The invention relates to a safety detection method and device for multiple homing routes of unmanned aerial vehicles and electronic equipment, relates to the field of unmanned aerial vehicles, and solves the technical problem that potential safety hazards existing in the linear homing process can be detected in initial route planning of one-station-control multi-vehicle. The method comprises the following steps: S100, generating at least two unmanned aerial vehicle route convex spaces according to coordinate values of waypoints in at least two unmanned aerial vehicle routes; step S200, judging whether the convex spaces of the unmanned aerial vehicle route intersect or not, if so, determining that the unmanned aerial vehicle route is not safe, and otherwise, entering step S220; s220, detecting whether intervisibility exists between adjacent waypoints, between a starting waypoint and other waypoints, and between the starting waypoint and one or more interpolation points on each leg in the course of the unmanned aerial vehicle, and if not, calculating a height added value required by intervisibility; and step S600, according to the height added value of each waypoint in the unmanned aerial vehicle route, updating the initial height value of each waypoint in the unmanned aerial vehicle route.
本发明涉及一种多条无人机归航航线的安全性检测方法、装置以及电子设备,涉及无人机领域,解决了在一站控多机的初始航线规划中就能检测出直线归航过程存在的安全隐患的技术问题。其方法包括:步骤S100:根据至少两个无人机航线中航点的坐标值,生成至少两个无人机航线凸空间;步骤S200:判断所述无人机航线凸空间之间是否相交,若是,则所述无人机航线不具有安全性,否则进入步骤S220;步骤S220:检测所述无人机航线中的相邻航点之间、起始航点与其他航点之间、起始航点和每个航段上的一个或多个插值点之间是否均通视,若存在不通视,则计算通视所需的高度增加值;步骤S600:根据所述无人机航线中各个航点的所述高度增加值,更新所述无人机航线中各个航点的初始高度值。
Safety detection method and device for multiple homing routes of unmanned aerial vehicle and electronic equipment
一种多条无人机归航航线的安全性检测方法、装置以及电子设备
2025-04-11
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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