Method for determining obstacle area

Abstract

The present invention discloses a method for determining an obstacle area. The method comprises: obtaining three-dimensional point cloud data of a target area; determining a target electric pole of an electric pole group in the target area according to the three-dimensional point cloud data, and determining the oblique wire information of the target electric pole; and determining an obstacle area in the target area according to the oblique wire information. The present invention solves the technical problems that the obstacle area positioning efficiency is low, the accuracy is low, and the obstacle area cannot be manually positioned in certain terrains due to the need for manual positioning of the obstacle area in the prior art.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle flight control, and in particular to a method for determining an obstacle area. Background Art

[0002] In plant protection operations, the inclined cables of electric poles are a huge threat to plant protection drones. Since the inclined cables are very thin, with a diameter of less than 1 cm, and the material is steel cables with high strength, the radar and visual obstacle avoidance systems currently equipped with plant protection drones cannot automatically identify them. Therefore, plant protection drones often collide with the cables and explode during plant protection operations. The current solution is that plant protection personnel carry handheld surveyors to mark the positions around the electric poles and inclined cables. The marks are regarded as obstacles, and the plant protection drones will bypass the area. However, the method of using plant protection teams to carry handheld surveyors to survey electric poles and inclined cables is very labor-intensive, and some plots, such as paddy fields, are difficult for people to enter. In addition, in high-pole crop plots, such as corn fields, the plant protection personnel's vision is blocked after entering, and they cannot find the positions of electric poles and cables, and there will be omissions in the surveying and mapping.

[0003] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0004] The embodiment of the present invention provides a method for determining an obstacle area, so as to at least solve the technical problems that the obstacle area positioning efficiency is low, the accuracy is low and the obstacle area cannot be manually positioned in certain terrains due to the need for manual positioning of the obstacle area in the prior art.

[0005] According to one aspect of an embodiment of the present invention, a method for determining an obstacle area is provided, comprising: acquiring three-dimensional point cloud data of a target area; determining a target pole of a pole group in the target area based on the three-dimensional point cloud data, and determining the diagonal line information of the target pole; and determining the obstacle area in the target area based on the diagonal line information.

[0006] Optionally, determining a target pole of a pole group in a target area based on the three-dimensional point cloud data includes: determining the position of each pole in the target area based on the three-dimensional point cloud data, and determining the direction of the pole group to which each pole belongs based on the position of each pole; and determining the target pole from the pole group based on the direction of the pole group.

[0007] Optionally, determining a target electric pole from the electric pole group according to the direction of the electric pole group includes: determining an inflection point where the direction of the electric pole group changes; and determining the electric pole at the inflection point as the target electric pole.

[0008] Optionally, determining the oblique line information of the target electric pole includes: determining the deviation angle between the front and rear directions of the inflection point; determining the direction of the oblique line based on the deviation angle and a first design rule, and determining the target angle between the oblique line and the direction of the electric pole group based on a second design rule of the oblique line, wherein the first design rule is used to indicate the relationship between the deviation angle and the setting position of the oblique line, and the second design rule is used to indicate the relative position relationship between the oblique line and the electric pole group; determining the oblique line information based on the direction of the oblique line and the target angle.

[0009] Optionally, determining the obstacle area in the target area according to the inclined line information includes:

[0010] Determine the position of the inclined wire based on the target angle and the orientation of the inclined wire;

[0011] Determine the height of the target pole and the angle between the cable and the ground based on the 3D point cloud data;

[0012] Determine the projection information of the inclined wire on the ground according to the height of the electric pole, the angle between the inclined wire and the ground, and the position of the inclined wire;

[0013] The obstacle area is determined based on the projection information, the location of the target pole, and the height of the target pole.

[0014] Optionally, determining a target electric pole of an electric pole group in a target area according to the three-dimensional point cloud data includes:

[0015] The electric poles at the end points of the electric pole group are determined, and the electric poles at the end points are used as target electric poles, wherein the electric poles at the end points are the electric poles at the starting point and the electric poles at the end point of the electric pole group.

[0016] Optionally, determining the oblique wire information of the target utility pole includes: determining the number of oblique wires corresponding to the utility pole at the endpoint.

[0017] Optionally, before determining the obstacle area in the target area based on the oblique line information, the method also includes: displaying three-dimensional point cloud data in a human-computer interaction interface; receiving a selection instruction of the target object in the human-computer interaction interface, and determining the target detection position corresponding to the selection instruction; displaying an original image corresponding to the target detection position in the human-computer interaction interface; receiving feedback information from the target object based on the original image feedback, and determining that the oblique line information is valid when the feedback information indicates the existence of the oblique line.

[0018] According to another aspect of an embodiment of the present invention, a device for determining an obstacle area is also provided, characterized in that it includes: an acquisition module for acquiring three-dimensional point cloud data of a target area; a first determination module for determining a target pole of a pole group in the target area based on the three-dimensional point cloud data, and determining the oblique line information of the target pole; and a second determination module for determining the obstacle area in the target area based on the oblique line information.

[0019] Optionally, the first determination module is further used to determine the direction of the electric pole group in the target area, the turning point where the direction of the electric pole group changes, and the height of the target electric pole.

[0020] According to another aspect of an embodiment of the present invention, a non-volatile storage medium is further provided, characterized in that the non-volatile storage medium includes a stored program, wherein when the program is running, the device where the non-volatile storage medium is located is controlled to execute the above-mentioned method for determining the obstacle area.

[0021] In an embodiment of the present invention, the three-dimensional point cloud data of the target area is obtained; the target pole of the pole group in the target area is determined based on the three-dimensional point cloud data, and the inclined wire information of the target pole is determined; the obstacle area in the target area is determined based on the inclined wire information. Through image analysis, the purpose of locating the obstacle area is achieved, thereby achieving the technical effect of automatically locating the obstacle area, and further solving the technical problems of low efficiency and low accuracy in obstacle area positioning and inability to manually locate the obstacle area in certain terrains caused by the need for manual positioning of the obstacle area in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0023] Figure 1 is a schematic flow chart of a method for locating an obstacle area according to an embodiment of the present invention;

[0024] Figure 2a , Figure 2b and Figure 2c is a schematic diagram of different oblique cables corresponding to different pole group directions according to an embodiment of the present invention;

[0025] Figure 3 is a schematic diagram of an obstacle area according to an embodiment of the present invention;

[0026] Figure 4 is a schematic structural diagram of a positioning device for an obstacle area according to an embodiment of the present invention;

[0027] Figure 5 is a schematic diagram of another obstacle area according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] According to an embodiment of the present invention, a method embodiment of a method for determining an obstacle area is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0031] Figure 1 is a method for determining an obstacle area according to an embodiment of the present invention, such as Figure 1 As shown, the method comprises the following steps:

[0032] Step S102, obtaining three-dimensional point cloud data of the target area;

[0033] In some examples of the present application, an aerial survey drone can be used to survey the target area, or the original image data of the target area can be obtained by consulting historical aerial survey image data of the target area, and then the original image data can be reconstructed in three dimensions to obtain a three-dimensional point cloud of the target area.

[0034] It should be noted that the data format of the original image can be a common image storage format such as JPG, or other formats. In addition, like the storage format, the color mode of the original image is not limited in this application, that is, the color mode of the original image can be RGB or YUV or any other color mode.

[0035] Step S104, determining a target electric pole of the electric pole group in the target area according to the three-dimensional point cloud data, and determining the inclined wire information of the target electric pole;

[0036] It should be noted that the information of the oblique wires of the target electric poles includes the spatial position information and quantity information of the oblique wires, wherein the spatial position information includes the angle of the oblique wires relative to the ground and the positional relationship between the oblique wires and the arrangement direction of the electric pole group and the turning angle of the arrangement direction.

[0037] In some embodiments of the present application, a target pole of a pole group in a target area is determined based on three-dimensional point cloud data. First, the position of each pole in the target area needs to be determined based on the three-dimensional point cloud data, and the direction of the pole group to which each pole belongs is determined based on the position of each pole. Then, the target pole is determined from the pole group based on the direction of the pole group.

[0038] In some embodiments of the present application, the target area may be a farmland that requires a drone to carry out spraying operations. According to the relevant power specifications, the distance requirements between overhead transmission lines and the ground or debris on the ground, utility poles are usually significantly higher than the surrounding crops, which is reflected in the three-dimensional point cloud of the target area, that is, the three-dimensional points symbolizing the utility poles are obviously raised relative to the nearby terrain. In this way, based on the raised features of the points symbolizing the utility poles in the three-dimensional point cloud of the target area, all utility poles can be selected from the three-dimensional point cloud, thereby obtaining all the utility pole groups in the target area.

[0039] After obtaining all the pole groups in the target area, it is also necessary to determine the direction changes of these pole groups. The direction of the pole groups here refers to the arrangement direction of the pole groups. Usually the pole groups are arranged in a straight line in a certain direction, but in some cases, the arrangement direction of the pole groups will change, as shown in Figure 2a and Figure 2c .

[0040] Optionally, determining a target electric pole from the electric pole group according to the direction of the electric pole group includes: determining an inflection point where the direction of the electric pole group changes; and determining the electric pole at the inflection point as the target electric pole.

[0041] The turning point of a pole group is the point where the arrangement direction of the pole group changes from one direction to another, such as Figure 2a and Figure 2c. By analyzing the force on the electric poles at the turning points, it can be seen that, compared with the electric poles at nearby non-turning points, the overhead transmission line will give the electric poles at the turning points a pulling force along the angle bisector of the complementary angle of the turning angle. In order to balance this pulling force, it is necessary to add one or more inclined cables to the electric poles at the turning points, one end of which is fixed on the electric pole and the other end is fixed on the ground, such as Figure 2a and Figure 2c In addition, from Figure 2a and Figure 2c It can be seen that the number of oblique wires is related to the turning angle of the arrangement direction of the pole group. When the turning angle is less than 90°, the number of oblique wires of the target pole at the turning point is two; when the turning angle is 90°, the number of oblique wires of the target pole at the turning point is one.

[0042] It should be noted that the turning angle of the arrangement direction of the electric pole group refers to the angle between the changed arrangement direction of the electric pole group and the extension line of the initial arrangement direction. Figure 2a For example, the turning angle of the arrangement direction of the electric pole group shown in the figure is α in the figure, and α+θ=180°.

[0043] In some embodiments of the present application, in order to determine the information of the oblique line of the target electric pole, it is first necessary to determine the deviation angle between the front and rear directions of the inflection point; then determine the direction of the oblique line according to the deviation angle and the first design rule, and determine the target angle between the direction of the oblique line and the electric pole group according to the second design rule of the oblique line, wherein the first design rule is used to indicate the relationship between the deviation angle and the setting position of the oblique line, and the second design rule is used to indicate the relative position relationship between the oblique line and the electric pole group; finally, determine the oblique line information based on the direction of the oblique line and the target angle. The direction of the oblique line refers to the angle of the oblique line relative to the ground.

[0044] It should be noted that the deviation angle between the front and rear directions of the turning point is the turning angle of the arrangement direction of the electric pole group mentioned above. The first design rule and the second design rule can be based on relevant industry specifications, such as power design specifications. In addition to indicating information related to the position of the inclined wire, the first design rule and the second design rule are also used to determine the relationship between the deviation angle and the number of inclined wires.

[0045] Specifically, as described above, the relationship between the deviation angle and the number of diagonal wires is: when the turning angle is less than 90°, the number of diagonal wires of the target pole at the turning point is two; when the turning angle is 90°, the number of diagonal wires of the target pole at the turning point is one.

[0046] In some embodiments of the present application, the obstacle area may be a first type of obstacle area consisting of one inclined wire, the projection of the inclined wire on the ground and the target electric pole, or a second type of obstacle area consisting of multiple inclined wires. For the first type of obstacle area, since there is only one inclined wire constituting this type of obstacle area, the number of the first type of obstacle areas in the target area is equal to the number of inclined wires.

[0047] In some examples of the present application, according to the first design rule and the second design rule, such as Figure 2a As shown in , when the turning angle of the pole group is an acute angle α, the inclined line is on the angle bisector plane of the complementary angle θ of the turning angle α; Figure 2c As shown in the figure, when the turning angle of the pole group is a right angle, there are two inclined wires, and from the top view, the two inclined wires are respectively on the extension lines of the two arrangement directions of the pole group. In addition, the angle between the inclined wire and the ground is generally 45°, such as Figure 3 .

[0048] Step S106, determining the obstacle area in the target area according to the inclined line information.

[0049] In some embodiments of the present application, in order to determine the obstacle area in the target area based on the information of the diagonal line, it is also necessary to determine the position of the diagonal line based on the target angle and the direction of the diagonal line, and then determine the height of the target pole and the angle between the diagonal line and the ground based on the three-dimensional point cloud data; then, based on the height of the pole, the angle between the diagonal line and the ground and the position of the diagonal line, determine the projection information of the diagonal line on the ground, including the position and length of the projection, etc.; finally, determine the obstacle area based on the projection information, the position of the target pole and the height of the target pole.

[0050] It should be noted that the projection of the oblique line on the ground mentioned above is the orthographic projection of the oblique line relative to the ground.

[0051] In some embodiments of the present application, the height of the target utility pole can be obtained by subtracting the vertical coordinate component of the point at the bottom of the utility pole in contact with the ground from the vertical coordinate component of the point at the top of the utility pole.

[0052] In some embodiments of the present application, when determining the target poles of a pole group in a target area based on three-dimensional point cloud data, in addition to the poles at the turning points of the pole group as target poles, the poles at the end points of the pole group are also target poles, wherein the poles at the end points refer to the poles at the starting point and the end point of the pole group.

[0053] Similarly, when the target pole is the pole at the endpoint, the steps described above still need to be performed to determine the oblique line information of the target pole at the endpoint, including determining the number of oblique lines and the angle with the ground, but excluding the relationship with the turning angle, because the target pole at the endpoint does not have the problem of the arrangement direction of the pole group changing here. By analyzing the force on the pole at the endpoint, it can be concluded that the pole at the endpoint will be subjected to a pulling force from the overhead transmission line that is in line with the arrangement direction of the pole. Therefore, an oblique line is needed to provide the target pole with a force in the opposite direction to offset the pulling force. Therefore, for the target pole at the endpoint, from the top view, the oblique line corresponding to the target pole is in a straight line with the arrangement direction of the pole group, such as Figure 2b .

[0054] In order to facilitate understanding of the specific method of determining the obstacle area based on the projection information, the position of the target utility pole and the height of the target utility pole, the method of determining the obstacle area based on the above information is specifically described below with reference to an example.

[0055] like Figure 3 As shown, based on the three-dimensional point cloud, the height of the target electric pole is obtained as h, and through the method described in step S104, the angle of the inclined line relative to the ground is determined to be 45 degrees, and the position of the projection of the inclined line on the ground is determined. Because the electric poles are perpendicular to the ground, the electric poles, the projection of the inclined line on the ground, and the inclined line in the target area can form an isosceles right triangle area perpendicular to the ground, so the length of the inclined line can be obtained as The length of the projection is h, and the area of ​​the triangle is h 2 / 2. The isosceles right triangle area is a first-class obstacle area in the target area, and the area of ​​the obstacle area is h 2 / 2.

[0056] In some embodiments of the present application, in addition to the right-angled triangle area (first type of obstacle area) composed of the target electric pole, the inclined wire, and the projection of the inclined wire on the ground, the obstacle area Figure 2c In the case where one target electric pole corresponds to two inclined cables, there is also a second type of obstacle area, which is an isosceles triangle area composed of two inclined cables and the connecting lines of the endpoints of the two inclined cables on the ground, as shown in Figure 5 shown.

[0057] Figure 5In the figure, point A is the vertex of the target pole, point B is the point where the target pole touches the ground, points C and D are the anchor points of the two inclined cables on the ground, AB represents the target pole, AC and AD represent the inclined cables, BC is the projection of the inclined cable AC on the ground, and BD is the projection of the inclined cable AD on the ground. Figure 2c From Figure 3, we can see that ∠ABC, ∠ABD, and ∠CBD are all right angles, and △ABC and △ABD are both isosceles right triangles. From the above, we can see that the height of the electric pole is h, that is, AB=h, and it is easy to get BC=BD=h. According to the formula for calculating the length of the hypotenuse of a right triangle, we can get The area of ​​the second type of obstacle region is

[0058] In some embodiments of the present application, in order to avoid the obstacle area not being properly identified due to program failure, causing the drone to crash into the inclined wire during operation, or mistaking the normal working area for the obstacle area, causing spraying to be missed, before determining the obstacle area in the target area based on the inclined wire information, the three-dimensional point cloud data can also be displayed to the drone operator in the human-computer interaction interface, and the target object selection instruction can be received in the human-computer interaction interface, and then the target detection position corresponding to the selection instruction can be determined. Based on the above target detection position, the original image corresponding to the target detection position is displayed in the human-computer interaction interface; the staff can determine whether the obstacle area obtained through the above steps is correct by observing the original image.

[0059] At the same time, when the staff suspects that there is an obstacle area that has not been correctly identified in a certain area, they can determine whether there is a target pole and diagonal wire at that location by observing the original image of the location. If the target pole and diagonal wire do exist in the area, the staff can manually set the corresponding obstacle area for the area.

[0060] In order to facilitate understanding of the above steps, a specific example is provided below for explanation.

[0061] Suppose you need to determine the specific location and number of obstacles in a farmland area. First, use an aerial survey drone or query the historical map database of the area to obtain the original image data of the target area, that is, the farmland area. There is no special requirement for the format of the original image, which can be any common format such as RGB, YUV, etc.

[0062] After obtaining the data of the original image, the original image is reconstructed in 3D to obtain the 3D point cloud of the target area. Then, based on the characteristic that the electric poles are significantly higher than the surrounding plants and the ground, that is, the characteristic that the electric poles are raised relative to the ground, all the electric poles are screened out from the 3D point cloud of the target area to obtain the information of all the electric pole groups in the target area, including the number of electric pole groups, their directions, the locations of the turning points, and whether there are end poles in the target area.

[0063] According to the direction of the pole group, the turning point of the pole group is determined, that is, the point where the direction of the pole group changes. The poles at the turning point and the poles at the end point will be installed with inclined wires to ensure force balance due to the tension of the overhead line.

[0064] Assume that according to the above steps, three target poles are selected in the target area, one of which is the endpoint pole, such as Figure 2b , one electric pole is the electric pole at the inflection point, and the deflection angle of the arrangement direction of the electric pole group at the inflection point is an acute angle, such as Figure 2a , the last electric pole is also the electric pole at the turning point, and the deflection angle of the electric pole group is a right angle, such as Figure 2c .

[0065] according to Figure 1 The method shown can determine that the three target poles have a total of four inclined cables, among which Figure 2c The target electric pole shown has two inclined wires, and in the top view, the directions of the inclined wires are respectively the arrangement direction of the electric pole group before the turning and the arrangement direction of the electric pole group after the turning. The remaining two target electric poles each have one inclined wire, and the positional relationship of the inclined wires relative to the arrangement direction of the electric pole group is as described above.

[0066] Because the number of inclined wires on each target pole only affects the number of the first-class obstacle areas at the target pole, and does not affect the method of calculating the area of ​​the first-class obstacle area and determining the location of the first-class obstacle, the following is based on Figure 2a Taking the target electric pole and the inclined wire corresponding to the electric pole as an example, the method of determining the position and area of ​​the first type of obstacle area is described in detail.

[0067] First, according to the deflection angle α of the arrangement direction of the electric pole group, the position relationship of the inclined wire relative to the electric pole group is determined, that is, the obstacle area is determined to be on the angle bisector plane of the supplementary angle θ of the deflection angle α. Then, according to the relevant specifications of power design, the angle between the inclined wire and the ground is determined to be 45°, so the obstacle area corresponding to the inclined wire can be obtained as follows: Figure 3 As shown, the inclined wire, the target pole and the orthographic projection of the inclined wire on the ground form an isosceles right triangle.

[0068] The height h of the target pole in the figure can be determined by the three-dimensional point cloud or by the construction data of the line. Specifically, the method of determining the height h of the target pole based on the three-dimensional point cloud is to use the vertical component of the coordinates of the vertex of the target pole minus the vertical component of the coordinates of the point where the target pole contacts the ground. After determining that the height of the pole is h, according to the properties of the isosceles right triangle, the length of the oblique line can be obtained as The length of the ground projection is h, and the area of ​​the obstacle area is h 2 / 2.

[0069] for Figure 2c In the case shown in the figure, in addition to the first type of obstacle area, there is also a second type of obstacle area consisting of two inclined cables and the line connecting the anchor points of the two inclined cables on the ground. Figure 5 As shown, the second type of obstacle area is △ACD in the figure. According to the above, the positions of the three vertices of △ACD have been determined, which is equivalent to the position of the second type of obstacle area has been determined.

[0070] in addition, Figure 5 In the figure, point A is the vertex of the target pole, point B is the point where the target pole touches the ground, points C and D are the anchor points of the two inclined cables on the ground, AB represents the target pole, AC and AD represent the inclined cables, BC is the projection of the inclined cable AC on the ground, and BD is the projection of the inclined cable AD on the ground. Figure 3 , we know that ∠ABC, ∠ABD, ∠CBD are all right angles, and △ABC, △ABD are both isosceles right triangles. From the above, we know that the height of the electric pole is h, that is, AB=h, and it is easy to get BC=BD=h. According to the formula for calculating the length of the hypotenuse of a right triangle, we can get The area of ​​the second type of obstacle region is

[0071] After the above obstacle area detection and positioning, a prompt will be given when the user is preparing to carry out plant protection operations, reminding the user where the obstacle area may exist. At the same time, the user can select any location in the target area, and the system will give the original photo covering the current location for the user to assist in judging whether there is indeed a diagonal line at that location, that is, to determine whether there is an obstacle area. If it is still difficult to judge through the original photo, the user can move to the location, judge on the spot, and finally confirm whether the diagonal line does exist, and then make corresponding modifications to the obstacle area in the target area through the system.

[0072] Finally, the plant protection obstacle area generated according to the above steps or the inclined line obstacle area manually added by the user can be avoided by the plant protection drone during operation to ensure the safety of plant protection operations.

[0073] Through the above steps, it is possible to automatically generate a three-dimensional point cloud of the plant protection area and identify electric poles and electric pole groups based on the original photo data of the target area. According to the direction of the electric pole group, the key electric poles can be located and the relevant information of the inclined wire can be determined. According to the height of the electric pole obtained by measurement or inquiry, the projection length of the inclined wire on the ground can be determined, and finally an obstacle area for the inclined wire can be automatically generated. At the same time, two methods, the original photo of the location and the customer's on-site confirmation, are provided to further confirm whether there is indeed an inclined wire in the area. After confirmation, the plant protection machine can be introduced for operation, and the plant protection machine can avoid the inclined wire to avoid the problem of machine explosion.

[0074] Figure 4 A device for determining an obstacle area according to an embodiment of the present invention includes:

[0075] An acquisition module 40 is used to acquire three-dimensional point cloud data of a target area;

[0076] A first determination module 42 is used to determine the electric pole group and target electric pole information in the target area according to the three-dimensional point cloud data of the target area, and determine the inclined wire information of the target electric pole;

[0077] It should be noted that the information of the above-mentioned electric pole group includes the direction of the electric pole group, the point where the direction changes and the position of the end point; the above-mentioned target electric pole information includes determining whether the target electric pole is the electric pole at the end point or the electric pole at the turning point, as well as the size of the deflection angle of the electric pole at the turning point and the height of the target electric pole; the oblique line information includes the position information of the oblique line, and the position of the oblique line relative to the arrangement direction of the electric pole group and the position relative to the ground, as well as the number of oblique lines and the length and position of the oblique line projection and other information.

[0078] The second determination module 44 is used to determine the obstacle area range in the target area according to the relevant information determined by the first determination module.

[0079] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0080] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0081] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0082] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0083] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0084] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0085] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for determining an obstacle area, characterized in that: The method comprises: Obtain three-dimensional point cloud data of the target area; Determine a target electric pole in the electric pole group in the target area according to the three-dimensional point cloud data, and determine the inclined wire information of the target electric pole; Determining the obstacle area in the target area according to the inclined wire information; Determining the target electric pole of the electric pole group in the target area according to the three-dimensional point cloud data comprises: Determine the position of each electric pole in the target area according to the three-dimensional point cloud data, and determine the direction of the electric pole group to which each electric pole belongs based on the position of each electric pole; The target electric pole is determined from the electric pole group according to the direction of the electric pole group.

2. The method according to claim 1, characterized in that Determining the target electric pole from the electric pole group according to the direction of the electric pole group includes: Determine the turning point where the direction of the utility pole group changes; and determine the utility pole at the turning point as the target utility pole.

3. According to the method of claim 2, determining the oblique wire information of the target utility pole comprises: Determine the deviation angle between the front and rear directions of the inflection point; Determine the orientation of the oblique wire according to the deviation angle and a first design rule, and determine the target angle between the oblique wire and the direction of the electric pole group according to a second design rule of the oblique wire, wherein the first design rule is used to indicate the relationship between the deviation angle and the setting position of the oblique wire, and the second design rule is used to indicate the relative position relationship between the oblique wire and the electric pole group; The oblique line information is determined based on the orientation of the oblique line and the target angle.

4. The method according to claim 3, characterized in that Determining the obstacle area in the target area according to the inclined wire information includes: Determining the position of the oblique wire based on the target angle and the orientation of the oblique wire; Determine the height of the target electric pole and the angle between the inclined wire and the ground according to the three-dimensional point cloud data; Determining the projection information of the oblique wire on the ground according to the height of the electric pole, the angle between the oblique wire and the ground, and the position of the oblique wire; The obstacle area is determined based on the projection information, the position of the target utility pole, and the height of the target utility pole.

5. The method according to claim 1, characterized in that: Determining a target electric pole in the electric pole group in the target area according to the three-dimensional point cloud data includes: The electric poles at the end points of the electric pole group are determined, and the electric poles at the end points are used as the target electric poles, wherein the electric poles at the end points are the electric poles at the starting point and the electric poles at the end point of the electric pole group.

6. The method according to claim 5, characterized in that Determining the oblique wire information of the target electric pole includes: determining the number of oblique wires corresponding to the electric pole at the end point; Determining the obstacle area in the target area according to the oblique line information includes: determining the obstacle area based on the oblique line information of each oblique line.

7. The method according to claim 1, characterized in that Before determining the obstacle area in the target area according to the inclined wire information, the method further includes: Displaying the three-dimensional point cloud data in a human-computer interaction interface; Receiving a selection instruction of a target object in the human-computer interaction interface, and determining a target detection position corresponding to the selection instruction; Displaying an original image corresponding to the target detection position in the human-computer interaction interface; The feedback information fed back by the target object based on the original image is received, and when the feedback information indicates that a diagonal line exists, it is determined that the diagonal line information is valid.

8. A device for determining an obstacle area, characterized in that: include: An acquisition module is used to obtain three-dimensional point cloud data of the target area; A first determination module is used to determine a target electric pole in the electric pole group in the target area according to the three-dimensional point cloud data, and determine the inclined wire information of the target electric pole; A second determination module determines an obstacle area in the target area according to the inclined wire information; Determining the target electric pole of the electric pole group in the target area according to the three-dimensional point cloud data comprises: Determine the position of each electric pole in the target area according to the three-dimensional point cloud data, and determine the direction of the electric pole group to which each electric pole belongs based on the position of each electric pole; The target electric pole is determined from the electric pole group according to the direction of the electric pole group.

9. A non-volatile storage medium, characterized in that: The non-volatile storage medium includes a stored program, wherein when the program is executed, the device where the non-volatile storage medium is located is controlled to execute the method for determining the obstacle area according to any one of claims 1 to 7.

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