridge-based ground-imitating flight path can mean that the flight path is consistent with the relief of the land to be operated and the ridge trend of the operated object. Also can say that, when unmanned aerial vehicle flies according to this according to the imitative ground flight track in ridge, can keep at unmanned aerial vehicle and by the relative altitude accuracy of operation object, and when sparse irregular to the ridge interval, unmanned aerial vehicle also can keep flying directly over by the operation object.

In order to better describe the ground-imitating flight trajectory of the embodiment of the invention, the following description is made with reference to a flight trajectory comparison diagram shown in fig. 3.

As shown in fig. 3, the diagram includes a concave point terrain flight path diagram on the left side and a convex point terrain flight path diagram on the right side. Two waypoints are arranged on a slope of a concave point terrain, the top of the left side of the figure 3 is a schematic diagram of the expected flight path of a general waypoint, and when the unmanned aerial vehicle flies according to the flight path, the expected route cannot be changed according to the relief of the terrain; the middle of the left side of fig. 3 is a schematic diagram of an expected trajectory of a general simulated ground flight, which can change the flight height in real time according to the relief of the terrain during the flight process, but in this case, no one can get too close to one side of a pit, and the potential safety hazard is high; the lowest part on the left side of the figure 3 is a schematic diagram of the flight path imitating the ground according to the ridges, which is obtained according to the technical scheme of the embodiment of the invention and can ensure that the relative height between the flight path and the operated object is accurate and the flight path does not fly into the pits.

The uppermost point on the right side of fig. 3 is a general waypoint flight expected trajectory diagram of a bump terrain, which does not change an expected route during flight, and causes the unmanned aerial vehicle to bump into a bump; the middle of the right side of fig. 3 is a general ground-imitation flight expected trajectory schematic diagram of a convex point terrain, which can change the flight height in real time according to the relief of the terrain in the flight process, however, in this case, the unmanned aerial vehicle still has the situation of being too close to one side of the convex point, and has the danger of collision when ascending a slope, and the potential safety hazard is still high; the bottommost part on the right side of fig. 3 is a schematic diagram of a land-imitating flying track according to ridges, the land-imitating flying track can fly in an imitation manner, the situation that the unmanned aerial vehicle is too close to one side of the salient point to cause the salient point collision is avoided, and the safety is high.

That is, in the expected track of the general waypoint flight, the height is determined by using the barometer, and the flight height does not change along with the terrain. When the work is performed downhill, the height of the work relative to the ground or the work target increases, and the work effect deteriorates. The unmanned aerial vehicle with the ground imitating function can keep the relative height with the ground, but the distance in the horizontal direction of the air route is too narrow when the unmanned aerial vehicle encounters a terrain with a steep slope and suddenly and greatly changed, so that the risk of a collision accident is easy to happen. The land-imitating flying vehicle is used for correspondingly processing different terrains according to requirements, when encountering a dangerous pit, the vehicle is planned not to enter the dangerous pit, and when encountering a slope with suddenly raised height, the vehicle can be planned to advance to raise the height, so that the risk of a crash accident is avoided.

In the embodiment, the navigation points are selected based on the relief of the land to be operated, the preset dotting rule and the ridge trend of the operated object of the land to be operated, so that the course accuracy of the flight route of the unmanned aerial vehicle in the environment with large relief is ensured; the flight path of the unmanned aerial vehicle according to the ridge ground imitation is calculated through the waypoint information, namely, the unmanned aerial vehicle can be kept at a certain height above the ridge potential trend of the operated object when flying, the flying height of the unmanned aerial vehicle in an environment with large terrain fluctuation relative to the operated object is ensured to be accurate, the safety problems of collision and the like of the unmanned aerial vehicle are further avoided, and the unmanned aerial vehicle can be kept flying right above the operated object when the ridge distance of the operated object is sparse; and then the operation safety, the accuracy and the operation effect of the unmanned aerial vehicle in the environment with large relief and sparse and irregular ridge intervals are improved.

EXAMPLE III

Referring to fig. 4, another schematic flow chart of a method for planning a flight path of an unmanned aerial vehicle according to an embodiment of the present invention is shown, where the method includes the following steps:

step 401, waypoint information of the waypoints is obtained.

It should be noted that this step is the same as step 201 described above, and corresponding descriptions may refer to the corresponding contents described above, which are not described herein again.

And 402, displaying each waypoint at a corresponding position of the map of the land to be operated according to the waypoint information. This step is the same as step 202, and corresponding descriptions can be referred to above, and are not described herein again.

Step 403, displaying waypoint information at a preset interface position; receiving a waypoint recording instruction of a user; and recording the waypoints according to the waypoint recording instruction.

It should be noted that the preset interface position may be embodied as a lower side of a display interface for displaying the map of the to-be-operated block, that is, the waypoint is displayed on the lower side of the map interface of the to-be-operated block. Of course, the predetermined interface position may be other interface positions.

Specifically, the intelligent terminal displays the received waypoints on a map of the land to be operated, and correspondingly displays waypoint information, for example, latitude and longitude values of the waypoints. And then, determining whether to record the waypoint or not by the user according to the requirement, clicking a record waypoint option by the user when the current waypoint needs to be recorded, and recording the related information of the waypoint by the intelligent terminal according to a waypoint record instruction. By the user selecting whether to record the waypoint, the recorded waypoint and the generated flight trajectory can be made more accurate.

And step 404, receiving a route generation instruction of the user, and sequentially connecting each waypoint to generate a flight route of the unmanned aerial vehicle according to the route generation instruction.

In specific application, two types of unmanned aerial vehicle flight routes can be generated, wherein one type of unmanned aerial vehicle flight route is that a user can manually connect each waypoint in sequence on a map to be operated displayed by an intelligent terminal, and then the intelligent terminal generates a corresponding flight route according to the connection sequence of the user; secondly, the user sorts the waypoints according to the flight sequence, and after the sorting is completed, the intelligent terminal is connected with the waypoints in sequence to generate a flight route.

In some embodiments, referring to a specific implementation flow diagram of step 404 shown in fig. 5, this step may specifically be:

step 501, receiving a click instruction of a user for clicking a waypoint in a waypoint coordinate area.

And 502, sequentially displaying the target waypoints clicked by the user in the sequencing area according to the click command and the click sequence.

And 503, sequentially connecting the target waypoints in the sequencing area to generate a flight route of the unmanned aerial vehicle.

It should be noted that the waypoint coordinate area and the sequence area may be located on the same interface as the map of the land to be worked or may be located on different interfaces. The waypoint coordinate region may specifically exist in the form of a coordinate column, and the sorting region may also specifically exist in the form of a sorting column. The target waypoint refers to the waypoint selected by the user.

Please refer to fig. 6, which shows a schematic diagram of the mapping interface. As shown in fig. 6, a map of a land to be worked, a coordinate column on the left side of the interface, and a sorting column on the lower side of the interface are displayed in the mapping interface of the ridge mapping 01, and numbers such as 1, 2, 3 … 93, etc. in the figure refer to waypoints, and the number size of the waypoints only indicates the order of dotting. All waypoints will be displayed in the coordinate column and waypoints selected by the user will be displayed in the sort column. Options such as recording waypoints and canceling waypoints are also provided.

Taking FIG. 6 as an example, a flight path has been generated between waypoint 1 and waypoint 82. No flight path has been generated between

waypoints

83, 84, 85, 86, 87, 88, 89. The user can click the waypoint serial numbers in the coordinate column on the left side of the interface in sequence, namely, the waypoint 83, the waypoint 84, the waypoint 85, the waypoint 86, the waypoint 87, the waypoint 88 and the waypoint 89 are clicked in sequence, the waypoint 83, the waypoint 84, the waypoint 85, the waypoint 86, the waypoint 87, the waypoint 88 and the waypoint 89 are displayed on the sequencing column in sequence by the intelligent terminal, and after the user clicks, the intelligent terminal sequentially adds the connecting waypoint 83, the waypoint 84, the waypoint 85, the waypoint 86, the waypoint 87, the waypoint 88 and the waypoint 89 to generate the unmanned aerial vehicle flight route. In addition, the user can also drag the waypoint freely on the sort bar.

In other embodiments, referring to a specific implementation flow diagram of step 403 shown in fig. 7, this step may specifically be:

step 701, receiving a waypoint connection instruction of a user.

And step 702, connecting the target waypoints in sequence according to the waypoint connection instruction to generate a flight route of the unmanned aerial vehicle.

Specifically, taking fig. 6 as an example, the corresponding waypoints are displayed on the plot map of the plot 001, and the user may manually connect any two waypoints, for example, the waypoint 82 and the waypoint 83, and thus connect the waypoints to obtain the final flight route of the unmanned aerial vehicle.

It should be noted that the two types of unmanned aerial vehicle flight route generation manners given here are only two possible implementation manners, and in specific applications, other types of flight route generation manners may also exist, for example, a flight route is generated according to the sequence of received waypoints, which is not limited herein.

The sequencing of the waypoints is related to the flight operation sequence of the subsequent unmanned aerial vehicle, so that no matter the waypoints are sequenced by the user and then the flight route is generated, or the flight route is generated according to the connection sequence of the user, the actual operation requirement and the ridge trend of the operated object of the actual operation land block are considered when the waypoints are sequenced. That is, when the user clicks on a waypoint or connects waypoints, the user should sort the waypoints based on the ridge trend of the work target of the actual work parcel and the work request, and should not sort the waypoints arbitrarily. Of course, the purpose of the embodiment of the present invention can be achieved by arbitrarily sequencing the waypoints, but the operational effect may be influenced to some extent.

Fig. 6 is a diagram of a specific implementation effect, and in the specific implementation, the specific representation form may be, but is not limited to, the form of fig. 6.

Step 405, calculating a relative position between two adjacent waypoints according to the geographical position information of the two adjacent waypoints; calculating the relative height between two adjacent waypoints in the route of the unmanned aerial vehicle according to the altitude information of the two adjacent waypoints; calculating the ground-following flight track of the unmanned aerial vehicle between two adjacent waypoints in the route of the unmanned aerial vehicle according to the relative position and the relative height; the waypoint information comprises geographical position information and altitude information. The geographic location information is specifically latitude and longitude information.

In order to better describe the generation process of the flight trajectory imitating the ground by ridges, the following description is provided with reference to a schematic diagram of the generation method of the flight trajectory imitating the ground by ridges, which is shown in fig. 8.

As shown in fig. 8, a schematic diagram of the generation process of three kinds of simulated ground flight trajectories by ridges is given. Firstly, when the ground-imitation flight path according to the ridge generated between two adjacent waypoints is a parallel line, the height of A, B two waypoints is added with the set flight height to generate new waypoints A1 and B1, the waypoints A1 and B1 are connected to generate the ground-imitation flight path according to the ridge, and the ground-imitation flight path according to the ridge is parallel to a connecting line of A, B points. Secondly, when the land-based flight path generated between two adjacent waypoints is a broken line, connecting A, B two waypoints, selecting a plane which passes through the connecting line and is vertical to the sea level (height axis) as a reference plane, taking the connecting line of A, B two waypoints as a bottom side in the reference plane, respectively passing through A, B two waypoints and making an isosceles triangle with a bottom angle of 30 degrees upwards, wherein the waist of the isosceles triangle is the land-based flight path between A, B two waypoints. Thirdly, when the ground-following flight path generated between two adjacent waypoints is an arc line, connecting A, B the two waypoints, selecting a plane which passes through the connecting line and is vertical to the sea level (height axis) as a reference plane, and in the reference plane, passing through A, B the two waypoints and making an arc line of 60 degrees upwards, wherein the arc line is the ground-following flight path between A, B the two waypoints.

It should be noted that the above-mentioned selecting a plane that passes through a connecting line of A, B waypoints and is perpendicular to the sea plane as a reference plane is only an exemplary way of selecting a reference plane, and according to different requirements and waypoint conditions, a plane that passes through a connecting line of A, B two waypoints and is parallel to the sea plane may also be selected as a reference plane; selecting a plane which forms an included angle of 30 degrees, 45 degrees or 60 degrees with the sea plane by connecting lines of two waypoints A, B as a reference plane; the selection mode of selecting the reference plane is not limited herein, such as selecting A, B a plane formed by the connection line of the two waypoints and the initial speed direction of the point a as the reference plane.

It should be noted that the above-mentioned three methods of generating the parallel line land-imitation flight path according to the ridges between two adjacent waypoints, generating the broken line land-imitation flight path according to the ridges between two adjacent waypoints, and generating the arc line land-imitation flight path according to the ridges between two adjacent waypoints are only the listed three methods of generating the land-imitation flight path according to the ridges. In specific application, the three flight trajectory generation methods can be used in a fusion manner according to different requirements and different waypoint conditions, for example, the heights of A, B two waypoints are added with the set flight height to generate new waypoints A1 and B1, and an arc line is generated between the waypoints A1 and B1 to generate a ground flight trajectory in a ridge-following manner; other methods for generating the flight path of the ground according to the ridge can be used, and are not limited herein.

And step 406, sending the flight route of the unmanned aerial vehicle and the ground imitation flight track of the unmanned aerial vehicle according to the ridges to a cloud end so that the cloud end stores the ground imitation flight route information of the unmanned aerial vehicle.

In the embodiment, the navigation points are selected based on the relief of the land to be operated, the preset dotting rule and the ridge trend of the operated object of the land to be operated, so that the course accuracy of the flight route of the unmanned aerial vehicle in the environment with large relief is ensured; the flight path of the unmanned aerial vehicle according to the ridge ground imitation is calculated through the waypoint information, namely, the unmanned aerial vehicle can be kept at a certain height above the ridge potential trend of the operated object when flying, the flying height of the unmanned aerial vehicle in an environment with large terrain fluctuation relative to the operated object is ensured to be accurate, the safety problems of collision and the like of the unmanned aerial vehicle are further avoided, and the unmanned aerial vehicle can be kept flying right above the operated object when the ridge distance of the operated object is sparse; and then the operation safety, the accuracy and the operation effect of the unmanned aerial vehicle in the environment with large relief and sparse and irregular ridge intervals are improved. In addition, whether the waypoints are recorded or not can be selected by the user, waypoint sequencing is carried out or the waypoints are connected to generate a flight route, and the accuracy and the safety of the generated flight track can be further improved.

Example four

In order to better describe the technical solution provided by the embodiment of the present invention, a plant protection operation scenario will be described as an example.

The unmanned aerial vehicle in this embodiment is plant protection unmanned aerial vehicle, and survey and drawing terminal is the handheld survey and drawing terminal of RTK, and survey and drawing base station is the RTK basic station, and intelligent terminal is the cell-phone. The mobile phone end is integrated with a mapping APP, and the mapping interface effect graph of the APP can be an effect graph as shown in FIG. 6. This survey and drawing APP is based on Android environment development.

Firstly, erecting an RTK surveying and mapping base station, starting an RTK handheld surveying and mapping terminal, and ensuring that the RTK handheld surveying and mapping terminal enters a fixed solution high-precision positioning state; then, opening a surveying APP at the mobile phone end, connecting an RTK handheld surveying terminal, and entering a ridge surveying interface after successful connection; afterwards, surveying personnel then hand-hold the handheld survey terminal of RTK and take a little in the plant protection operation plot, and the handheld survey terminal of cell-phone and RTK then carries out corresponding interaction.

In order to intuitively introduce the interactive flow of the unmanned aerial vehicle flight path planning method, the following is introduced with reference to the interactive flow diagram shown in fig. 9. The interaction flow diagram comprises the following steps:

and step 901, the mobile phone receives waypoint information sent by the RTK handheld mapping terminal.

And step 902, displaying the corresponding position of the map of the plant protection operation land parcel by the mobile phone according to the received waypoint information.

Step 903, the mobile phone receives a route generation instruction of a user;

and 904, connecting each waypoint according to the route generation instruction to generate a flight route of the unmanned aerial vehicle.

Step 905, the mobile phone calculates the land-based flight trajectory between two adjacent waypoints of the flight route of the unmanned aerial vehicle according to the waypoint information.

And step 906, the mobile phone sends the flight route of the unmanned aerial vehicle and the ground-imitation flight track according to the ridges to the cloud for storage.

After calculating the flight path of the unmanned aerial vehicle and the flight track of the simulated land according to the ridges, the plant protection unmanned aerial vehicle can perform plant protection operation on the corresponding plant protection operation land blocks according to the flight path and the flight track of the simulated land according to the ridges.

It should be noted that, for the same or similar points in the embodiments of the present invention, reference may be made to other embodiments, and further description is not provided herein.

In order to better describe the plant protection operation effect of the flight path imitating the ground by ridges according to the present invention, the following description will be made with reference to the schematic view of the flight path operation effect shown in fig. 10.

As shown in fig. 10, in the case that the planting ridge intervals for planting crops are sparse and irregular, the flight trajectory generated according to the general planning operation is linear, which may cause the unmanned aerial vehicle to perform operations between ridges without crops during the flight operation, which wastes drugs, and may cause some crops to miss or re-spray because some crops are not on the operation trajectory. According to the technical scheme of the embodiment of the invention, the generated ridge-based ground-imitating flying track flies according to the planting direction of crops, so that the operation effect of plant protection operation is ensured, the phenomena of spray leakage, spray re-spraying and the like are avoided, and the utilization efficiency of the medicine is improved. That is to say, follow the ridge and imitate ground flight laminating by the ridge trend of operation object for unmanned aerial vehicle operation remains throughout directly over by the operation object, the accuracy and the actual effect of guarantee operation. The application on concrete agricultural plant protection can promote the practical application of medicine, avoids extravagant medicine between the ridge, reaches and improves the operation effect, practices thrift the medicine. Therefore, the flight route and the flight route height obtained by the unmanned aerial vehicle flight planning method can ensure that the plant protection unmanned aerial vehicle is more suitable for the course and the flight height accuracy of plant protection operation plots with larger relief such as mountainous regions, sloping fields and the like, and further improve the safety of the unmanned aerial vehicle and the plant protection operation effect. For example, when the plant protection spraying operation is carried out, dotting is carried out according to ridges, so that even if the operation is carried out on an operation land block with an irregular ridge shape, the accurate course can be ensured, and the spraying range meets the requirement of the plant protection operation land block; the ground-imitating flight path of the ridge is calculated, the plant protection unmanned aerial vehicle is guaranteed to avoid hitting concave points or convex point terrains when spraying operation is conducted, and safety is improved.

It should be noted that, this embodiment is only described by way of example in an application scenario of plant protection operation, but the technical solution provided by the embodiment of the present invention is not limited to be only applied to the field of plant protection, and may also be specifically applied to other fields, such as the field of search and rescue. When applied to the field, the process may be similar to or the same as the application process in the field of plant protection, and is not described herein again.

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

EXAMPLE five

Referring to fig. 11, a block diagram of a schematic structure of an unmanned aerial vehicle flight path planning apparatus provided in an embodiment of the present invention is provided, where the apparatus may be integrated in an intelligent terminal, and the unmanned aerial vehicle flight path planning apparatus may include:

an obtaining module 111, configured to obtain waypoint information of waypoints; the navigation points are selected based on the relief of the land to be operated and according to the preset dotting rule and the ridge relief trend of the operated object of the land to be operated;

the display module 112 is used for displaying each waypoint at a corresponding position of the map of the land to be operated according to the waypoint information;

the route generation module 113 is used for receiving a route generation instruction of a user, and sequentially connecting each waypoint to generate a flight route of the unmanned aerial vehicle according to the route generation instruction;

and a ridge-to-ridge ground-imitation flying track calculating module 114, configured to calculate, according to the waypoint information, a ridge-to-ridge ground-imitation flying track of the unmanned aerial vehicle between two adjacent waypoints in the route of the unmanned aerial vehicle.

In some embodiments of the invention, the module for calculating the flight trajectory of the ground according to the ridges includes:

the horizontal distance calculation unit is used for calculating the relative position between two adjacent waypoints according to the geographical position information of the two adjacent waypoints;

the relative height calculating unit is used for calculating the relative height between two adjacent waypoints in the route of the unmanned aerial vehicle according to the altitude information of the two adjacent waypoints;

the ridge-to-ridge ground-imitation flight calculation unit is used for calculating the ridge-to-ridge ground-imitation flight track of the unmanned aerial vehicle between two adjacent waypoints in the unmanned aerial vehicle route according to the relative direction and the relative height;

the waypoint information comprises geographical position information and altitude information.

In some embodiments of the invention, the route generation module includes:

the first receiving unit is used for receiving a click instruction of a user for clicking a waypoint in a waypoint coordinate area;

the first display unit is used for sequentially displaying the target waypoints clicked by the user in the sequencing area according to the click command and the click sequence;

and the first generation unit is used for sequentially connecting the target waypoints in the sequencing area to generate the flight route of the unmanned aerial vehicle.

In some embodiments of the invention, the route generation module includes:

the second receiving unit is used for receiving a waypoint connection instruction of a user;

and the second generation unit is used for sequentially connecting the target waypoints according to the waypoint connection instruction to generate the flight route of the unmanned aerial vehicle.

In some embodiments of the present invention, the unmanned aerial vehicle flight path planning apparatus may further include:

the sending module is used for sending the flight route of the unmanned aerial vehicle and the flight track of the unmanned aerial vehicle in a ridge-simulated manner to the cloud end, so that the cloud end stores the flight route information of the unmanned aerial vehicle in the ridge.

In some embodiments of the present invention, the apparatus may further include:

the second display module is used for displaying the waypoint information at the preset interface position;

the third receiving module is used for receiving a waypoint recording instruction of a user;

and the recording module is used for recording the waypoints according to the waypoint recording instructions.

In the embodiment of the invention, the course accuracy of the unmanned aerial vehicle flight route in the environment with large relief is ensured by selecting the waypoints based on the relief of the plot to be operated, the preset dotting rule and the ridge trend of the operated object of the plot to be operated; and through waypoint information, calculate unmanned aerial vehicle's imitative ground flying height, promptly, the relative height of unmanned aerial vehicle relative topography, guarantee the high accuracy of unmanned aerial vehicle flight in the great environment of relief, and then avoid unmanned aerial vehicle to take place security problems such as bumping to the operation security and the accuracy of unmanned aerial vehicle under the great environment of relief have been improved.

EXAMPLE six

Fig. 12 is a schematic diagram of an intelligent terminal according to an embodiment of the present invention. As shown in fig. 12, the intelligent terminal 12 of this embodiment includes: a processor 120, a memory 121, and a computer program 122, such as a drone flight path planning program, stored in the memory 121 and executable on the processor 120. The processor 120, when executing the computer program 122, implements the steps in the above-mentioned various embodiments of the unmanned aerial vehicle flight path planning method, such as the steps 201 to 204 shown in fig. 2. Alternatively, the processor 120, when executing the computer program 122, implements the functions of the modules/units in the above device embodiments, such as the functions of the modules 111 to 114 shown in fig. 11.

Illustratively, the computer program 122 may be partitioned into one or more modules or units that are stored in the memory 121 and executed by the processor 120 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 122 in the intelligent terminal 12. For example, the computer program 122 may be divided into an acquisition module, a display module, a route generation module, and a flight trajectory calculation module for simulating the ground by ridges, where the specific functions of the modules are as follows:

the acquisition module is used for acquiring waypoint information of waypoints; the navigation points are selected based on the relief of the land to be operated and according to the preset dotting rule and the ridge relief trend of the operated object of the land to be operated;

and the ridge-to-ridge ground-imitating flying track calculating module is used for calculating the ridge-to-ridge ground-imitating flying track of the unmanned aerial vehicle between two adjacent waypoints in the unmanned aerial vehicle route according to the waypoint information.

The intelligent terminal 12 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The intelligent terminal may include, but is not limited to, a processor 120, a memory 121. Those skilled in the art will appreciate that fig. 12 is merely an example of a smart terminal 12 and is not intended to be limiting of the smart terminal 12 and may include more or less components than those shown, or some components in combination, or different components, for example the smart terminal may also include input output devices, network access devices, buses, etc.

The Processor 120 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The storage 121 may be an internal storage unit of the intelligent terminal 12, such as a hard disk or a memory of the intelligent terminal 12. The memory 121 may also be an external storage device of the intelligent terminal 12, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are equipped on the intelligent terminal 12. Further, the memory 121 may also include both an internal storage unit and an external storage device of the smart terminal 12. The memory 121 is used for storing the computer program and other programs and data required by the intelligent terminal. The memory 121 may also be used to temporarily store data that has been output or is to be output.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus, intelligent terminal and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.

Claims

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

calculating the relative position between two adjacent waypoints of the unmanned aerial vehicle route according to the geographical position information of the two adjacent waypoints;

2. The method of claim 1, wherein the receiving a route generation instruction of a user and sequentially connecting each of the waypoints to generate a flight route of the drone according to the route generation instruction comprises:

3. The method of claim 1, wherein the receiving a route generation instruction of a user and sequentially connecting each of the waypoints to generate a flight route of the drone according to the route generation instruction comprises:

receiving a waypoint connection instruction of the user;

4. The method of claim 1, wherein after said calculating, from said waypoint information, a wayside-following flight trajectory for a drone between two adjacent waypoints in said drone route, further comprising:

5. The method according to any one of claims 1 to 4, wherein after displaying each waypoint at a corresponding position of a map of a land to be worked on based on the waypoint information, further comprising:

displaying the waypoint information at a preset interface position; receiving a waypoint recording instruction of the user;

and recording the waypoints according to the waypoint recording instruction.

6. The utility model provides an unmanned aerial vehicle flight route planning device which characterized in that, integrates in intelligent terminal, unmanned aerial vehicle flight route planning device includes:

the ridge-based ground-imitating flying track calculating module is used for calculating a ridge-based ground-imitating flying track of the unmanned aerial vehicle between two adjacent waypoints in the unmanned aerial vehicle route according to the waypoint information;

the ridge-based ground-imitating flight trajectory calculation module is specifically used for:

7. An unmanned aerial vehicle flight route planning system is characterized by comprising a surveying and mapping terminal, a surveying and mapping base station and an intelligent terminal; the mapping terminal is in communication connection with the mapping base station and the intelligent terminal;

the intelligent terminal is used for acquiring the waypoint information; the navigation points are selected based on the relief of the land to be operated and according to a preset dotting rule and the ridge relief trend of the operated object of the land to be operated; displaying each waypoint at a corresponding position of a map of the land to be operated according to the waypoint information; receiving a route generation instruction of a user, and sequentially connecting each waypoint to generate a flight route of the unmanned aerial vehicle according to the route generation instruction; calculating the relative position between two adjacent waypoints of the unmanned aerial vehicle route according to the geographical position information of the two adjacent waypoints; calculating the relative height between two adjacent waypoints in the route of the unmanned aerial vehicle according to the altitude information of the two adjacent waypoints; calculating the ground-following flight trajectory of the unmanned aerial vehicle between two adjacent waypoints in the route of the unmanned aerial vehicle according to the relative position and the relative height; the unmanned aerial vehicle follows the ridge to imitate the ground flight path and is a path which is consistent with the ridge potential topography; wherein the waypoint information comprises the geographical location information and the altitude information.

8. An intelligent terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the steps of the method according to any of claims 1 to 5 are implemented when the computer program is executed by the processor.

9. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.