Flight risk determination method, device, electronic equipment and storage medium

Abstract

The present invention relates to the field of flight control, and provides a flight risk determination method, device, electronic device and storage medium. By obtaining the flight route of the operating equipment in the plot to be operated; then obtaining the target electric pole associated with the plot to be operated based on the pre-stored high-precision map; then determining the connection relationship of the target electric pole and generating the wire connection segment; finally, according to the positional relationship between the flight route and the wire connection segment, determining the target position, that is, the position where the operating equipment and the wire connection segment have a collision risk. The position where the operating equipment and the wire have a collision risk can be accurately determined, so that the operating equipment can avoid the position, effectively avoiding the collision between the operating equipment and the wire, reducing the collision risk, and improving the safety of the operation.

Description

Technical Field

[0001] The present invention relates to the field of flight control, and in particular to a flight risk determination method, device, electronic equipment and storage medium. Background Art

[0002] Operation equipment such as drones are currently widely used in many scenarios, such as agricultural plant protection, power inspection, traffic monitoring, etc. In agricultural plant protection scenarios, drones can spray pesticides on crops, trees and other plants.

[0003] Currently, detection is usually done through the drone's cameras, radars and other sensors. However, obstacles such as wires are difficult to identify or have low accuracy due to obstruction by trees, light and weather, etc., which poses a risk of collision and poses a threat to the safety of the drone. Summary of the invention

[0004] In view of this, an object of the present invention is to provide a flight risk determination method, device, electronic device and storage medium to avoid collision and improve operation safety.

[0005] In order to achieve the above purpose, the technical solution adopted by the embodiment of the present invention is as follows:

[0006] In a first aspect, the present invention provides a flight risk determination method, which is applied to an electronic device, and the method comprises:

[0007] Obtain the flight route of the operating equipment in the area to be operated;

[0008] Obtaining a target electric pole associated with the plot to be operated based on a pre-stored high-precision map;

[0009] Determine the connection relationship of the target electric poles and generate electric wire connection segments;

[0010] According to the positional relationship between the flight route and the wire connection segment, a target position is determined, and the target position indicates a position where there is a risk of collision between the operating equipment and the wire connection segment.

[0011] In an optional embodiment, the high-precision map includes a utility pole and an associated utility pole having a connection relationship therewith, and the connection relationship includes a direct connection relationship and an indirect connection relationship;

[0012] The step of obtaining the target utility pole associated with the plot to be operated based on the pre-stored high-precision map includes:

[0013] Acquire each first electric pole in the plot to be operated;

[0014] For each of the first utility poles, obtain an associated utility pole directly connected to the first utility pole and an associated utility pole indirectly connected to the first utility pole, to obtain each second utility pole;

[0015] Each of the first utility poles and each of the second utility poles is used as the target utility pole.

[0016] In an optional embodiment, the high-precision map includes electric poles and associated electric poles connected thereto;

[0017] The step of obtaining the target utility pole associated with the plot to be operated based on the pre-stored high-precision map includes:

[0018] Determine a buffer area according to the land to be operated and a preset value; the buffer area represents an area of ​​the first area excluding the land to be operated; the distance between the boundary line of the first area and the boundary line of the land to be operated is the preset value;

[0019] Acquire each third electric pole in the plot to be operated and the buffer area;

[0020] For each third electric pole, obtain an associated electric pole connected to the third electric pole to obtain each fourth electric pole;

[0021] Each of the third utility poles and each of the fourth utility poles is used as the target utility pole.

[0022] In an optional embodiment, the high-precision map includes bounding boxes representing electric poles; each of the bounding boxes has an associated bounding box connected thereto;

[0023] The step of determining the connection relationship of the target utility poles and generating a wire connection segment comprises:

[0024] Obtain each target bounding box representing the target electric pole;

[0025] According to the plurality of target bounding boxes, a plurality of bounding box pairs are obtained; each of the bounding box pairs includes two target bounding boxes having a connection relationship;

[0026] Based on each of the bounding box pairs, a wire connection segment corresponding to each of the bounding box pairs is generated.

[0027] In an optional embodiment, the step of determining the target position according to the positional relationship between the flight route and the wire connection segment includes:

[0028] According to a coordinate system established based on the plot to be operated, a first function and a second function are obtained; the first function represents the flight route; the second function represents the wire connection segment;

[0029] The coordinates of the intersection of the first function and the second function are calculated to determine the target position.

[0030] In an optional embodiment, the method further comprises:

[0031] When the operating equipment flies to the pending position, the flying speed of the operating equipment is reduced and environmental information is collected; the horizontal distance between the pending position and the target position is a preset distance value;

[0032] According to the environmental information, the operating equipment is controlled to avoid the target position.

[0033] In a second aspect, the present invention provides a flight risk determination device, which is applied to an electronic device, and the flight risk determination device includes:

[0034] An acquisition module is used to acquire the flight route of the operating equipment in the plot to be operated;

[0035] Obtaining a target electric pole associated with the plot to be operated based on a pre-stored high-precision map;

[0036] A generation module, used to determine the connection relationship of the target electric poles and generate electric wire connection segments;

[0037] A determination module is used to determine a target position according to a positional relationship between the flight route and the wire connection segment, wherein the target position indicates a position where there is a risk of collision between the operating equipment and the wire connection segment.

[0038] In an optional embodiment, the row risk determination device further includes a control module;

[0039] The control module is used to reduce the flight speed of the operating equipment and collect environmental information when the operating equipment flies to the pending position; the horizontal distance between the pending position and the target position is a preset distance value;

[0040] According to the environmental information, the operating equipment is controlled to avoid the target position.

[0041] In a third aspect, the present invention provides an electronic device, including a processor and a memory, wherein the memory stores a computer program, and when the processor executes the computer program, the method described in any one of the aforementioned embodiments is implemented.

[0042] In a fourth aspect, the present invention provides a storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in any one of the aforementioned embodiments.

[0043] The flight risk determination method, device, electronic device and storage medium provided by the embodiments of the present invention obtain the flight route of the operating equipment in the plot to be operated; then obtain the target electric pole associated with the plot to be operated based on the pre-stored high-precision map; then determine the connection relationship of the target electric pole and generate the wire connection segment; finally, according to the positional relationship between the flight route and the wire connection segment, determine the target position, i.e., the position where there is a risk of collision between the operating equipment and the wire connection segment. Compared with the method of using sensors for real-time identification in the prior art, the wire connection segment generated by the electric pole can accurately determine the position where there is a risk of collision between the operating equipment and the wire, so that the operating equipment can avoid the position, effectively avoid the collision between the operating equipment and the wire, reduce the risk of collision, and improve the safety of the operation.

[0044] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0046] Figure 1 A block diagram of an electronic device provided by an embodiment of the present invention is shown;

[0047] Figure 2 A schematic diagram of a flow chart of a flight risk determination method provided by an embodiment of the present invention is shown;

[0048] Figure 3 Another schematic diagram of a flow chart of a flight risk determination method provided by an embodiment of the present invention is shown;

[0049] Figure 4 An example diagram of a flight risk determination method provided by an embodiment of the present invention is shown;

[0050] Figure 5 Another schematic diagram of a flow chart of a flight risk determination method provided by an embodiment of the present invention is shown;

[0051] Figure 6 Another example diagram of the flight risk determination method provided by an embodiment of the present invention is shown;

[0052] Figure 7 Another example diagram of the flight risk determination method provided by an embodiment of the present invention is shown;

[0053] Figure 8 Another example diagram of the flight risk determination method provided by an embodiment of the present invention is shown;

[0054] Fig. 9 Another schematic diagram of a flow chart of a flight risk determination method provided by an embodiment of the present invention is shown;

[0055] Fig.10 Another example diagram of the flight risk determination method provided by an embodiment of the present invention is shown;

[0056] Fig.11 Another example diagram of the flight risk determination method provided by an embodiment of the present invention is shown;

[0057] Fig.12 Another example diagram of the flight risk determination method provided by an embodiment of the present invention is shown;

[0058] Fig.13 Another example diagram of the flight risk determination method provided by an embodiment of the present invention is shown;

[0059] Fig.14 Another example diagram of the flight risk determination method provided by an embodiment of the present invention is shown;

[0060] Fig.15 A functional module diagram of a flight risk determination device provided in an embodiment of the present invention is shown.

[0061] Icons: 110 - bus; 120 - processor; 130 - memory; 170 - communication interface; 300 - flight risk determination device; 310 - acquisition module; 330 - generation module; 350 - determination module; 370 - control module. DETAILED DESCRIPTION

[0062] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0063] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0064] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0065] Operation equipment such as drones are currently widely used in many scenarios, such as agricultural plant protection, power inspection, and traffic monitoring. In the agricultural plant protection scenario, drones can spray pesticides on crops, trees and other plants. Before the drone performs plant protection operations, the user needs to use RKT or aerial photography to measure the boundaries of the plot and obstacles such as electric poles, but obstacles such as electric wires cannot be obtained in this way. They usually rely on the drone's camera and radar sensors for real-time identification and detection. Due to the influence of tree occlusion, light and weather, it is difficult to identify the electric wires or the accuracy is low, there is a risk of collision, and it poses a threat to the safety of the drone. Furthermore, an embodiment of the present invention provides a flight risk determination method, which generates a wire connection segment through the electric poles in the high-precision map, and determines the location where there is a risk of collision during the operation through the flight route and the wire connection segment, so that the operation equipment can avoid the location, thereby improving the safety of the operation.

[0066] Please refer to Figure 1 , is a block diagram of an electronic device provided by an embodiment of the present invention. The electronic device includes a bus 110 , a processor 120 , a memory 130 , and a communication interface 170 .

[0067] The bus 110 may be a circuit that connects the above elements to each other and transfers communications (eg, control messages) between the above elements.

[0068] The processor 120 may receive commands from the other elements described above (eg, the memory 130 , the communication interface 170 , etc.) through the bus 110 , may interpret the received commands, and may perform calculations or data processing according to the interpreted commands.

[0069] The processor 120 may be an integrated circuit chip with signal processing capabilities. The processor 120 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

[0070] The memory 130 may store commands or data received from the processor 120 or other elements (eg, the communication interface 170 , etc.) or commands or data generated by the processor 120 or other elements.

[0071] The memory 130 can be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable read-only memory (EEPROM), etc.

[0072] The communication interface 170 may be used to communicate signaling or data with other node devices.

[0073] Understandably, Figure 1 The structure shown is only a schematic diagram of the structure of the electronic device. The electronic device may also include Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown. Figure 1 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0074] Optionally, the electronic device may be a smart phone, a personal computer, a tablet computer, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, a personal digital assistant (PDA), etc. The embodiment of the present invention does not impose any limitation on this.

[0075] The above-mentioned electronic device will be used as an execution subject to execute each step in each method provided in the embodiment of the present invention and achieve corresponding technical effects.

[0076] See also Figure 2 , Figure 2 It is a flowchart of a flight risk determination method provided by an embodiment of the present invention.

[0077] Step S202, obtaining the flight route of the operating equipment in the area to be operated;

[0078] In this embodiment, the operation equipment may be a drone, or other equipment such as an aircraft that operates based on a flight route. The plot to be operated may be a plot where crop protection operations such as spraying pesticides are required.

[0079] Before the operating equipment starts working, the pre-set flight route of the operating equipment in the plot to be operated can be obtained, and the flight route can include the plant protection operation route and the route for entering and exiting the plot. For example, the plant protection operation route can be the route for the operating equipment to perform spraying operations, and the route for entering and exiting the plot can be the route for the operating equipment to enter or exit the plot when it needs to be charged or replenished with pesticides.

[0080] Step S204, obtaining a target electric pole associated with the plot to be operated based on a pre-stored high-precision map;

[0081] In this embodiment, the pre-stored high-precision map can be a point cloud map, and point cloud objects can be distinguished based on point cloud attributes, that is, land plots and electric poles can be distinguished. The pre-stored high-precision map can also be a two-dimensional map, and objects can be distinguished by object recognition technology, that is, land plots and electric poles can be distinguished. The pre-stored high-precision map can also be a three-dimensional vectorized map, and objects can be distinguished by vectorized bounding box attributes, that is, land plots and electric poles can be distinguished.

[0082] The pre-stored high-precision map includes pre-measured plot information and obstacle information, wherein the obstacle information includes information of utility poles.

[0083] You can first obtain the information of the plot to be operated based on the high-precision map, and then obtain the information of the electric poles in the plot to be operated, or in and around the plot to be operated, to obtain the target electric poles associated with the plot to be operated. You can also first obtain the information of the electric poles based on the high-precision map, and then select the electric poles in the plot to be operated, or in and around the plot to be operated, to obtain the target electric poles associated with the plot to be operated.

[0084] Step S206, determining the connection relationship of the target electric pole and generating an electric wire connection segment;

[0085] In this embodiment, the pre-stored high-precision map includes the connection relationship between the electric poles. Based on the two connected electric poles, the wires between the two poles can be obtained, that is, the wires can be expressed in the high-precision map.

[0086] According to the connection relationship between the target poles and the poles in the high-precision map, the connection relationship of the target poles can be determined, and based on the two-to-two connected target poles, the wire connection segment can be generated. The wire connection segment can be understood as the wire located above the plot to be operated, which may affect or hinder the operation of the operating equipment in the plot to be operated.

[0087] Step S208, determining the target position according to the positional relationship between the flight route and the wire connection segment;

[0088] The target position indicates the position where there is a risk of collision between the operating equipment and the wire connection section;

[0089] In this embodiment, based on the positional relationship between the flight route and the wire connection segment, the position where the flight route intersects the wire connection segment is determined, that is, the target position is determined. The target position can be understood as the position where the operating equipment and the wire connection segment may collide if the operation is performed according to the flight route.

[0090] It can be seen that based on the above steps, by obtaining the flight route of the operating equipment in the plot to be operated; then obtaining the target electric pole associated with the plot to be operated based on the pre-stored high-precision map; then determining the connection relationship of the target electric pole and generating the wire connection segment; finally, according to the positional relationship between the flight route and the wire connection segment, determining the target position, that is, the position where the operating equipment and the wire connection segment have a risk of collision. Compared with the method of using sensors for real-time identification in the prior art, the wire connection segment generated by the electric pole can accurately determine the position where the operating equipment and the wire have a risk of collision, so that the operating equipment can avoid the position, effectively avoiding the collision between the operating equipment and the wire, reducing the risk of collision, and improving the safety of the operation.

[0091] Optionally, the high-precision map includes electric poles and associated electric poles connected thereto. Thus, for the above step S204, the embodiment of the present invention provides two possible implementations. The first implementation will be described below. Figure 3 , wherein step S204 includes the following steps:

[0092] Step S204A-1, obtaining each first electric pole in the plot to be operated;

[0093] In this embodiment, based on the high-precision map, the information of the plot to be operated, such as the location and size of the plot to be operated, can be first obtained. Then, the obstacle information located in the plot to be operated is obtained, and the electric poles located in the plot to be operated are obtained from the obstacle information, that is, each first electric pole is obtained.

[0094] Step S204A-3, for each first electric pole, obtain an associated electric pole that has a direct connection relationship with the first electric pole and an associated electric pole that has an indirect connection relationship with the first electric pole, to obtain each second electric pole;

[0095] It can be understood that the connection relationship between the electric poles includes a direct connection relationship and an indirect connection relationship. A direct connection relationship means that there is no other electric pole between the two electric poles, that is, the two electric poles are directly connected. An indirect connection relationship means that there is another electric pole between the two electric poles, that is, the two electric poles need to rely on other electric poles to be connected.

[0096] In this embodiment, for each first utility pole, an associated utility pole having a direct connection relationship with the first utility pole can be obtained based on the high-precision map. For the sake of ease of description, it can be referred to as a directly associated utility pole, that is, each directly associated utility pole is obtained.

[0097] Then, for each directly associated utility pole, an associated utility pole that has a direct connection with the directly associated utility pole and is located outside the area to be operated can be obtained based on the high-precision map, that is, an utility pole that has an indirect connection with the first utility pole is obtained. For the sake of ease of description, it can be called an indirectly associated utility pole.

[0098] Each directly associated electric pole and each indirectly associated electric pole obtained is taken as a second electric pole, that is, each second electric pole is obtained. It can be understood that the second electric pole is located outside the plot to be operated.

[0099] Step S204A-5, taking each first electric pole and each second electric pole as a target electric pole;

[0100] In this embodiment, the electric poles located in the plot to be operated, that is, each first electric pole, and the associated electric wires connected to the first electric poles, that is, each second electric pole, are used as target electric poles associated with the plot to be operated.

[0101] For ease of understanding, an embodiment of the present invention provides an example diagram to illustrate the above steps S204A-1 to S204A-5.

[0102] like Figure 4 It is shown that plot 1 is the plot to be worked on. First, each first electric pole located in plot 1, namely electric pole p, electric pole m and electric pole n, is obtained based on the high-precision map.

[0103] Then, for each first utility pole, associated utility poles having a direct connection relationship with the first utility pole and associated utility poles having an indirect connection relationship with the first utility pole are obtained to obtain each second utility pole.

[0104] For example, for electric pole p, its directly associated electric poles are obtained as electric pole q and electric pole r. For electric pole q, there is no associated electric pole with a direct connection relationship with it. For electric pole r, obtain the associated electric pole with a direct connection relationship with it and located outside the plot to be operated, that is, electric pole s, that is, obtain the indirect relationship electric pole of electric pole p. Then for electric pole p, obtain its directly associated electric poles, namely electric pole q and electric pole r, and the indirectly associated electric pole, namely electric pole s, and use electric pole q, electric pole r and electric pole s as the second electric pole.

[0105] For electric pole m, its directly associated electric pole is obtained as electric pole k. For electric pole k, although electric pole n has a direct connection relationship with it, electric pole n is located in the plot to be operated. In order to avoid obtaining duplicate electric poles, electric pole n is not used as an indirectly associated electric pole of electric pole m. For electric pole n, based on a similar principle, electric pole m is not used as an indirectly associated electric pole of electric pole n. Then, for electric poles m and electric pole n, their directly associated electric pole k is obtained, and electric pole k is used as the second electric pole.

[0106] Finally, each first utility pole, namely, utility pole p, utility pole m, and utility pole n, and each second utility pole, namely, utility pole q, utility pole r, utility pole s, and utility pole k, are taken as target utility poles associated with plot 1.

[0107] It can be seen that through the above steps, based on the first electric pole in the plot to be operated and the associated electric pole connected to the first electric pole, that is, the second electric pole, each first electric pole and each second electric pole are used as target electric poles. Based on the wire connection segments generated by the target electric poles, the position that affects the operation can be accurately determined so that the operation equipment can avoid the position, thereby reducing the risk of collision and improving the safety of the operation.

[0108] The second implementation is described below. Figure 5 , wherein step S204 includes the following steps:

[0109] Step S204B-1, determining a buffer area according to the land to be operated and a preset value;

[0110] The buffer area refers to the area of ​​the first area excluding the land to be operated; the boundary line of the first area and the boundary line of the land to be operated are at a preset distance.

[0111] It can be understood that the distance value between two connected electric poles is usually within a preset range, and the preset value can be set based on the distance value between the two connected electric poles.

[0112] In this embodiment, the area of ​​the plot to be operated can be first obtained in the high-precision map, and then the first area is obtained according to the boundary line of the plot to be operated and the preset value, and the area except the plot to be operated in the first area is used as a buffer area.

[0113] The buffer area determined based on the plot to be operated and the preset value can be understood as quickly acquiring the target electric pole associated with the plot to be operated by expanding the area range. It acquires electric poles located in different areas such as inside the plot to be operated, outside the plot to be operated and inside the buffer area, and outside the plot to be operated and the buffer area, so that the target electric pole can be quickly acquired.

[0114] Step S204B-3, obtaining each third electric pole in the plot to be operated and the buffer area;

[0115] In this embodiment, there may be no electric poles in the plot to be operated, but there are electric poles in the buffer area, so each electric pole in the buffer area is acquired, that is, each third electric pole is acquired.

[0116] It is also possible that there are electric poles in the plot to be operated and in the buffer area, then each electric pole in the plot to be operated and each electric pole in the buffer area are obtained, that is, each third electric pole is obtained.

[0117] Step S204B-5, for each third electric pole, obtain an associated electric pole that has a connection relationship with the third electric pole, and obtain each fourth electric pole;

[0118] In this embodiment, the high-precision map includes the connection relationship between utility poles. For each third utility pole, an associated utility pole that has a connection relationship with the third utility pole can be obtained to obtain a fourth utility pole.

[0119] It is understandable that in order to avoid obtaining duplicate utility poles, an associated utility pole that is connected to the third utility pole and is located outside the plot to be operated and the buffer area can be obtained as the fourth utility pole, that is, each fourth utility pole is obtained.

[0120] Step S204B-7, taking each third electric pole and each fourth electric pole as a target electric pole;

[0121] In this embodiment, the electric poles located in the plot to be operated and the buffer area, i.e., each third electric pole, and the associated electric poles connected to the third electric poles, i.e., each fourth electric pole, are used as target electric poles associated with the plot to be operated.

[0122] For ease of understanding, the embodiment of the present invention provides several example diagrams to illustrate the above steps S204B-1 to S204B-7.

[0123] like Figure 6 As shown, taking the preset value of d meters as an example, the buffer area is first determined according to the plot to be operated and the preset value. That is, the first area is obtained according to the boundary line of the plot to be operated and the preset value, and the boundary line of the first area is d meters away from the boundary line of the plot to be operated. The area in the first area other than the plot to be operated is used as the buffer area, that is, the buffer area is determined. Optionally, the preset value can be 200 meters, or it can be set according to actual needs.

[0124] like Figure 7 As shown, plot 2 is the plot to be operated. There are no electric poles in plot 2, but there are electric poles in the buffer area. Then, the electric poles in the buffer area are obtained to obtain each third electric pole, namely, electric pole u, electric pole v and electric pole x.

[0125] Then, for each third utility pole, an associated utility pole connected to the third utility pole is obtained to obtain each fourth utility pole.

[0126] For example, for electric pole u, the associated electric poles connected thereto are electric pole v and electric pole w, but in order to avoid obtaining duplicate electric poles, electric pole w located outside the buffer area is used as the fourth electric pole.

[0127] For electric pole v, the associated electric pole connected to it is electric pole u, but electric pole u is located in the buffer area. In order to avoid obtaining duplicate electric poles, electric pole u is not used as the fourth electric pole.

[0128] For electric pole x, the associated electric poles connected to it are electric pole y and electric pole z, and electric pole y and electric pole z are both located outside the buffer area, then electric pole y and electric pole z are used as the fourth electric poles.

[0129] Finally, each third utility pole, namely utility pole u, utility pole v and utility pole x, and each fourth utility pole, namely utility pole w, utility pole y and utility pole z, are taken as target utility poles associated with plot 2.

[0130] like Figure 8 As shown, plot 3 is the plot to be worked on. There are electric poles in plot 3 and there are also electric poles in the buffer area. Then, the electric pole in plot 3, namely, electric pole c, is obtained, and the electric poles in the buffer area, namely, electric poles b and electric poles d, are obtained, that is, each third electric pole, namely, electric pole c, electric pole b and electric pole d, is obtained.

[0131] Then, for each third utility pole, an associated utility pole connected to the third utility pole is obtained to obtain each fourth utility pole.

[0132] For example, for electric pole c, the associated electric poles connected to it are electric pole b and electric pole d. In order to avoid obtaining duplicate electric poles, electric pole d and electric pole b are not taken as the fourth electric pole. For electric pole b, based on the principle of type, electric pole c is not taken as the fourth electric pole.

[0133] For electric pole d, the associated electric poles connected to it are electric pole e and electric pole f, and electric pole e and electric pole f are located outside plot 3 and the buffer area, then electric pole e and electric pole f are used as the fourth electric poles.

[0134] Finally, each third utility pole, namely, utility pole c, utility pole b, and utility pole d, and each fourth utility pole, namely, utility pole e and utility pole f, are taken as target utility poles associated with plot 3.

[0135] It can be seen that through the above steps, the buffer area is determined according to the plot to be operated and the preset value, and the third electric pole in the plot to be operated and the buffer area, as well as the fourth electric pole connected to the third electric pole, are obtained, and each third electric pole and each fourth electric pole are used as target electric poles. Different areas are divided into different areas through the buffer area, so that the target electric pole associated with the plot to be operated can be quickly obtained according to the location of different areas; based on the target electric pole, the wire connection section is generated in the subsequent steps, which can accurately determine the position that affects the operation, so that the operation equipment can avoid the position, thereby reducing the risk of collision and improving the safety of the operation.

[0136] Optionally, since the high-precision map is a three-dimensional vector map, the electric poles can be represented by three-dimensional vector bounding boxes. Fig. 9 , wherein step S206 includes the following steps:

[0137] Step S206-1, obtaining each target bounding box representing a target electric pole;

[0138] In this embodiment, based on the fact that the high-precision map is a three-dimensional vector map, a three-dimensional vector bounding box is used in the high-precision map to represent the information of the utility poles. The data format table of the bounding box records the bounding box identifier, the subordinate plot of the bounding box, the bounding box height, the bounding box geometry, and the associated bounding boxes.

[0139] The height of the bounding box is the height of the electric pole; the geometry of the bounding box includes multiple three-dimensional point coordinates, which represent the geometric shape of the electric pole; the associated bounding box represents the bounding box that is connected to the bounding box. Each bounding box has an associated bounding box that is connected to it.

[0140] For ease of understanding, the present invention provides a data format table of a bounding box. The following table shows the data format table of a bounding box c. The bounding box c represents the above Figure 8 Electric poles in c.

[0141]

[0142] It should be noted that the above data format table is only used as an example. The embodiment of the present invention does not limit the data format table of the bounding box, and it can be set according to actual applications.

[0143] Step S206-3, obtaining a plurality of bounding box pairs according to the plurality of target bounding boxes;

[0144] Each bounding box pair includes two target bounding boxes having a connection relationship.

[0145] In this embodiment, based on the connection relationship between the multiple target electric poles represented by the multiple target bounding boxes, two target bounding boxes with a connection relationship are combined into a bounding box pair, thereby obtaining multiple bounding box pairs. The two target bounding boxes in each bounding box pair are mutually associated bounding boxes, that is, they have a continuous relationship.

[0146] Step S206-5, based on each bounding box pair, generating a wire connection segment corresponding to each bounding box pair;

[0147] In this embodiment, for each bounding box pair, a corresponding wire connection segment is generated according to two target bounding boxes in each bounding box pair, so as to obtain a wire connection segment corresponding to each bounding box pair.

[0148] For ease of understanding, the above Figure 8 For example, Figure 8 The target electric poles associated with plot 3 are electric poles c to f. First, the target bounding box representing each target electric pole is obtained based on the high-precision map, that is, the bounding boxes c to f are obtained, such as Fig.10 shown.

[0149] Then, based on the multiple target bounding boxes, multiple bounding box pairs are obtained. For example, bounding box b and bounding box c have a connection relationship, and bounding box pair bc is obtained; bounding box c and bounding box d have a connection relationship, and bounding box pair cd is obtained; bounding box d and bounding box e have a connection relationship, and bounding box pair de is obtained; bounding box d and bounding box f have a connection relationship, and bounding box pair df is obtained. That is, based on bounding boxes c to f, multiple bounding pairs are obtained, namely, bounding box pair bc, bounding box pair cd, bounding box pair de, and bounding box pair df.

[0150] Finally, based on each bounding box pair, the wire connection segment corresponding to each bounding box pair is generated. For example, based on the bounding box pair bc, the wire connection segment bc is generated; based on the bounding box pair cd, the wire connection segment cd is generated; based on the bounding box pair de, the wire connection segment de is generated; based on the bounding box pair df, the wire connection segment df is generated, such as Fig.11 shown.

[0151] It can be seen that based on the above steps, by obtaining the target bounding box representing the target electric pole, and according to the multiple target bounding boxes, multiple bounding box pairs are obtained, and each bounding box pair includes two target bounding boxes with a connection relationship; and then the corresponding wire connection segment is generated according to each bounding pair. The wire connection segment is represented in the high-precision map through the bounding box pair, and the location with collision risk is determined based on the wire connection segment, so that the collision between the operating equipment and the wire can be effectively avoided, the collision risk is reduced, and the safety of the operation is improved.

[0152] Optionally, in order to further improve the accuracy of obtaining the location where there is a collision risk, an embodiment of the present invention provides a possible implementation method for the above step S208. Step S208 includes the following steps:

[0153] Step S208-1, obtaining a first function and a second function according to a coordinate system established based on the land to be operated;

[0154] The first function represents the flight route, and the second function represents the wire connection segment.

[0155] In this embodiment, the land to be operated can be fitted into a regular shape, and a coordinate system can be established based on the fitted land to be operated; the land to be operated can be located in the second quadrant of the coordinate system so that the boundary coordinates of the land to be operated are all positive numbers. The flight route can be planned according to the spraying amplitude and the longest side of the land to be operated, and the first function representing the flight route can be obtained based on the established coordinate system.

[0156] In one implementation, the wire connection segment may be generated based on the bounding box pair, and the second function representing the wire connection segment may be obtained through the coordinates of the two target bounding boxes in the bounding box pair.

[0157] In the above steps, the data format table of the bounding box records the coordinates of multiple points representing the geometric shape of the electric pole. The center point of the target bounding box can be determined based on the coordinates of the multiple points of the target bounding box. The coordinates of the center point in the coordinate system are the coordinates of the target bounding box in the coordinate system. Based on the coordinates of the two targets enclosed by the bounding box, the second function representing the corresponding wire connection segment can be obtained.

[0158] Step S208-3, calculating the coordinates of the intersection of the first function and the second function to determine the target position;

[0159] In this embodiment, the first function representing the flight route and the second function representing the wire connection segment can be arranged and solved to calculate the position of the intersection of the two in the coordinate system, i.e., the intersection coordinates. According to the intersection coordinates and the coordinate system, the position of the intersection in the coordinate system can be converted to its position in the high-precision map, i.e., the target position is obtained. The target position indicates the position where there is a risk of collision between the operating equipment and the wire connection segment.

[0160] For ease of understanding, based on the above Fig.11 The wire connection segment in the embodiment of the present invention provides several example diagrams to illustrate the above steps S208-1 and S208-3.

[0161] like Fig.12 As shown, it includes a coordinate system established based on the plot to be operated, i.e., plot 3, and plot 3 is located in the second quadrant. The flight route includes the plant protection operation route and the entry and exit plot route, wherein the entry and exit plot route represents the entry plot route from the starting position to the plot and the exit plot route from the plot to the starting position when the drone needs to be charged or replenished with pesticides. The function f representing the plant protection operation route is obtained i (x) and the function g representing the route of entering and exiting the plot i (x), and obtain the first function representing the flight route. It can be understood that the first function can be represented by a piecewise function.

[0162] like Fig.13 As shown, the coordinate system established based on the plot 3 and the coordinates of each target bounding box are used to obtain a second function representing each wire connection segment. For example, function F BC (x) represents the wire connection segment bc, function F CD (x) represents the wire connection segment cd, function F DE (x) represents the wire connection segment de, function F DF(x) represents the wire connection segment df, that is, the second function representing the wire connection segment is obtained. It can be understood that the second function can be represented by a piecewise function.

[0163] like Fig.14 As shown, according to the first function and the second function, the coordinates of the intersection are calculated. For example, according to the function f i (x) and function F DF (x), get the coordinates of the intersection points Q1 and Q2; according to the function f i (x) and function F CD (x), get the coordinates of the intersection point Q3; according to the function f i (x) and function F BC (x), and obtain the coordinates of the intersection point Q4. According to the coordinates and coordinate system of the intersection points Q1, Q2, Q3 and Q4, their positions in the high-precision map can be obtained, and the target position can be obtained. That is, there is a risk of collision between the operating equipment and the wire connection section at the positions of Q1, Q2, Q3 and Q4.

[0164] It can be seen that based on the above steps, according to the coordinate system established based on the plot to be operated, the first function representing the flight route and the second function representing the wire connection section are obtained; then the coordinates of the intersection of the first function and the second function are calculated to determine the target position. By using functions to represent the flight route and the wire connection section, the location where there is a risk of collision can be accurately determined, making it easier for the operating equipment to avoid the location, further improving the safety of the operation.

[0165] Optionally, based on the target position obtained in the above steps, the operation equipment can be controlled to avoid the target position during the operation, and thus this embodiment provides a possible implementation method. The implementation method will be introduced below.

[0166] Step S210, when the drone flies to the to-be-determined position, the flight speed of the drone is reduced and environmental information is collected; wherein the horizontal distance between the to-be-determined position and the target position is a preset distance value.

[0167] Step S212, controlling the UAV to avoid the target location according to the environmental information.

[0168] For example, the preset distance value may be 5 meters. When the operating equipment, such as a drone, flies to a to-be-determined position with a horizontal distance of 5 meters from the target position according to the flight route, the drone's flight speed may be reduced, or the flight speed may be reduced and the drone may hover; then the camera or radar on the drone may be used to collect surrounding environmental information. It should be noted that the preset distance value may be set according to actual applications, and the embodiments of the present invention are not limited thereto.

[0169] The environmental information includes the height and distance of the target wire in front of the drone. Based on the collected environmental information, it can be determined whether to continue flying according to the flight route or adjust the flight altitude or flight direction of the drone to control the drone to avoid the target location. Optionally, after the drone passes the target location, the drone can be controlled to fly according to a preset flight route.

[0170] It can be seen based on the above steps that when the operating equipment flies to a pending position whose horizontal distance from the target position is a preset distance value, the flight speed of the operating equipment can be reduced and environmental information can be collected, and then the operating equipment can be controlled to avoid the target position based on the environmental information. Before the operating equipment reaches the position where it collides with the electric wire, it collects the surrounding environmental information so that the operating equipment can avoid the target position, thereby further improving the safety of the operation.

[0171] In order to execute the corresponding steps in the above embodiments and various possible methods, a method for implementing a flight risk determination device is provided below. Fig.15 , Fig.15 This is a functional module diagram of a flight risk determination device 300 provided in an embodiment of the present invention. It should be noted that the basic principle and technical effects of the flight risk determination device 300 provided in the embodiment of the present invention are the same as those of the above-mentioned embodiment. For the sake of brief description, for the parts not mentioned in this embodiment, reference can be made to the corresponding contents in the above-mentioned embodiment. The flight risk determination device 300 includes:

[0172] The acquisition module 310 is used to acquire the flight route of the operation equipment in the land to be operated; and obtain the target electric pole associated with the land to be operated based on the pre-stored high-precision map;

[0173] A generating module 330, for determining the connection relationship of the target electric pole and generating an electric wire connection segment;

[0174] The determination module 350 is used to determine a target position according to the positional relationship between the flight route and the wire connection segment, where the target position indicates a position where there is a risk of collision between the operating equipment and the wire connection segment.

[0175] Optionally, the acquisition module 310 is specifically used to: acquire each first electric pole in the plot to be operated; for each first electric pole, acquire an associated electric pole that has a direct connection relationship with the first electric pole and an associated electric pole that has an indirect connection relationship with the first electric pole to obtain each second electric pole; and use each first electric pole and each second electric pole as a target electric pole.

[0176] Optionally, the acquisition module 310 is specifically used to: determine a buffer area according to the land to be operated and a preset value; the buffer area represents an area of ​​the first area excluding the land to be operated; the boundary line of the first area and the boundary line of the land to be operated are at a preset value;

[0177] Obtain each third electric pole in the plot to be operated and the buffer area; for each third electric pole, obtain an associated electric pole connected to the third electric pole to obtain each fourth electric pole; and use each third electric pole and each fourth electric pole as a target electric pole.

[0178] Optionally, the generation module 330 is specifically used to: obtain each target bounding box representing a target utility pole; obtain multiple bounding box pairs based on multiple target bounding boxes; each bounding box pair includes two target bounding boxes with a connection relationship; based on each bounding box pair, generate a wire connection segment corresponding to each bounding box pair.

[0179] Optionally, the determination module 350 is specifically used to: obtain a first function and a second function according to a coordinate system established based on the land to be operated; the first function represents the flight route; the second function represents the wire connection segment; calculate the coordinates of the intersection of the first function and the second function to determine the target position.

[0180] Optionally, the flight risk determination device 300 also includes a control module 370, which is used to: when the operating equipment flies to the to-be-determined position, reduce the flight speed of the operating equipment and collect environmental information; the horizontal distance between the to-be-determined position and the target position is a preset distance value; based on the environmental information, control the operating equipment to avoid the target position.

[0181] An embodiment of the present invention further provides an electronic device, including a processor 120 and a memory 130, wherein the memory 130 stores a computer program, and when the processor executes the computer program, the flight risk determination method disclosed in the above embodiment is implemented.

[0182] An embodiment of the present invention further provides a storage medium on which a computer program is stored. When the computer program is executed by the processor 120, the flight risk determination method disclosed in the embodiment of the present invention is implemented.

[0183] In summary, the flight risk determination method, device, electronic device and storage medium provided by the embodiments of the present invention obtain the flight route of the operating equipment in the plot to be operated; then obtain the target electric pole associated with the plot to be operated based on the pre-stored high-precision map; then determine the connection relationship of the target electric pole and generate the wire connection segment; finally, according to the positional relationship between the flight route and the wire connection segment, determine the target position, i.e., the position where there is a risk of collision between the operating equipment and the wire connection segment. Compared with the method of using sensors for real-time identification in the prior art, the wire connection segment generated by the electric pole can accurately determine the position where there is a risk of collision between the operating equipment and the wire, so that the operating equipment can avoid the position, effectively avoid the collision between the operating equipment and the wire, reduce the risk of collision, and improve the safety of the operation.

[0184] In several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can also be implemented by other methods. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, program segment or a part of the code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0185] In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0186] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several 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 methods described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.

[0187] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A flight risk determination method, characterized in that: Applied to electronic equipment, the method comprises: Obtain the flight route of the operating equipment in the area to be operated; Obtaining target electric poles associated with the plot to be operated based on a pre-stored high-precision map; determining the connection relationship of the target electric poles, and generating electric wire connection segments; Determining a target position according to a positional relationship between the flight route and the wire connection segment, the target position indicating a position where there is a risk of collision between the operating equipment and the wire connection segment; When the operating equipment flies to the pending position, the flying speed of the operating equipment is reduced and environmental information is collected; the horizontal distance between the pending position and the target position is a preset distance value; According to the environmental information, the operating equipment is controlled to avoid the target position.

2. The method according to claim 1, characterized in that The high-precision map includes electric poles and associated electric poles that have a connection relationship with the electric poles, and the connection relationship includes a direct connection relationship and an indirect connection relationship; The step of obtaining the target utility pole associated with the plot to be operated based on the pre-stored high-precision map includes: Acquire each first electric pole in the plot to be operated; For each of the first utility poles, obtain an associated utility pole directly connected to the first utility pole and an associated utility pole indirectly connected to the first utility pole to obtain each second utility pole; Each of the first utility poles and each of the second utility poles is used as the target utility pole.

3. The method according to claim 1, characterized in that: The high-precision map includes electric poles and associated electric poles connected thereto; The step of obtaining the target utility pole associated with the plot to be operated based on the pre-stored high-precision map includes: Determine a buffer area according to the land to be operated and a preset value; the buffer area represents an area of ​​the first area excluding the land to be operated; the distance between the boundary line of the first area and the boundary line of the land to be operated is the preset value; Acquire each third electric pole in the plot to be operated and the buffer area; For each third electric pole, obtain an associated electric pole connected to the third electric pole to obtain each fourth electric pole; Each of the third utility poles and each of the fourth utility poles is used as the target utility pole.

4. The method according to claim 1, characterized in that The high-precision map includes bounding boxes representing electric poles; each of the bounding boxes has an associated bounding box connected to it; The step of determining the connection relationship of the target utility poles and generating a wire connection segment comprises: Obtain each target bounding box representing the target electric pole; According to the plurality of target bounding boxes, a plurality of bounding box pairs are obtained; each of the bounding box pairs includes two target bounding boxes having a connection relationship; Based on each of the bounding box pairs, a wire connection segment corresponding to each of the bounding box pairs is generated.

5. The method according to claim 1, characterized in that The step of determining the target position according to the positional relationship between the flight route and the wire connection segment comprises: According to a coordinate system established based on the plot to be operated, a first function and a second function are obtained; the first function represents the flight route; the second function represents the wire connection segment; The coordinates of the intersection of the first function and the second function are calculated to determine the target position.

6. A flight risk determination device, characterized in that: Applied to electronic equipment, the flight risk determination device comprises: An acquisition module is used to acquire the flight route of the operating equipment in the plot to be operated; Based on the pre-stored high-precision map, a target electric pole associated with the plot to be operated is obtained; a generation module is used to determine the connection relationship of the target electric pole and generate a wire connection segment; a determination module, configured to determine a target position according to a positional relationship between the flight route and the wire connection segment, wherein the target position indicates a position where there is a risk of collision between the operating equipment and the wire connection segment; A control module is used to reduce the flight speed of the operating equipment and collect environmental information when the operating equipment flies to a pending position; the horizontal distance between the pending position and the target position is a preset distance value; and according to the environmental information, the operating equipment is controlled to avoid the target position.

7. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores a computer program, and when the processor executes the computer program, the method according to any one of claims 1 to 5 is implemented.

8. A storage medium, characterized in that: The storage medium stores a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 5.

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