Obstacle Handling Method, Route Planning Method and Related Devices

Abstract

Embodiments of the present application relate to the field of route planning, and provide an obstacle handling method, a route planning method, and related devices. For the wire scenario, based on predefined safe flight parameters, the wires in the area to be operated are processed as reference obstacles and / or crossable obstacles. A reference obstacle represents a wire that cannot be crossed, and a crossable obstacle represents a wire that can be crossed. In this way, when the subsequent drone operates, it only needs to bypass the reference obstacles and can cross the crossable obstacles up and down, so that the operation coverage rate can be maximized on the premise of ensuring operation safety.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of route planning. Specifically, the embodiments relate to an obstacle handling method, a route planning method, and related devices. Background Art

[0002] Currently, for an environment with power lines, there are two operation modes for drones: one is to regard the power lines as obstacles in route planning, so the drone will bypass the power lines, which will reduce the operation efficiency, and the area under the power lines cannot be operated, affecting the operation coverage rate; the other is not to process the power lines in route planning, but during the operation of the drone, the current radar cannot well identify the power lines, resulting in the drone being prone to hitting the power lines and crashing. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide an obstacle handling method, a route planning method, and related devices, which can maximize the operation coverage rate for a power line scenario while ensuring operation safety.

[0004] To achieve the above purpose, the technical solutions adopted in the embodiments of the present application are as follows:

[0005] In a first aspect, the embodiments of the present application provide an obstacle handling method, and the method includes:

[0006] Obtain the power lines in the area to be operated;

[0007] Based on predefined safe flight parameters, process the power lines to obtain a reference obstacle and / or a crossable obstacle; wherein, the reference obstacle represents a non-crossable power line and is used to plan the route in the area to be operated; the crossable obstacle represents a crossable power line and is used to adjust the height information of the corresponding route.

[0008] Optionally, the safe flight parameters include the safe flight height corresponding to the power lines;

[0009] The step of processing the power lines based on the predefined safe flight parameters to obtain a reference obstacle and / or a crossable obstacle includes:

[0010] Based on the safe flight height, process the power lines into a power line obstacle area; wherein, the height of the power line obstacle area is the safe flight height, and the safe flight height is used to represent the flight height at which the operation device can safely pass through the power line obstacle area;

[0011] Process the power line obstacle area to obtain the reference obstacle and / or the crossable obstacle.

[0012] Optionally, the step of processing the wire obstacle area to obtain the reference obstacle and / or the crossable obstacle includes:

[0013] Classify all wire obstacle areas according to height to obtain several wire obstacle area sets; the wire obstacle areas in different wire obstacle area sets correspond to different safe flight heights or belong to different height ranges;

[0014] For each wire obstacle area set, perform dilation processing on the wire obstacle areas within the set and then merge the intersection parts to obtain the area to be processed;

[0015] Take the overlapping areas among all areas to be processed as the reference obstacles and the non-overlapping areas as the crossable obstacles to obtain the reference obstacle and / or the crossable obstacle.

[0016] Optionally, the step of processing the wire obstacle area to obtain the reference obstacle and / or the crossable obstacle includes:

[0017] Classify all wire obstacle areas according to height to obtain several wire obstacle area sets; the wire obstacle areas in different wire obstacle area sets correspond to different safe flight heights or belong to different height ranges;

[0018] For each wire obstacle area set, perform dilation processing on the wire obstacle areas within the set and then merge the intersection parts to obtain the area to be processed;

[0019] Take the non-overlapping areas among all areas to be processed as the crossable obstacles;

[0020] For the overlapping areas among all areas to be processed, determine the type of the overlapping area according to the highest safe flight height or the lowest safe flight height of the wire obstacle areas in the overlapping area; the type is used to characterize whether the overlapping area is a reference obstacle or a crossable obstacle.

[0021] Optionally, if the crossable obstacle is a non-overlapping area, the crossable obstacle is used to: adjust the height of the target flight segment in the flight path that is within a safe distance from the crossable obstacle to the height of the crossable obstacle;

[0022] If the crossable obstacle is an overlapping area, the crossable obstacle is used to: adjust the height of the target flight segment in the flight path that is within a safe distance from the crossable obstacle to the highest height or the lowest height of the overlapping area.

[0023] Optionally, the safe flight parameter includes the height of the wire;

[0024] The step of processing the wire based on predefined safe flight parameters to obtain a reference obstacle and / or a crossable obstacle includes:

[0025] Processing the wire based on the height of the wire to obtain the reference obstacle and / or the crossable obstacle.

[0026] Optionally, the step of processing the wire based on the height of the wire to obtain the reference obstacle and / or the crossable obstacle includes:

[0027] Classifying all wires according to their heights to obtain several wire sets; the heights of the wires in different wire sets are different or belong to different height ranges;

[0028] For each wire set, performing dilation processing on the wires in the wire set and then merging the intersection parts to obtain a to-be-processed area;

[0029] Regarding the overlapping areas in all to-be-processed areas as the reference obstacles and the non-overlapping areas as the crossable obstacles to obtain the reference obstacle and / or the crossable obstacle.

[0030] Optionally, the step of processing the wire based on the height of the wire to obtain the reference obstacle and / or the crossable obstacle includes:

[0031] Classifying all wires according to their heights to obtain several wire sets; the heights of the wires in different wire sets are different or belong to different height ranges;

[0032] For each wire set, performing dilation processing on the wires in the wire set and then merging the intersection parts to obtain a to-be-processed area;

[0033] Regarding the non-overlapping areas in all to-be-processed flight areas as the crossable obstacles;

[0034] Regarding the overlapping areas in all to-be-processed flight areas, determining the type of the overlapping area according to the highest height or the lowest height of the wires in the overlapping area; the type is used to characterize that the overlapping area is a reference obstacle or a crossable obstacle.

[0035] Optionally, if the crossable obstacle is a non-overlapping area, the crossable obstacle is used to: adjust the height of the target route in the route that is within a safe distance from the crossable obstacle to a safe flight height above or below the crossable obstacle;

[0036] If the crossable obstacle is an overlapping area, the crossable obstacle is configured to: adjust the height of a target flight segment in the flight path that is within a safe distance from the crossable obstacle to a safe flight height above or below the overlapping area.

[0037] Optionally, the method further includes:

[0038] Shrink the boundary of the area to be operated on to obtain a safe boundary of the area to be operated on;

[0039] After dilating the reference obstacle and merging the intersection parts, obtain an obstacle to be processed;

[0040] If the obstacle to be processed intersects with the safe boundary, adjust the boundary segment of the safe boundary that intersects with the obstacle to be processed so that the obstacle to be processed is located outside the safe boundary;

[0041] If the obstacle to be processed is within the safe boundary, use the obstacle to be processed as an obstacle to be bypassed.

[0042] In a second aspect, an embodiment of the present application further provides a flight path planning method, the method including:

[0043] Obtain a reference obstacle and a crossable obstacle in the area to be operated on; wherein, the reference obstacle and the crossable obstacle are obtained by the obstacle processing method in the above first aspect;

[0044] Based on the reference obstacle, plan a flight path in the area to be operated on;

[0045] Based on the crossable obstacle, adjust the height information of the corresponding flight path.

[0046] Optionally, the step of planning a flight path in the area to be operated on based on the reference obstacle includes:

[0047] Plan a flight path in the area to be operated on that includes an operation flight segment for instructing an operation device to operate and a flight segment for bypassing the reference obstacle;

[0048] Optimize the flight segment for bypassing the obstacle to obtain an optimized flight path.

[0049] Optionally, the step of optimizing the flight segment for bypassing the obstacle includes:

[0050] Determine a plurality of sampling points on the flight segment for bypassing the obstacle;

[0051] Thin out the plurality of sampling points to obtain a plurality of target sampling points;

[0052] Connect each of the target sampling points in sequence to obtain the optimized obstacle-avoiding flight segment.

[0053] Optionally, the step of thinning the multiple sampling points to obtain multiple target sampling points includes:

[0054] Starting from the second sampling point, connect the previous sampling point and the next sampling point of the current sampling point to obtain a straight line;

[0055] If the straight line collides with an object in the area to be operated, take the current sampling point as the target sampling point;

[0056] If the straight line does not collide with an object in the area to be operated, delete the current sampling point;

[0057] Repeat the above steps until the last sampling point is reached to obtain each of the target sampling points.

[0058] Optionally, the obstacle that can be crossed is obtained based on the safe flight height corresponding to the wire;

[0059] The step of adjusting the height information of the corresponding flight route based on the obstacle that can be crossed includes:

[0060] Classify all the obstacles that can be crossed according to the safe flight height to obtain several sets of obstacles that can be crossed; the heights of the obstacles that can be crossed in different sets of obstacles that can be crossed are different or belong to different height ranges;

[0061] For each set of obstacles that can be crossed, determine the target flight segments in the flight route that are within a safe distance from the obstacles in the set;

[0062] For each of the target flight segments, adjust the height of the target flight segment according to the height of the obstacle that can be crossed within a safe distance from the target flight segment.

[0063] Optionally, the step of adjusting the height of the target flight segment according to the height of the obstacle that can be crossed within a safe distance from the target flight segment includes:

[0064] If the obstacle that can be crossed is a non-overlapping area, adjust the height of the target flight segment to the height of the obstacle that can be crossed;

[0065] If the obstacle that can be crossed is an overlapping area, adjust the height of the target flight segment to the highest height or the lowest height of the overlapping area.

[0066] Optionally, the obstacle that can be crossed is obtained based on the height of the wire;

[0067] The step of adjusting the altitude information of the corresponding flight path based on the ability to cross obstacles includes:

[0068] Classify all the crossable obstacles according to the height of the wire to obtain several sets of crossable obstacles; the heights of the crossable obstacles in different sets of crossable obstacles are different or belong to different height ranges;

[0069] For each set of crossable obstacles, determine the target flight segments in the flight path that are within a safe distance from the crossable obstacles in this set;

[0070] For each of the target flight segments, adjust the height of the target flight segment according to the height of the crossable obstacles that are within a safe distance from the target flight segment.

[0071] Optionally, the step of adjusting the height of the target flight segment according to the height of the crossable obstacles that are within a safe distance from the target flight segment includes:

[0072] If the crossable obstacle is a non-overlapping area, adjust the height of the target flight segment to a safe flight height above or below the crossable obstacle;

[0073] If the crossable obstacle is an overlapping area, adjust the height of the target flight segment to a safe flight height above or below the overlapping area.

[0074] In a third aspect, an embodiment of the present application further provides an obstacle processing device, and the device includes:

[0075] An acquisition module, configured to acquire the wires in the area to be operated;

[0076] A first processing module, configured to process the wires based on predefined safe flight parameters to obtain reference obstacles and / or crossable obstacles; wherein, the reference obstacles represent non-crossable wires and are used to plan the flight path in the area to be operated; the crossable obstacles represent crossable wires and are used to adjust the altitude information of the corresponding flight path.

[0077] In a fourth aspect, an embodiment of the present application further provides a flight path planning device, and the device includes:

[0078] An obstacle acquisition module, configured to acquire reference obstacles and crossable obstacles in the area to be operated; wherein, the reference obstacles and the crossable obstacles are obtained by the obstacle processing method in the above first aspect;

[0079] A flight path planning module, configured to plan a flight path in the area to be operated based on the reference obstacles;

[0080] A route adjustment module, configured to adjust the altitude information of a corresponding route based on the obstacle that can be crossed.

[0081] In a fifth aspect, an embodiment of the present application further provides an electronic device, including a processor and a memory. The memory is used to store a program, and the processor is configured to implement the obstacle processing method in the first aspect above and / or the route planning method in the second aspect above when executing the program.

[0082] In a sixth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the obstacle processing method in the first aspect above and / or the route planning method in the second aspect above.

[0083] Compared with the prior art, an obstacle processing method, a route planning method and related devices provided by embodiments of the present application, for a wire scenario, based on predefined safe flight parameters, process the wires in the area to be operated as reference obstacles and / or obstacles that can be crossed. A reference obstacle represents a wire that cannot be crossed, and an obstacle that can be crossed represents a wire that can be crossed. In this way, when the subsequent UAV operates, it only needs to bypass the reference obstacles and can cross the obstacles that can be crossed up and down, so that the operation coverage rate can be maximized on the premise of ensuring operation safety. Description of the Drawings

[0084] Figure 1 Shows an example diagram of a wire scenario in the prior art.

[0085] Figure 2 Shows a flowchart of an obstacle processing method provided by an embodiment of the present application Figure 1 。

[0086] Figure 3 Shows an example of a wire scenario provided by an embodiment of the present application Figure 1 。

[0087] Figure 4 Shows an example of a wire scenario provided by an embodiment of the present application Figure 2 。

[0088] Figure 5 Shows a flowchart of an obstacle processing method provided by an embodiment of the present application Figure 2 。

[0089] Figure 6 Shows an example of a wire scenario provided by an embodiment of the present application Figure 3 。

[0090] Figure 7 Shows an example of a wire scenario provided by an embodiment of the present application Figure 4 。

[0091] Figure 8 Shows an example of the obstacle handling process provided by an embodiment of the present application Figure 1 。

[0092] Figure 9 Shows an example of the obstacle handling process provided by an embodiment of the present application Figure 2 。

[0093] Figure 10 Shows the flow diagram of an obstacle handling method provided by an embodiment of the present application Figure 3 。

[0094] Figure 11 Shows the flow diagram of an obstacle handling method provided by an embodiment of the present application Figure 4 。

[0095] Figure 12 Shows an example of the obstacle handling process provided by an embodiment of the present application Figure 3 。

[0096] Figure 13 Shows the flow diagram of a route planning method provided by an embodiment of the present application.

[0097] Figure 14 Shows an example diagram of a route planning method provided by an embodiment of the present application

[0098] Figure 15 Shows the block diagram of an obstacle handling device provided by an embodiment of the present application

[0099] Figure 16 Shows the block diagram of a route planning device provided by an embodiment of the present application

[0100] Figure 17 Shows the block diagram of an electronic device provided by an embodiment of the present application

[0101] Icons: 100 - Obstacle handling device; 101 - Acquisition module; 102 - First processing module; 103 - Second processing module; 200 - Route planning device; 201 - Obstacle acquisition module; 202 - Route planning module; 203 - Route adjustment module; 10 - Electronic device; 11 - Processor; 12 - Memory; 13 - Bus. Detailed implementation manners

[0102] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application.

[0103] In the prior art, in a working environment with wires, there are usually two working modes for unmanned aerial vehicles:

[0104] The first method is that the user draws the wire as an obstacle on the APP (Application), and the subsequent planned flight path will bypass around the wire. For example, as Figure 1 shown, taking wire a as an example, the wire a is drawn as an obstacle, and the flight path will be planned according to the contour of the obstacle during flight path planning, so that the flight path will bypass around the wire a. Generally, in order to ensure the safety of the drone, a safety distance will be maintained between the flight path and the contour of the obstacle, such as 2m, etc. In this way, there will be at least a 2m distance between the flight path and the wire a, resulting in the area under the wire not being able to be operated, affecting the operation coverage rate. At the same time, if there are many wires in the operation environment, the drone needs to bypass around each wire, which will inevitably lead to a reduction in operation efficiency.

[0105] The second method is that the user does not process the wire on the APP, and the wire is not considered during flight path planning. Instead, during the subsequent operation process, the wire is detected in real time through the detection device (such as radar, etc.) carried by itself, and obstacle avoidance is performed when the wire is detected. However, currently, the radar cannot detect the wire well, resulting in the drone being prone to hitting the wire and crashing.

[0106] To solve the above technical problems, in the embodiments of the present application, for the wire scenario, based on the pre-defined safe flight parameters, the wires in the area to be operated are processed as reference obstacles and / or crossable obstacles. The reference obstacle represents a wire that cannot be crossed, and the crossable obstacle represents a wire that can be crossed. Subsequently, when the drone operates, it only needs to bypass the reference obstacle and can cross over the crossable obstacle up and down, so as to maximize the operation coverage rate on the premise of ensuring operation safety.

[0107] The electronic device in the embodiments of the present application can be a ground station, a mobile terminal of a technician (such as a personal computer, a smart phone, a tablet computer, etc.), a server, etc.; it can also be the control module of the operation device itself. The operation device can be a drone (such as an agricultural drone, a forestry drone, an aerial survey drone, etc.); the embodiments of the present application do not make any restrictions on this.

[0108] Please refer to Figure 2 , Figure 2 which shows a schematic flow chart of the obstacle processing method provided by the embodiments of the present application. The obstacle processing method is applied to an electronic device and may include the following steps:

[0109] S101, obtain the wires in the area to be operated.

[0110] In this embodiment, the wire can be obtained through a high-precision map. For example, an AI algorithm is used to process the high-precision map to automatically detect the wire therein; alternatively, the user can also mark the wire on the APP, which can be marked as a single line, an ordered point set, etc. For example, as Figure 3 shown, taking wire a as an example, the user marks wire a as an ordered point set ABCDE on the APP; the embodiments of the present application do not impose any restrictions on this.

[0111] Taking the marking by the user on the APP as an example, since the actual operation scenarios are diverse, in addition to marking the wire, the user can also mark the boundary of the area to be operated, obstacles, the safe flight altitude of the drone near the wire, etc. on the APP.

[0112] Among them, the boundary of the area to be operated can be represented by a closed polygon, that is, the user uses a closed polygon on the APP to enclose the area to be operated.

[0113] The obstacles can also be represented by a closed polygon, that is, the user uses a closed polygon on the APP to represent the outline of the obstacles. For example, Figure 3 the outline of the tree crown, the outline of the telegraph pole, etc. in

[0114] The safe flight altitude of the drone near the wire can be represented by a line or a polygon. The user can mark the safe flight altitude near the wire according to the position of the wire. For example, as Figure 4 shown, the user estimates that the height of wire a is 5m, and the safe flight altitude a can be marked near wire a with a polygon ( Figure 4 as shown by the dashed box in

[0115] ), and the safe flight altitude a is set to 7m. Figure 4 It should be noted that

[0116] the safe flight altitude located above the wire in

[0117] is only an example. Those skilled in the art should understand that the safe flight altitude can also be set below the wire and can be flexibly set by the user according to the actual situation. The embodiments of the present application do not impose any restrictions on this.

[0118] Among them, the safe flight altitude near the wire, that is Figure 4 the dashed box shown in

[0119] The safe distance between the drone and the wire refers to the distance that needs to be maintained between the drone and the wire in the horizontal direction. Generally, to ensure the safety of the drone, the safe distance should be at least half of the width of the drone. For example, if the width of the drone is 4m, the safe distance should be at least 2m.

[0120] In this embodiment, based on the safe flight parameters, the wires in the area to be operated can be processed as reference obstacles and / or crossable obstacles. The reference obstacle represents a wire that cannot be crossed, and the crossable obstacle represents a wire that can be crossed. In this way, when the drone operates later, it first bypasses the reference obstacles and can cross the crossable obstacles up and down, so as to maximize the operation coverage rate on the premise of ensuring operation safety.

[0121] The following will introduce step S102 in detail.

[0122] In a possible implementation manner, the safe flight parameters may include the safe flight altitude corresponding to the wire, that is Figure 4 the dashed box shown in

[0123] Therefore, based on Figure 2 please refer to Figure 5 , step S102 may include S1021 to S1022.

[0124] S1021. Based on the safe flight altitude, process the wire into a wire obstacle area; among them, the height of the wire obstacle area is the safe flight altitude, and the safe flight altitude is used to represent the flight altitude at which the operation device safely passes through the wire obstacle area.

[0125] In this embodiment, if the safe flight altitude corresponding to the wire is known, the wire can be processed into a plane with a safe flight altitude, that is, the wire obstacle area. For example, taking the wire a shown in Figure 4 as an example, as shown in Figure 6 , raise the wire a to the safe flight altitude a, and a wire plane with a height of the safe flight altitude a can be obtained. This wire plane is the processed wire obstacle area a.

[0126] Another example, assuming that Figure 6 the safe flight altitude of the wire b in Figure 6As shown, by lowering wire b to 3m, a wire plane with a height of 3m can be obtained, and this wire plane is the processed wire obstacle area b.

[0127] S1022. Process the wire obstacle area to obtain a reference obstacle and / or a crossable obstacle.

[0128] In this embodiment, after processing the wire into a wire obstacle area, due to the relatively complex actual operating environment, there may be a situation where multiple wires at different heights overlap each other. For example, as Figure 7 shown, wire c is above wire a and the two overlap each other. In this case, since each wire will be processed into a wire obstacle area, there must be multiple wire obstacle areas in the overlapping part. For example, assuming Figure 7 the heights of the wire obstacle areas a and c after processing wire a and wire c are 7m and 3m respectively, it is not clear which height of the wire obstacle area to fly at to be safe at this time. Therefore, it is necessary to further determine whether the overlapping part can be crossed and which height of the wire obstacle area to use as the standard for crossing.

[0129] Therefore, after processing the wire into a wire obstacle area, it is also necessary to further process the wire obstacle area to obtain a reference obstacle and / or a crossable obstacle.

[0130] The following provides a detailed introduction to step S1022.

[0131] In a possible implementation manner, the process of processing the wire obstacle area in step S1022 to obtain a reference obstacle and / or a crossable obstacle may include S10221 to S10223.

[0132] S10221. Classify all wire obstacle areas according to height to obtain several wire obstacle area sets; the wire obstacle areas in different wire obstacle area sets correspond to different safe flight heights or belong to different height ranges.

[0133] S10222. For each wire obstacle area set, perform dilation processing on the wire obstacle areas in the set and then merge the intersection parts to obtain an area to be processed.

[0134] Taking a wire obstacle area set as an example, assume there are two wire obstacle areas in this set. For example, as Figure 8 shown, perform dilation processing on these two wire obstacle areas, and then merge their intersection parts to obtain an area to be processed.

[0135] S10223. Use the overlapping areas in all areas to be processed as reference obstacles and the non - overlapping areas as crossable obstacles to obtain a reference obstacle and / or a crossable obstacle.

[0136] In this embodiment, after obtaining the to-be-processed area corresponding to each wire obstacle area set according to the process introduced in step S10222, since the flight altitude for the operation device to safely pass through the non-overlapping area is determined, i.e., the altitude of this non-overlapping area, therefore, directly use the non-overlapping areas in all to-be-processed flight areas as obstacles that can be crossed. At the same time, since it is not certain at which altitude of the to-be-processed area to fly in the overlapping area, so, the overlapping area can be directly used as a reference obstacle.

[0137] For example, as Figure 9 shown, the altitudes of to-be-processed area 1 and to-be-processed area 2 are different, and they form four non-overlapping areas A, B, C, D and an overlapping area M. Then, take the four non-overlapping areas A, B, C, D as obstacles that can be crossed respectively, and take an overlapping area M as a reference obstacle.

[0138] It should be noted that, for the sake of easy understanding, the above is described by taking one wire obstacle area set as an example. However, those skilled in the art should understand that each wire obstacle area set needs to be processed in the manner of S10222 to S10223 until all wire obstacle area sets are traversed.

[0139] In another possible implementation manner, those skilled in the art should understand that directly using the overlapping area as a reference obstacle is a relatively safe way. However, the overlapping area is not necessarily non-crossable. For example, if there is a space above or below the overlapping area that allows the drone to fly safely, then the overlapping area can also be crossed.

[0140] Therefore, the process of processing the wire obstacle area in step S1022 to obtain the reference obstacle and / or the obstacle that can be crossed may further include S1022-1 to S1022-4.

[0141] S1022-1, classify all wire obstacle areas according to altitude to obtain several wire obstacle area sets; the wire obstacle areas in different wire obstacle area sets correspond to different safe flight altitudes or belong to different altitude ranges.

[0142] S1022-2, for each wire obstacle area set, perform dilation processing on the wire obstacle areas in the set and then merge the intersection parts to obtain the to-be-processed area.

[0143] S1022-3, use the non-overlapping areas in all to-be-processed flight areas as obstacles that can be crossed.

[0144] S1022-4. For the overlapping areas in all the flight areas to be processed, determine the type of the overlapping areas according to the highest safe flight altitude or the lowest safe flight altitude of the wire obstacle areas in the overlapping areas; the type is used to characterize whether the overlapping area is a reference obstacle or an obstacle that can be crossed.

[0145] In this embodiment, directly regard the non-overlapping areas in all the flight areas to be processed as obstacles that can be crossed. At the same time, for the overlapping areas, it is also necessary to further determine whether the overlapping area is a reference obstacle or an obstacle that can be crossed. Optionally, it is possible to determine whether the overlapping area is a reference obstacle or an obstacle that can be crossed according to the highest safe flight altitude or the lowest safe flight altitude of the wire obstacle areas in the overlapping areas.

[0146] As a possible implementation, the highest safe flight altitude of the wire obstacle areas in the overlapping area can be taken, and it is judged whether there are obstacles above the plane where the highest safe flight altitude is located. If so, the overlapping area is a reference obstacle; if not, the overlapping area is an obstacle that can be crossed. Alternatively, it can also be judged whether there are obstacles in the space within the safe distance (for example, 1 m) above the overlapping area. This space represents that the unmanned aerial vehicle can pass safely. If so, the overlapping area is a reference obstacle; if not, the overlapping area is an obstacle that can be crossed.

[0147] As another possible implementation, the lowest safe flight altitude of the wire obstacle areas in the overlapping area can be taken, and it is judged whether there are obstacles below the plane where the lowest safe flight altitude is located. If so, the overlapping area is a reference obstacle; if not, the overlapping area is an obstacle that can be crossed. Alternatively, it can also be judged whether there are obstacles in the space within the safe distance (for example, 1 m) below the overlapping area. This space represents that the unmanned aerial vehicle can pass safely. If so, the overlapping area is a reference obstacle; if not, the overlapping area is an obstacle that can be crossed.

[0148] It should be noted that since the unmanned aerial vehicle itself has a certain height, the safe distance above or below the overlapping area refers to the distance in the height direction, which is set to ensure the safe flight of the unmanned aerial vehicle and can be flexibly set according to the model of the unmanned aerial vehicle. The embodiments of the present application do not make any restrictions on this.

[0149] Furthermore, according to the foregoing process, it can be known that the obstacles that can be crossed may be non-overlapping areas or overlapping areas. Therefore, if the obstacle that can be crossed is a non-overlapping area, the obstacle that can be crossed is used to: adjust the altitude of the target flight segments in the flight route that are within the safe distance from the obstacle that can be crossed to the altitude of the obstacle that can be crossed. If the obstacle that can be crossed is an overlapping area, the obstacle that can be crossed is used to: adjust the altitude of the target flight segments in the flight route that are within the safe distance from the obstacle that can be crossed to the highest altitude or the lowest altitude of the overlapping area.

[0150] It should be noted that since the UAV itself has a certain width and height, the safety distance used to determine the target flight segment here can refer to the distance in the horizontal direction and / or the vertical direction. It is also set to ensure the safe flight of the UAV, aiming to prevent the wings of the UAV and / or the top of the fuselage or the landing gear of the fuselage from being scratched by the wires. The safety distance here can also be flexibly set according to the model of the UAV, and the embodiments of the present application do not make any restrictions on this.

[0151] In another possible implementation, the safe flight parameter may include the height of the wire. Therefore, on the basis of Figure 2 , please refer to Figure 10 , step S102 may include S102a.

[0152] S102a, Process the wire based on the height of the wire to obtain a reference obstacle and / or a crossable obstacle.

[0153] In this embodiment, if the height of the wire is known, the electronic device can analyze based on the height of the wire and automatically find the safe flight height above or below the wire. Therefore, when the user marks on the APP, it is not necessary to mark the safe flight height of the UAV near the wire, but to mark the height of the wire.

[0154] Correspondingly, in addition to the user marking on the APP, the AI algorithm can also process the high-precision map to automatically detect the wire and the height of the wire.

[0155] At the same time, since multiple wires at different heights may overlap with each other, it is still necessary to distinguish between non-crossable wires and crossable wires during the process of processing the wires based on the height of the wires.

[0156] The following is a detailed introduction to step S102a.

[0157] In a possible implementation, the process of processing the wire based on the height of the wire in step S102a to obtain a reference obstacle and / or a crossable obstacle may include S102a1 to S102a3.

[0158] S102a1, Classify all the wires according to their heights to obtain several wire sets; the heights of the wires in different wire sets are different or belong to different height ranges.

[0159] S102a2, For each wire set, perform dilation processing on the wires in the wire set and then merge the intersection parts to obtain the area to be processed.

[0160] It should be noted that the process of treating the wires in the wire set as the area to be processed in S102a2 is similar to the process of treating the wire obstacle areas in the wire obstacle area set as the area to be processed in S10222, and will not be elaborated here.

[0161] S102a3. Take the overlapping areas in all the areas to be processed as reference obstacles and the non-overlapping areas as crossable obstacles, to obtain reference obstacles and / or crossable obstacles.

[0162] It should be noted that, for the sake of easy understanding, the above is described by taking one wire set as an example. However, those skilled in the art should understand that each wire set needs to be processed in the manner of S102a2 to S102a3 until all wire sets are traversed.

[0163] In another possible implementation manner, the process of processing the wires based on the height of the wires in step S102a to obtain reference obstacles and / or crossable obstacles may include S102a-1 to S102a-4.

[0164] S102a-1. Classify all the wires according to their heights to obtain several wire sets; the heights of the wires in different wire sets are different or belong to different height ranges.

[0165] S102a-2. For each wire set, perform dilation processing on the wires in the wire set and then merge the intersection parts to obtain the area to be processed.

[0166] S102a-3. Take the non-overlapping areas in all the areas to be processed for flight as crossable obstacles.

[0167] S102a-4. For the overlapping areas in all the areas to be processed for flight, determine the type of the overlapping area according to the highest height or the lowest height of the wires in the overlapping area; the type is used to represent that the overlapping area is a reference obstacle or a crossable obstacle.

[0168] Since the crossable obstacles in step S102a are obtained based on the height of the wires, while the crossable obstacles in steps S1021 to S1022 are obtained based on the safe flight height corresponding to the wires. Therefore, different from the crossable obstacles obtained in steps S1021 to S1022, when using the crossable obstacles obtained in step S102a to adjust the route height information, it cannot be directly adjusted according to the height of the crossable obstacles, but a safe flight height needs to be determined first based on the height of the crossable obstacles, and then the route height information is adjusted based on this safe flight height.

[0169] That is, if the crossable obstacle is a non-overlapping area, the crossable obstacle is used to: adjust the height of the target flight path within a safe distance from the crossable obstacle in the flight path to a safe flight height above or below the crossable obstacle;

[0170] If the crossable obstacle is an overlapping area, the crossable obstacle is used to: adjust the height of the target flight segment within a safe distance from the crossable obstacle in the flight path to a safe flight height above or below the overlapping area.

[0171] It should be noted that the safe flight height here can be obtained by the electronic device analyzing the high-precision map based on the height of the wire, with the aim of ensuring that the drone passes safely from above or below.

[0172] Optionally, since the crossable obstacle in step S102a is obtained based on the height of the wire, in order to further ensure the safety of the drone, before S102a1 and S102a-1, step S102a may further include S1020.

[0173] S1020, perform dilation processing on the wire based on a preset safe distance.

[0174] In this embodiment, the safe distance here can refer to the distance in the horizontal direction, or the distance in both the horizontal and vertical directions, with the aim of preventing the wings of the drone, and / or, the top of the fuselage or the landing gear of the fuselage from being scratched by the wire, and it can be flexibly set according to the model of the drone.

[0175] In this embodiment, after processing the wires in the area to be operated as reference obstacles and / or crossable obstacles according to the process of steps S101 to S102, if there are no obstacles outside the boundary of the area to be operated, the flight path within the area to be operated can be directly planned according to the reference obstacles and / or crossable obstacles subsequently.

[0176] However, if there are obstacles outside the boundary of the area to be operated, in order to ensure the safety of the drone, the boundary of the area to be operated can be first shrunk to a safe boundary, and then within the safe boundary, the flight path within the area to be operated can be planned according to the reference obstacles and / or crossable obstacles. At the same time, in this case, due to the introduction of the safe boundary, there may be a situation where the reference obstacle intersects with the safe boundary, so it is also necessary to further process the reference obstacle so that all the obstacles that need to be bypassed are within the safe boundary.

[0177] Therefore, on the basis of Figure 2 please refer to Figure 11 After step S102, the obstacle processing method provided by the embodiment of the present application further includes steps S103 to S106.

[0178] S103, perform an inward contraction process on the boundary of the operation area to obtain the safety boundary of the operation area.

[0179] S104, perform a dilation process on the reference obstacle and then merge the intersection part to obtain the obstacle to be processed.

[0180] S105, if the obstacle to be processed intersects with the safety boundary, adjust the boundary segment of the safety boundary that intersects with the obstacle to be processed so that the obstacle to be processed is located outside the safety boundary.

[0181] S106, if the obstacle to be processed is within the safety boundary, use the obstacle to be processed as an obstacle to be bypassed.

[0182] As Figure 12 shown, in the first step, contract the boundary of the operation area to obtain the safety boundary, and the contraction distance can be flexibly set by the user according to the actual situation; in the second step, perform a dilation process on the reference obstacle and then merge the intersection part to obtain the obstacle to be processed; in the third step, adjust the boundary segment of the safety boundary that intersects with the obstacle to be processed so that the obstacle to be processed is located outside the safety boundary, and use the obstacle to be processed within the safety boundary as an obstacle to be bypassed.

[0183] Optionally, after obtaining the safety boundary and the obstacle to be processed through steps S103 - S104, loop through each obstacle to be processed. If the obstacle to be processed intersects with the safety boundary, perform a difference set operation on the obstacle to be processed and the safety boundary, that is, adjust the safety boundary according to the contour of the obstacle to be processed; if the obstacle to be processed is within the safety boundary, use it as an obstacle to be bypassed; until all obstacles to be processed are processed.

[0184] The foregoing embodiments are described with reference to the reference obstacles and / or crossable obstacles obtained from wire processing. However, those skilled in the art should understand that there will inevitably be other obstacles in the operation area, for example, Figure 3 as shown in the telegraph poles, trees, etc., and these obstacles also need to be bypassed. Therefore, after step S102, the obstacle processing method provided by the embodiments of the present application further includes step S110.

[0185] S110, based on the boundary of the operation area, process the original obstacles and reference obstacles within the operation area.

[0186] In this embodiment, the original obstacle is the obstacle that originally needs to be bypassed within the operation area. For example, Figure 3Power poles, trees, etc. shown. At the same time, since the original obstacles are considered, for the safety of the drone, the boundary of the area to be operated can be shrunk to a safety boundary first, and then the original obstacles and reference obstacles in the area to be operated can be processed according to the safety boundary.

[0187] Optionally, similar to the Figure 12 process shown, first shrink the boundary of the area to be operated to a safety boundary; then, perform dilation processing on the reference obstacles and the original obstacles and merge the intersection part to obtain the obstacles to be processed; in the third step, adjust the boundary segments in the safety boundary that intersect with the obstacles to be processed so that the obstacles to be processed are located outside the safety boundary, and use the obstacles to be processed within the safety boundary as the obstacles to be bypassed.

[0188] The process of obstacle processing for the wires in the area to be operated in the wire scenario is introduced above. After the obstacle processing is completed, the flight path can be planned in the area to be operated based on the processing results. Therefore, the process of flight path planning will be introduced in detail next.

[0189] Please refer to Figure 13 , Figure 13 which shows a schematic flowchart of the flight path planning method provided by the embodiment of the present application. This flight path planning method is applied to an electronic device and may include the following steps:

[0190] S201, obtain the reference obstacles and crossable obstacles in the area to be operated; wherein, the reference obstacles and crossable obstacles are obtained by the obstacle processing method introduced in the foregoing embodiments.

[0191] S202, plan a flight path in the area to be operated based on the reference obstacles.

[0192] S203, adjust the altitude information of the corresponding flight path based on the crossable obstacles.

[0193] According to the content introduced in the foregoing embodiments, the reference obstacles can only be bypassed left and right, while the crossable obstacles can be crossed up and down. Therefore, in the process of flight path planning, the flight path should be planned in the area to be operated based on the reference obstacles first, and then the altitude information of the flight path is adjusted based on the crossable obstacles.

[0194] In this embodiment, if there are no obstacles outside the boundary of the area to be operated, the flight path can be directly planned in the area to be operated based on the reference obstacles; however, if there are obstacles outside the boundary of the area to be operated, for the safety of the drone, the boundary of the area to be operated can be shrunk to a safety boundary first, and then within the safety boundary, the flight path can be directly planned in the area to be operated based on the reference obstacles.

[0195] It should be noted that the reference obstacle here can also be an obstacle obtained by processing the original obstacles and reference obstacles in the area to be operated based on the boundary of the area to be operated.

[0196] The following is a detailed introduction to step S202.

[0197] Optionally, the process of planning a flight path in the area to be operated based on the reference obstacle in step S202 may include S2021 to S2022.

[0198] S2021, plan a flight path in the area to be operated that includes an operation segment for instructing the operation of the operation device and an obstacle avoidance segment for the reference obstacle.

[0199] S2022, optimize the obstacle avoidance segment to obtain an optimized flight path.

[0200] In this embodiment, first plan a flight path in the area to be operated. This flight path includes an operation segment for instructing the operation of the operation device and an obstacle avoidance segment for the reference obstacle. For example, as shown in the left figure of Figure 14 , AB, CD, and EF are operation segments, and BC and DE are obstacle avoidance segments.

[0201] Then, in order to improve the operation efficiency of the unmanned aerial vehicle on the premise of ensuring the normal operation of the unmanned aerial vehicle, the obstacle avoidance segment can be optimized. For example, optimize the DE segment as shown in the right figure of Figure 14 .

[0202] It should be noted that the process of planning the flight path in step S2021 can adopt the flight path planning algorithm in the prior art, and this application embodiment will not elaborate on it.

[0203] Optionally, the process of optimizing the obstacle avoidance segment in S2022 may include S2022-1 to S2022-3.

[0204] S2022-1, determine multiple sampling points on the obstacle avoidance segment.

[0205] In this embodiment, the sampling points can be determined on the obstacle avoidance segment according to actual needs. For example, the sampling points can be determined randomly, or determined at equal intervals, etc. This application embodiment does not make any restrictions on this. For example, determine multiple sampling points on the DE segment shown in the left figure of Figure 14 .

[0206] S2022-2, thin out the multiple sampling points to obtain multiple target sampling points.

[0207] In this embodiment, the process of thinning out the multiple sampling points to obtain multiple target sampling points may include S1 to S4.

[0208] S1, starting from the second sampling point, connect the previous sampling point and the next sampling point of the current sampling point to obtain a straight line.

[0209] S2, if the straight line collides with an object within the area to be operated, then take the current sampling point as the target sampling point.

[0210] S3, if the straight line does not collide with an object within the area to be operated, then delete the current sampling point.

[0211] S4, repeat the process of S1 to S3 above until reaching the last sampling point to obtain each target sampling point.

[0212] S2022-3, connect each target sampling point in sequence to obtain an optimized obstacle avoidance flight segment.

[0213] The following provides a detailed introduction to step S203.

[0214] In a possible implementation, the obstacles that can be crossed are obtained based on the safe flight height corresponding to the power line, that is, the obstacles that can be crossed are obtained through the process of the foregoing steps S1021 to S1022. In this case, step S203 may include S2031 to S2033.

[0215] S2031, classify all the obstacles that can be crossed according to the safe flight height to obtain several sets of obstacles that can be crossed; the heights of the obstacles that can be crossed in different sets of obstacles that can be crossed are different or belong to different height ranges.

[0216] S2032, for each set of obstacles that can be crossed, determine the target flight segments in the flight route that are within the safe distance from the obstacles in the set.

[0217] S2033, for each target flight segment, adjust the height of the target flight segment according to the height of the obstacles that can be crossed that are within the safe distance from the target flight segment.

[0218] In this embodiment, since the UAV itself has a certain width and height, the safe distance used here to determine the target flight segment can refer to the distance in the horizontal direction and / or the vertical direction. It is set to prevent the wings of the UAV and / or the top of the fuselage or the landing gear of the fuselage from being scratched by the power line and can be flexibly set according to the model of the UAV. For example, the safe distance in the horizontal direction is usually set to at least half of the fuselage width. Another example is that the safe distance in the vertical direction is usually set to at least half of the fuselage height. The embodiments of the present application do not make any restrictions on this.

[0219] It should be noted that if the safety width has been considered in the process of treating the wires in the area to be operated as reference obstacles and / or crossable obstacles as described above, in order to improve the operation efficiency of the drone, the safety distance here can be 0. That is, in step S2032, taking a set of crossable obstacles as an example, the segments of the flight path that coincide with the crossable obstacles in the set are directly taken as the target segments.

[0220] Optionally, the process of adjusting the height of the target segment according to the height of the crossable obstacles within the safety distance from the target segment in S2033 may include:

[0221] If the crossable obstacle is a non-overlapping area, adjust the height of the target segment to the height of the crossable obstacle;

[0222] If the crossable obstacle is an overlapping area, adjust the height of the target segment to the highest or lowest height of the overlapping area.

[0223] In a possible implementation manner, the crossable obstacles are obtained based on the height of the wires, that is, the crossable obstacles are obtained through the process of the foregoing step S102a. In this case, step S203 may include S203a to S203c.

[0224] S203a, classify all the crossable obstacles according to the height of the wires to obtain several sets of crossable obstacles; the heights of the crossable obstacles in different sets of crossable obstacles are different or belong to different height ranges.

[0225] S203b, for each set of crossable obstacles, determine the target segments of the flight path that are within the safety distance from the crossable obstacles in the set.

[0226] S203c, for each target segment, adjust the height of the target segment according to the height of the crossable obstacles within the safety distance from the target segment.

[0227] In this embodiment, if the crossable obstacles are obtained based on the height of the wires, the height of the target segment cannot be directly adjusted according to the height of the crossable obstacles. Instead, a safe flight height needs to be determined first based on the height of the crossable obstacles, and then the height of the target segment is adjusted based on this safe flight height.

[0228] Therefore, the process of adjusting the height of the target segment according to the height of the crossable obstacles within the safety distance from the target segment in step S203c may include:

[0229] If the crossable obstacle is a non-overlapping area, adjust the height of the target segment to the safe flight height above or below the crossable obstacle;

[0230] If the obstacle that can be crossed is an overlapping area, adjust the height of the target flight segment to a safe flight height above or below the overlapping area.

[0231] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0232] First, for the wire scenario, based on the predefined safe flight parameters, the wires in the area to be operated are processed as reference obstacles and / or obstacles that can be crossed. Subsequently, when the drone operates, it only needs to bypass the reference obstacles left and right, and can cross the obstacles that can be crossed up and down, so as to maximize the operation coverage rate on the premise of ensuring operation safety.

[0233] Second, optimize the obstacle bypass flight segments in the flight path and keep the operation flight segments unchanged, so as to ensure the normal operation of the drone and maximize the operation efficiency of the drone to the greatest extent.

[0234] Third, when adjusting the height information of the corresponding flight path based on the obstacles that can be crossed, the safety distance is considered, which can further ensure the safety of the drone.

[0235] In order to execute the corresponding steps in the above method embodiments and various possible implementation manners, implementation manners of an obstacle processing device and a flight path planning device are respectively given below.

[0236] Please refer to Figure 15 , Figure 15 which shows a block diagram of an obstacle processing device 100 provided by an embodiment of the present application. The obstacle processing device 100 is applied to an electronic device and includes: an acquisition module 101 and a first processing module 102.

[0237] The acquisition module 101 is configured to acquire the wires in the area to be operated.

[0238] The first processing module 102 is configured to process the wires based on the predefined safe flight parameters to obtain reference obstacles and / or obstacles that can be crossed; wherein, the reference obstacles represent wires that cannot be crossed and are used to plan the flight path in the area to be operated; the obstacles that can be crossed represent wires that can be crossed and are used to adjust the height information of the corresponding flight path.

[0239] In a possible implementation manner, the safe flight parameters include the safe flight height corresponding to the wires; the first processing module 102 is specifically configured to:

[0240] Based on the safe flight height, process the wires into wire obstacle areas; wherein, the height of the wire obstacle area is the safe flight height, and the safe flight height is used to represent the flight height at which the operation device safely passes through the wire obstacle area;

[0241] Process the wire obstacle area to obtain reference obstacles and / or crossable obstacles.

[0242] As an implementation manner, the first processing module 102 executes the manner of processing the wire obstacle area to obtain reference obstacles and / or crossable obstacles, including:

[0243] Classify all wire obstacle areas according to height to obtain several wire obstacle area sets; the wire obstacle areas in different wire obstacle area sets correspond to different safe flight heights or belong to different height ranges;

[0244] For each wire obstacle area set, perform dilation processing on the wire obstacle areas in the set and then merge the intersection parts to obtain the area to be processed;

[0245] Take the overlapping areas in all areas to be processed as reference obstacles and the non-overlapping areas as crossable obstacles to obtain reference obstacles and / or crossable obstacles.

[0246] As another implementation manner, the first processing module 102 executes the manner of processing the wire obstacle area to obtain reference obstacles and / or crossable obstacles, including:

[0247] Classify all wire obstacle areas according to height to obtain several wire obstacle area sets; the wire obstacle areas in different wire obstacle area sets correspond to different safe flight heights or belong to different height ranges;

[0248] For each wire obstacle area set, perform dilation processing on the wire obstacle areas in the set and then merge the intersection parts to obtain the area to be processed;

[0249] Take the non-overlapping areas in all areas to be processed for flight as crossable obstacles;

[0250] For the overlapping areas in all areas to be processed for flight, determine the type of the overlapping area according to the highest safe flight height or the lowest safe flight height of the wire obstacle areas in the overlapping area; the type is used to represent that the overlapping area is a reference obstacle or a crossable obstacle.

[0251] In another possible implementation manner, the safe flight parameter includes the height of the wire; the first processing module 102 is specifically configured to:

[0252] Based on the height of the wire, process the wire to obtain reference obstacles and / or crossable obstacles.

[0253] As an implementation manner, the first processing module 102 executes the manner of processing the wire based on the height of the wire to obtain reference obstacles and / or crossable obstacles, including:

[0254] Classify all the wires according to their heights to obtain several wire sets; the heights of the wires in different wire sets are different or belong to different height ranges;

[0255] For each wire set, perform dilation processing on the wires within the wire set and then merge the intersection parts to obtain the area to be processed;

[0256] Take the overlapping areas among all the areas to be processed as reference obstacles and the non - overlapping areas as crossable obstacles to obtain reference obstacles and / or crossable obstacles.

[0257] As another implementation manner, the first processing module 102 performs processing on the wires based on the heights of the wires to obtain reference obstacles and / or crossable obstacles, including:

[0258] Classify all the wires according to their heights to obtain several wire sets; the heights of the wires in different wire sets are different or belong to different height ranges;

[0259] For each wire set, perform dilation processing on the wires within the wire set and then merge the intersection parts to obtain the area to be processed;

[0260] Take the non - overlapping areas among all the areas to be processed for flight as crossable obstacles;

[0261] For the overlapping areas among all the areas to be processed for flight, determine the type of the overlapping area according to the highest height or the lowest height of the wires in the overlapping area; the type is used to represent that the overlapping area is a reference obstacle or a crossable obstacle.

[0262] Optionally, the obstacle processing device 100 provided in the embodiments of the present application further includes a second processing module 103, and the second processing module 103 is used for:

[0263] Perform inner - shrinking processing on the boundary of the area to be operated to obtain the safety boundary of the area to be operated;

[0264] Perform dilation processing on the reference obstacles and then merge the intersection parts to obtain the obstacles to be processed;

[0265] If the obstacle to be processed intersects with the safety boundary, adjust the boundary segment of the safety boundary that intersects with the obstacle to be processed so that the obstacle to be processed is located outside the safety boundary;

[0266] If the obstacle to be processed is within the safety boundary, take the obstacle to be processed as an obstacle to be bypassed.

[0267] Please refer to Figure 16 , Figure 16The block diagram of the route planning device 200 provided by an embodiment of the present application is shown. The route planning device 200 is applied to an electronic device and includes an obstacle acquisition module 201, a route planning module 202, and a route adjustment module 203.

[0268] The obstacle acquisition module 201 is configured to acquire reference obstacles and crossable obstacles in the area to be operated; wherein, the reference obstacles and crossable obstacles are obtained by the obstacle processing method introduced in the foregoing embodiments.

[0269] The route planning module 202 is configured to plan a route in the area to be operated based on the reference obstacles.

[0270] The route adjustment module 203 is configured to adjust the height information of the corresponding route based on the crossable obstacles.

[0271] Optionally, the route planning module 202 is specifically configured to:

[0272] Plan a route in the area to be operated that includes an operation segment for instructing the operation of the operation device and an obstacle avoidance segment for the reference obstacles;

[0273] Optimize the obstacle avoidance segment to obtain an optimized route.

[0274] Optionally, the manner in which the route planning module 202 executes optimizing the obstacle avoidance segment includes:

[0275] Determine a plurality of sampling points on the obstacle avoidance segment;

[0276] Thin out the plurality of sampling points to obtain a plurality of target sampling points;

[0277] Connect each target sampling point in sequence to obtain an optimized obstacle avoidance segment.

[0278] Optionally, the manner in which the route planning module 202 executes thinning out the plurality of sampling points to obtain a plurality of target sampling points includes:

[0279] Starting from the second sampling point, connect the previous sampling point and the next sampling point of the current sampling point to obtain a straight line;

[0280] If the straight line collides with an object in the area to be operated, then use the current sampling point as a target sampling point;

[0281] If the straight line does not collide with an object in the area to be operated, then delete the current sampling point;

[0282] Repeat the above process until reaching the last sampling point to obtain each target sampling point.

[0283] In a possible implementation, the crossable obstacles are obtained based on the safe flight altitude corresponding to the wire; specifically, the route adjustment module 203 is configured to:

[0284] Classify all the crossable obstacles according to the safe flight altitude to obtain several sets of crossable obstacles; the crossable obstacles in different sets of crossable obstacles have different heights or belong to different height ranges;

[0285] For each set of crossable obstacles, determine the target segments in the route that are within the safe distance from the crossable obstacles in the set;

[0286] For each target segment, adjust the height of the target segment according to the height of the crossable obstacles within the safe distance from the target segment.

[0287] Optionally, the manner in which the route adjustment module 203 adjusts the height of the target segment according to the height of the crossable obstacles within the safe distance from the target segment includes:

[0288] If the crossable obstacle is a non-overlapping area, adjust the height of the target segment to the height of the crossable obstacle;

[0289] If the crossable obstacle is an overlapping area, adjust the height of the target segment to the highest or lowest height of the overlapping area.

[0290] In another possible implementation, the crossable obstacles are obtained based on the height of the wire; specifically, the route adjustment module 203 is configured to:

[0291] Classify all the crossable obstacles according to the height of the wire to obtain several sets of crossable obstacles; the crossable obstacles in different sets of crossable obstacles have different heights or belong to different height ranges;

[0292] For each set of crossable obstacles, determine the target segments in the route that are within the safe distance from the crossable obstacles in the set;

[0293] For each target segment, adjust the height of the target segment according to the height of the crossable obstacles within the safe distance from the target segment.

[0294] Optionally, the manner in which the route adjustment module 203 adjusts the height of the target segment according to the height of the crossable obstacles within the safe distance from the target segment includes:

[0295] If the crossable obstacle is a non-overlapping area, adjust the height of the target segment to the safe flight altitude above or below the crossable obstacle;

[0296] If the obstacle that can be crossed is an overlapping area, adjust the altitude of the target flight segment to a safe flight altitude above or below the overlapping area.

[0297] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described obstacle handling device 100 and route planning device 200 can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein.

[0298] Please refer to Figure 17 , Figure 17 which shows a block diagram of an electronic device 10 provided by an embodiment of the present application. The electronic device 10 includes a processor 11, a memory 12, and a bus 13. The processor 11 is connected to the memory 12 through the bus 13.

[0299] The memory 12 is used to store programs, such as Figure 15 the obstacle handling device 100 shown, and / or Figure 16 the route planning device 200 shown. The obstacle handling device 100 or the route planning device 200 includes at least one software functional module that can be stored in the memory 12 in the form of software or firmware. After receiving an execution instruction, the processor 11 executes the program to implement the obstacle handling method or route planning method disclosed in the foregoing embodiments.

[0300] The memory 12 may include a high-speed random access memory (Random Access Memory, RAM), and may also include a non-volatile memory (non-volatile memory, NVM).

[0301] The processor 11 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the integrated logic circuit in the hardware of the processor 11 or instructions in software form. The above-mentioned processor 11 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a microcontroller unit (Microcontroller Unit, MCU), a complex programmable logic device (Complex Programmable Logic Device, CPLD), a field programmable gate array (Field Programmable Gate Array, FPGA), an embedded ARM, etc.

[0302] The embodiments of the present application further provide a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by the processor 11, it implements the line-breaking obstacle processing method disclosed in the foregoing embodiments, and / or the flight path planning method disclosed in the foregoing embodiments.

[0303] In summary, an obstacle processing method, a flight path planning method and related devices provided by the embodiments of the present application. For the wire scenario, based on pre-defined safe flight parameters, the wires in the area to be operated are processed as reference obstacles and / or crossable obstacles. The reference obstacles represent wires that cannot be crossed, and the crossable obstacles represent wires that can be crossed. In this way, when the subsequent unmanned aerial vehicle operates, it only needs to bypass the reference obstacles left and right, and can cross the crossable obstacles up and down, so as to maximize the operation coverage rate on the premise of ensuring operation safety.

[0304] The foregoing are only the preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for obstacle processing, characterized in that, the method includes: acquiring the wires in the area to be operated; processing the wires based on predefined safe flight parameters to obtain reference obstacles and / or crossable obstacles; wherein, the reference obstacles represent wires that cannot be crossed and are used to plan the flight route in the area to be operated; the crossable obstacles represent wires that can be crossed and are used to adjust the height information of the corresponding flight route; When the safe flight parameters include the height of the wires, the step of processing the wires based on the predefined safe flight parameters to obtain reference obstacles and / or crossable obstacles includes: classifying all the wires according to their heights to obtain several wire sets; the heights of the wires in different wire sets are different or belong to different height ranges; for each wire set, performing dilation processing on the wires in the wire set and then merging the intersection parts to obtain the area to be processed; taking the overlapping areas in all the areas to be processed as the reference obstacles and the non-overlapping areas as the crossable obstacles to obtain the reference obstacles and / or the crossable obstacles; or, taking the non-overlapping areas in all the areas to be processed as the crossable obstacles, and for the overlapping areas in all the areas to be processed, determining the type of the overlapping area according to the highest height or the lowest height of the wires in the overlapping area; the type is used to represent whether the overlapping area is a reference obstacle or a crossable obstacle.

2. The method according to claim 1, characterized in that, when the safe flight parameters include the safe flight height corresponding to the wires; the step of processing the wires based on the predefined safe flight parameters to obtain reference obstacles and / or crossable obstacles includes: processing the wires into wire obstacle areas based on the safe flight height; wherein, the height of the wire obstacle area is the safe flight height, and the safe flight height is used to represent the flight height at which the operating device can safely pass through the wire obstacle area; processing the wire obstacle areas to obtain the reference obstacles and / or the crossable obstacles.

3. The method according to claim 2, characterized in that, the step of processing the wire obstacle areas to obtain the reference obstacles and / or the crossable obstacles includes: classifying all the wire obstacle areas according to their heights to obtain several wire obstacle area sets; the safe flight heights corresponding to the wire obstacle areas in different wire obstacle area sets are different or belong to different height ranges; for each wire obstacle area set, performing dilation processing on the wire obstacle areas in the set and then merging the intersection parts to obtain the area to be processed; taking the overlapping areas in all the areas to be processed as the reference obstacles and the non-overlapping areas as the crossable obstacles to obtain the reference obstacles and / or the crossable obstacles.

4. The method according to claim 2, characterized in that, The step of processing the wire obstacle area to obtain the reference obstacle and / or the crossable obstacle includes: Classifying all wire obstacle areas according to height to obtain several wire obstacle area sets; the wire obstacle areas in different wire obstacle area sets correspond to different safe flight heights or belong to different height ranges; For each wire obstacle area set, performing dilation processing on the wire obstacle areas within the set and then merging the intersection parts to obtain an area to be processed; Regarding the non-overlapping areas in all areas to be processed for flight as the crossable obstacles; Regarding the overlapping areas in all areas to be processed for flight, determining the type of the overlapping area according to the highest safe flight height or the lowest safe flight height of the wire obstacle areas in the overlapping area; the type is used to characterize whether the overlapping area is a reference obstacle or a crossable obstacle.

5. The method according to claim 3 or 4, characterized in that, if the crossable obstacle is a non-overlapping area, the crossable obstacle is used to: adjust the height of the target flight segment in the flight path that is within a safe distance from the crossable obstacle to the height of the crossable obstacle; if the crossable obstacle is an overlapping area, the crossable obstacle is used to: adjust the height of the target flight segment in the flight path that is within a safe distance from the crossable obstacle to the highest height or the lowest height of the overlapping area.

6. The method according to claim 1, characterized in that, if the crossable obstacle is a non-overlapping area, the crossable obstacle is used to: adjust the height of the target flight path in the flight path that is within a safe distance from the crossable obstacle to a safe flight height above or below the crossable obstacle; if the crossable obstacle is an overlapping area, the crossable obstacle is used to: adjust the height of the target flight segment in the flight path that is within a safe distance from the crossable obstacle to a safe flight height above or below the overlapping area.

7. The method according to claim 1, characterized in that, the method further includes: Performing inner contraction processing on the boundary of the area to be operated to obtain the safety boundary of the area to be operated; Performing dilation processing on the reference obstacle and then merging the intersection parts to obtain an obstacle to be processed; If the obstacle to be processed intersects with the safety boundary, adjusting the boundary segment of the safety boundary that intersects with the obstacle to be processed so that the obstacle to be processed is located outside the safety boundary; If the obstacle to be processed is within the safety boundary, regarding the obstacle to be processed as an obstacle to be bypassed.

8. A flight path planning method, characterized in that, the method includes: Obtaining the reference obstacle and the crossable obstacle in the area to be operated; wherein, the reference obstacle and the crossable obstacle are obtained by the obstacle processing method described in any one of claims 1-7; Planning a flight path in the area to be operated based on the reference obstacle; Adjusting the height information of the corresponding flight path based on the crossable obstacle.

9. The method according to claim 8, characterized in that, The step of planning a flight path within the area to be operated based on the reference obstacle includes: Planning a flight path within the area to be operated, the flight path including an operation segment for indicating the operation of the operation device and an obstacle avoidance segment for the reference obstacle; Optimizing the obstacle avoidance segment to obtain an optimized flight path.

10. The method according to claim 9, wherein, the step of optimizing the obstacle avoidance segment includes: Determining a plurality of sampling points on the obstacle avoidance segment; Thinning the plurality of sampling points to obtain a plurality of target sampling points; Sequentially connecting each of the target sampling points to obtain the optimized obstacle avoidance segment.

11. The method according to claim 10, wherein, the step of thinning the plurality of sampling points to obtain a plurality of target sampling points includes: Starting from the second sampling point, connecting the previous sampling point and the next sampling point of the current sampling point to obtain a straight line; If the straight line collides with an object within the area to be operated, taking the current sampling point as the target sampling point; If the straight line does not collide with an object within the area to be operated, deleting the current sampling point; Repeating the above steps until reaching the last sampling point to obtain each of the target sampling points.

12. The method according to claim 8, wherein, the crossable obstacle is obtained based on the safe flight height corresponding to the electric wire; the step of adjusting the height information of the corresponding flight path based on the crossable obstacle includes: Classifying all the crossable obstacles according to the safe flight height to obtain several crossable obstacle sets; the crossable obstacles in different crossable obstacle sets have different heights or belong to different height ranges; For each crossable obstacle set, determining the target segments in the flight path that are within a safe distance from the crossable obstacles in the set; For each of the target segments, adjusting the height of the target segment according to the height of the crossable obstacle that is within a safe distance from the target segment.

13. The method according to claim 12, wherein, the step of adjusting the height of the target segment according to the height of the crossable obstacle that is within a safe distance from the target segment includes: If the crossable obstacle is a non-overlapping area, adjusting the height of the target segment to the height of the crossable obstacle; If the crossable obstacle is an overlapping area, adjusting the height of the target segment to the highest height or the lowest height of the overlapping area.

14. The method according to claim 8, wherein, the crossable obstacle is obtained based on the height of the electric wire; the step of adjusting the height information of the corresponding flight path based on the crossable obstacle includes: Classifying all the crossable obstacles according to the height of the electric wire to obtain several crossable obstacle sets; the crossable obstacles in different crossable obstacle sets have different heights or belong to different height ranges; For each set of crossable obstacles, determine the target flight segments in the flight path that are within a safe distance from the crossable obstacles in the set; For each of the target flight segments, adjust the height of the target flight segment according to the height of the crossable obstacles that are within a safe distance from the target flight segment.

15. The method according to claim 14, wherein, the step of adjusting the height of the target flight segment according to the height of the crossable obstacles that are within a safe distance from the target flight segment includes: if the crossable obstacles are non-overlapping regions, adjust the height of the target flight segment to a safe flight height above or below the crossable obstacles; if the crossable obstacles are overlapping regions, adjust the height of the target flight segment to a safe flight height above or below the overlapping regions.

16. An obstacle processing device, wherein, the device includes: an acquisition module, configured to acquire wires in the area to be operated; a first processing module, configured to process the wires based on predefined safe flight parameters to obtain reference obstacles and / or crossable obstacles; wherein, the reference obstacles represent non-crossable wires and are used to plan the flight path in the area to be operated; the crossable obstacles represent crossable wires and are used to adjust the height information of the corresponding flight path; when the safe flight parameters include the height of the wires, the manner in which the first processing module executes processing the wires based on the predefined safe flight parameters to obtain reference obstacles and / or crossable obstacles includes: classifying all the wires according to height to obtain a plurality of wire sets; the wires in different wire sets have different heights or belong to different height ranges; for each wire set, perform dilation processing on the wires in the wire set and then merge the intersection parts to obtain an area to be processed; take the overlapping regions in all the areas to be processed as the reference obstacles and the non-overlapping regions as the crossable obstacles to obtain the reference obstacles and / or the crossable obstacles; or, take the non-overlapping regions in all the areas to be processed as the crossable obstacles, and for the overlapping regions in all the areas to be processed, determine the type of the overlapping region according to the highest height or the lowest height of the wires in the overlapping region; the type is used to represent whether the overlapping region is a reference obstacle or a crossable obstacle.

17. A flight path planning device, wherein, the device includes: an obstacle acquisition module, configured to acquire reference obstacles and crossable obstacles in the area to be operated; wherein, the reference obstacles and the crossable obstacles are obtained by the obstacle processing method according to any one of claims 1-7; a flight path planning module, configured to plan a flight path in the area to be operated based on the reference obstacles; a flight path adjustment module, configured to adjust the height information of the corresponding flight path based on the crossable obstacles.

18. An electronic device, wherein, It includes a processor and a memory. The memory is used to store a program, and the processor is used to implement the obstacle handling method described in any one of claims 1-7 and / or the route planning method described in any one of claims 8-15 when executing the program.

19. A computer-readable storage medium, characterized in that, a computer program is stored thereon, and when the computer program is executed by a processor, it implements the obstacle handling method described in any one of claims 1-7 and / or the route planning method described in any one of claims 8-15.

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