Point-to-point UAV shooting trajectory correction method and system

Abstract

The present application relates to a point-to-point drone shooting trajectory correction method and system, the method includes obtaining a set of continuous data in the line data in response to multiple sets of line data obtained; constructing a model based on the continuous data to obtain multiple arc segments and record the arc segment with the shortest length as the standard arc segment; adjusting the flight altitude to the same altitude as the center of the curvature of the standard arc segment; constructing a surface model in response to the acquired point cloud data, generating a moving trajectory based on the surface model, and generating a new moving trajectory when the moving trajectory exceeds a set value, and the generation angles of multiple sets of continuous data are all different. The point-to-point drone shooting trajectory correction method and system disclosed in the present application adjust the flight trajectory of the drone in a real-time dynamic manner, so that the drone can move along a predetermined trajectory to obtain continuous data.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a point-to-point drone shooting trajectory correction method and system. Background Art

[0002] If the sag of the transmission line conductor is too large, the distance between the lowest point of the line and the ground will not meet the safety distance required by the design. In the event of strong winds and short circuit faults in the line, the swaying of the conductor will cause the phase-to-phase distance of the line to fail to meet the safety distance requirements. In addition, if the sag is too large, the stress on the transmission line will be too large. When the temperature is too low in winter, it may cause the conductor to disconnect and cause a safety accident.

[0003] The manual detection method has the problem of difficulty in setting up equipment in the field and the large amount of data set calculation. In some areas, it is even impossible to set up equipment. At present, there is a method of using drones to collect data, but the flight trajectory of drones is uncertain when flying at high altitudes, causing the sensors to generate discrete data. Summary of the invention

[0004] The present application provides a point-to-point drone shooting trajectory correction method and system, which adjusts the flight trajectory of the drone in a real-time dynamic manner so that the drone can move along a predetermined trajectory to obtain continuous data.

[0005] The above-mentioned purpose of the present application is achieved through the following technical solutions:

[0006] In a first aspect, the present application provides a point-to-point drone shooting trajectory correction method, comprising:

[0007] In response to the acquired multiple sets of line data, acquiring a set of continuous data in the line data;

[0008] A model is constructed based on continuous data to obtain multiple arc segments and the arc segment with the shortest length is recorded as a standard arc segment;

[0009] Adjust the flight altitude to the same altitude as the center of curvature of the standard arc segment;

[0010] In response to the acquired point cloud data, a surface model is constructed;

[0011] generating a movement trajectory based on the surface model; and

[0012] Generate a new moving track when the moving track usage exceeds the set value;

[0013] Among them, the generation angles of multiple sets of continuous data are all different.

[0014] In a possible implementation manner of the first aspect, building a model based on continuous data includes:

[0015] Calculate the distance between adjacent points and obtain multiple distance values;

[0016] Filter multiple data points that reach a certain degree of aggregation according to the degree of dispersion of the distance values; and

[0017] An arc segment is generated according to the multiple data points obtained by screening, and the arc segment is a part of a circle.

[0018] In a possible implementation manner of the first aspect, the method further includes:

[0019] Place the multiple data points obtained by screening between two parallel line segments;

[0020] The distance between the two line segments is reduced until the minimum straight-line distance between the two line segments is less than or equal to the distance threshold; all the multiple data points obtained by screening are located between the two line segments or all the multiple data points exceeding the allowed number are located between the two line segments; and

[0021] A substitute line segment is generated, where the substitute line segment is located between two mutually parallel line segments and the two line segments are symmetrical about the substitute line segment.

[0022] In a possible implementation manner of the first aspect, constructing the surface model includes:

[0023] Calculate the distance between adjacent points to obtain multiple distance values, including horizontal distance values ​​and vertical distance values;

[0024] According to the discrete degree of distance value, multiple adjacent points that reach the aggregation degree are selected;

[0025] Using adjacent points to generate a boundary, the boundary consists of two long arcs with a constant distance between them and two short arcs that are parallel to each other; and

[0026] The moving trajectory is generated using two long arcs, and the shortest distance from any position on the moving trajectory to the two long arcs is equal.

[0027] In a possible implementation manner of the first aspect, after generating the new movement trajectory, the method further includes:

[0028] After obtaining the new moving trajectory, the overlapping part of two adjacent moving trajectories in the time series is obtained;

[0029] Calculating distance values ​​at corresponding points of two overlapping parts to obtain multiple reference distance values; and

[0030] The overlapping parts of two adjacent moving trajectories are fused according to the reference distance value;

[0031] Among them, when the average of multiple reference distance values ​​is greater than the allowed distance value, the new moving trajectory is used as the moving trajectory; when the average of multiple reference distance values ​​is less than or equal to the allowed distance value, the moving trajectory is redrawn with the starting point of the overlapping part of the previous moving trajectory and the end point of the overlapping part of the next moving trajectory in the time series as endpoints.

[0032] In a possible implementation manner of the first aspect, a curvature radius of the redrawn movement trajectory refers to a curvature radius of an overlapped portion of a previous movement trajectory and / or an overlapped portion of a next movement trajectory in a reference time series.

[0033] In a possible implementation manner of the first aspect, an average value of a curvature radius of an overlapping portion of a previous moving trajectory and an average value of a curvature radius of an overlapping portion of a next moving trajectory in a time series is calculated and used as the curvature radius value of the redrawn moving trajectory.

[0034] In a second aspect, the present application provides a point-to-point drone shooting trajectory correction device, comprising:

[0035] A first acquisition unit is used to acquire a set of continuous data in the line data in response to the acquired multiple sets of line data, wherein the generation angles of the multiple sets of continuous data are all different;

[0036] A first construction unit is used to construct a model based on continuous data, obtain multiple arc segments and record the arc segment with the shortest length as a standard arc segment;

[0037] An altitude adjustment unit, used for adjusting the flight altitude to be at the same altitude as the center of curvature of the standard arc segment;

[0038] A second construction unit, configured to construct a surface model in response to the acquired point cloud data;

[0039] A first trajectory generating unit, configured to generate a moving trajectory based on a surface model; and

[0040] The second trajectory generating unit is used to generate a new movement trajectory when the movement trajectory usage exceeds a set value.

[0041] In a third aspect, the present application provides a point-to-point drone shooting trajectory correction system, the system comprising:

[0042] one or more memories for storing instructions; and

[0043] One or more processors, used to call and run the instructions from the memory to execute the method as described in the first aspect and any possible implementation of the first aspect.

[0044] In a fourth aspect, the present application provides a computer-readable storage medium, the computer-readable storage medium comprising:

[0045] Program, when the program is executed by a processor, the method described in the first aspect and any possible implementation of the first aspect is executed.

[0046] In a fifth aspect, the present application provides a computer program product, comprising program instructions. When the program instructions are executed by a computing device, the method described in the first aspect and any possible implementation of the first aspect is executed.

[0047] In a sixth aspect, the present application provides a chip system, which includes a processor for implementing the functions involved in the above aspects, for example, generating, receiving, sending, or processing the data and / or information involved in the above methods.

[0048] The chip system may be composed of chips, or may include chips and other discrete devices.

[0049] In a possible design, the chip system also includes a memory, which is used to store necessary program instructions and data. The processor and the memory can be decoupled and respectively set on different devices, connected by wired or wireless means, or the processor and the memory can also be coupled on the same device.

[0050] In general, the point-to-point drone shooting trajectory correction method provided in this application enables the drone to generate a flight trajectory according to the shape of the object (transmission cable) during flight. The flight trajectory generation process takes into account the data acquisition and processing speed and the drone's endurance. The obtained point cloud data group also has higher continuity. In the subsequent multi-segment data fusion processing process, these point cloud data groups can be directly fused by processing the connection end data. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 This is a schematic diagram of the steps of a point-to-point drone shooting trajectory correction method provided by the present application.

[0052] FIG. 2 (A) to FIG. 2 (D) are schematic diagrams of data points of continuous data provided in this application.

[0053] Figure 3 This is a schematic diagram of flight altitude adjustment provided by the present application.

[0054] Figure 4 This is a segmented schematic diagram of a flight trajectory provided by the present application, in which the numbers indicate the order.

[0055] Figure 5It is a schematic diagram of screening of data points provided in this application.

[0056] Figure 6 It is a schematic diagram of the aggregation of data points provided in this application.

[0057] Figure 7 This is a schematic diagram of a generation process of replacing a line segment provided by the present application.

[0058] Figure 8 This is a schematic diagram of the generation process of a long arc provided by this application.

[0059] Fig. 9 It is a segmented schematic diagram of a movement trajectory provided by this application.

[0060] Fig.10 This is a schematic diagram of the fusion of two moving trajectories provided by this application.

[0061] Fig.11 This is another schematic diagram of the fusion of two moving trajectories provided by the present application. DETAILED DESCRIPTION

[0062] The technical solution in this application is further described in detail below in conjunction with the accompanying drawings.

[0063] The point-to-point UAV shooting trajectory correction method disclosed in the present application is applied to the trajectory correction of the UAV during flight, specifically, the trajectory correction of the UAV during flight along a power transmission cable during high-altitude flight.

[0064] It should be understood that the overhead transmission cables in the wild are spaced far apart, so drones need to fly close to them to obtain accurate data. The laser scanning sensors carried by drones can only scan part of the surface of the transmission cables, and the three-dimensional spatial model of the transmission cables can be obtained by reversely calculating the partial data.

[0065] This requires that the UAV can fly along the transmission cables when flying close to the transmission cables to ensure the continuity of the scanning process. The continuity of the scanning process means the continuity of the point cloud data. In this way, in the subsequent data processing process, the three-dimensional spatial model of the transmission cable can be obtained based on the continuous point cloud data.

[0066] The drone used in this application carries a laser scanning sensor and a rotating line scanning sensor. The laser scanning sensor is used to perform surface scanning of the power transmission cables, and the rotating line scanning sensor is used to perform line scanning of the power transmission cables.

[0067] During the flight of the drone, a step-by-step data collection method is used. The rotating line scanning sensor is responsible for determining the flight altitude of the drone, and the laser scanning sensor generates a moving trajectory by scanning the shape of the transmission cables. The data generated by the two sensors correct each other, allowing the drone to fly along the transmission cables.

[0068] For the construction of the three-dimensional space model of the transmission cable, the point cloud data generated by the laser scanning sensor is used. The point cloud data for generating the three-dimensional space model of the transmission cable is selected from the data generated by the laser scanning sensor. These data have similar spacing in the length of the transmission cable and have a certain amount of data overlap at the overlap, which can facilitate data fusion.

[0069] See also Figure 1 , is a point-to-point drone shooting trajectory correction method disclosed in this application, comprising the following steps:

[0070] S101, in response to the acquired multiple sets of line data, acquiring a set of continuous data in the line data;

[0071] S102, constructing a model based on the continuous data, obtaining a plurality of arc segments and recording the arc segment with the shortest length as a standard arc segment;

[0072] S103, adjusting the flight altitude to be at the same altitude as the center of curvature of the standard arc segment;

[0073] S104, constructing a surface model in response to the acquired point cloud data;

[0074] S105, generating a moving trajectory based on the surface model; and

[0075] S106, generating a new moving trajectory when the moving trajectory usage exceeds a set value;

[0076] Among them, the generation angles of multiple sets of continuous data are all different.

[0077] Specifically, in step S101, in response to the acquired multiple sets of line data, a set of continuous data in the line data is acquired, wherein the continuous data here is generated based on scanning the power transmission cable, and the rotating line scanning sensor will generate multiple sets of continuous data during the scanning process, and the generation angle of each set of continuous data is different, as shown in FIG. 2 (A) to FIG. 2 (D).

[0078] The continuous data of each set of line data can obtain an arc segment, and the lengths of these arc segments are different. In the time series of their generation, the lengths of the arc segments will change sequentially (the length increases or decreases sequentially).

[0079] Then, step S102 is executed, in which a model is constructed based on continuous data to obtain multiple arc segments and the arc segment with the shortest length is recorded as the standard arc segment. The content of the arc segment is described in step S101 and will not be repeated here.

[0080] See also Figure 3 The standard arc segment can be considered to be generated based on the cross section of the transmission cable. Then, based on the standard arc segment, the center of the cross section of the transmission cable can be obtained. Then, step S103 is executed, in which the flight altitude is adjusted to ( Figure 3 Or, more specifically, adjust the laser scanning sensor to be at the same height as the center of curvature of the standard arc segment.

[0081] At this time, the laser scanning sensor starts to scan the transmission cable. In response to the point cloud data generated by the laser scanning sensor, in step S104, a surface model is constructed based on the point cloud data. The surface model here is used to generate the movement trajectory of the drone, which is the content of step S105.

[0082] In a real scene, the drone can be seen flying along the shape of the power cable to the left or right of the power cable. During the flight, the drone will use the data generated by the rotating line scan sensor and the laser scanning sensor to continuously correct the flight trajectory.

[0083] In this process, it is important to consider the data generation speed and processing speed of the rotating line scanning sensor and the laser scanning sensor, because the rapid and large-scale acquisition and analysis of data will lead to higher energy consumption, resulting in reduced endurance of the UAV, and frequent correction of the UAV's flight trajectory will not lead to a better or more accurate three-dimensional space model, because frequent flight trajectory corrections will cause large fluctuations in the UAV's flight trajectory.

[0084] To solve this problem, this application adopts a segmented correction method. Figure 4 In the example, a flight trajectory of a drone is divided into eight segments. On the flight trajectory of the drone, the flight trajectory of the drone is corrected according to the length of each segment. In step S106, a new moving trajectory is generated when the moving trajectory usage exceeds the set value. For example, if the length of a moving trajectory is ten unit lengths, then after five to seven unit lengths are used, the next moving trajectory will be generated and the connection between the two segments will be fused.

[0085] This approach also takes into account the limited scanning range of the laser scanning sensor and the flight speed of the drone. The limited scanning range refers to the accuracy of the point cloud data acquired by the laser scanning sensor. The longer the collection distance, the greater the possibility of data distortion, and distortion will also occur. Therefore, it is necessary to limit the scanning range of the laser scanning sensor, and directly discard data beyond the scanning range.

[0086] At the same time, the data processing speed must match the flight speed of the drone. For example, before obtaining the next moving trajectory, the previous moving trajectory should not be used up or is almost used up. High-frequency correction of the moving trajectory may cause the drone to have no flight trajectory available. Therefore, it is necessary to pre-process the generation of the next moving trajectory.

[0087] In general, the point-to-point drone shooting trajectory correction method provided in this application enables the drone to generate a flight trajectory according to the shape of the object (transmission cable) during flight. The flight trajectory generation process takes into account the data acquisition and processing speed and the drone's endurance. The obtained point cloud data group also has higher continuity. In the subsequent multi-segment data fusion processing process, these point cloud data groups can be directly fused by processing the connection end data.

[0088] As a specific implementation of the point-to-point drone shooting trajectory correction method provided by the application, building a model based on continuous data includes the following steps:

[0089] S201, calculating the distances between adjacent points to obtain a plurality of distance values;

[0090] S202, screening multiple data points that reach a certain degree of aggregation according to the degree of dispersion of the distance values; and

[0091] S203, generating an arc segment according to the plurality of data points obtained by screening, where the arc segment is a part of a circle.

[0092] Steps S201 to S203 provide a method for filtering data points, specifically filtering based on the distance between adjacent points. Figure 5 , a set of line data will include some clustered points (generated based on transmission cables) and some scattered points (generated based on the environment around the transmission cables). These scattered points do not have clustering, or even if they have a certain degree of clustering, their corresponding models are not transmission cables. Please refer to Figure 6 , the data points generated based on transmission cables have a higher degree of clustering, or the number of data points located in a clustered area is greater.

[0093] It should be noted that the cross-sectional shape of the transmission cable is a circle, and the arc segment obtained based on the transmission cable should conform to the characteristics of the transmission cable, that is, the arc segment should be a part of a circle, and the circle is the cross-sectional shape of the transmission cable.

[0094] The diameter of the power transmission cable in a region is known. By comparing the radius of the circle in which the arc segment is located, the arc segment that does not meet the requirements can be excluded. In addition, the scanning distance can be used to filter these adjacent points. For example, if the distance between the drone and the power transmission cable is three meters, then the points beyond four meters can be directly discarded.

[0095] To generate arc segments, you can use the following steps:

[0096] S301, placing the screened data points between two parallel line segments;

[0097] S302, reducing the distance between the two line segments until the minimum straight-line distance between the two line segments is less than or equal to a distance threshold; all the screened data points are located between the two line segments or all the data points exceeding the allowed number are located between the two line segments; and

[0098] S303: Generate a replacement line segment, where the replacement line segment is located between two parallel line segments and the two line segments are symmetrical about the replacement line segment.

[0099] See also Figure 7 In step S301 to step S303, two parallel line segments are used to filter multiple data points obtained by the line segments, and the two parallel line segments will continuously move toward each other. In this process, the minimum straight-line distance between the two parallel line segments is also calculated to make the minimum straight-line distance between the two line segments less than or equal to the distance threshold.

[0100] The two parallel line segments can be moved in two ways: translation and rotation. Rotation can further reduce the distance between the two parallel line segments. The final judgment is based on whether all the screened data points are located between the two line segments or whether all the data points exceeding the allowed number are located between the two line segments.

[0101] When all the screened data points are located between two line segments or more than the allowed number of data points are located between two line segments, a replacement line segment is generated. The replacement line segment is located between two parallel line segments and the two line segments are symmetrical about the replacement line segment. Here, it can also be considered that the replacement line segment is obtained by fusing the two parallel line segments. The fusion method is that the two parallel line segments move towards each other until they overlap, and the moving distances of the two parallel line segments are equal.

[0102] As a specific implementation of the point-to-point drone shooting trajectory correction method provided by the application, constructing a surface model includes the following steps:

[0103] S401, calculating the distance between adjacent points to obtain a plurality of distance values, the distance values ​​including a horizontal distance value and a vertical distance value;

[0104] S402, screening multiple adjacent points that reach the aggregation degree according to the discrete degree of the distance value;

[0105] S403, using adjacent points to generate a boundary, the boundary including two long arcs with a constant distance between them and two short arcs parallel to each other; and

[0106] S404, using two long arcs to generate a moving trajectory, the shortest distance from any position on the moving trajectory to the two long arcs is equal.

[0107] In step S401 and step S402, the data points in the point cloud data are filtered in the same way using the degree of aggregation. The filtered points are considered to be located on a curved surface, the boundary of which includes two long arcs with a constant spacing and two short arcs parallel to each other, which is the content in step S403.

[0108] See also Figure 8 The process of generating a long arc is to use a longitudinal plane to intersect the curved surface to obtain two first arcs, which are the two long arcs with a constant spacing mentioned in step S403. The process of generating a short arc is to use the center of the long arc to make two rays, each of which has two intersections with the long arc and the angle between the two rays is as large as possible, and the projection of the part between the two intersections of each ray on the curved surface is the short arc.

[0109] Finally, in step S404, two long arcs are used to generate a moving trajectory, such as Fig. 9 As shown in the figure, the end of the moving track is divided into a preparation segment and a fusion segment, and the remaining part is a use segment. The next moving track is generated in the preparation segment and the two moving tracks are fused. The fusion method is that the two long arcs move towards each other until they overlap, and the moving distances of the two long arcs are equal.

[0110] See also Fig.10 and Fig.11 , after generating a new moving trajectory, continue to perform the following steps:

[0111] S501, after obtaining a new movement trajectory, obtaining the overlapping part of two adjacent movement trajectories in the time series;

[0112] S502, calculating distance values ​​at corresponding points of two overlapping parts to obtain a plurality of reference distance values; and

[0113] S503, fusing the overlapping parts of two adjacent moving trajectories according to the reference distance value;

[0114] Among them, when the average of multiple reference distance values ​​is greater than the distance allowable value, the new moving trajectory is used as the moving trajectory, such as Fig.10 As shown; when the mean of multiple reference distance values ​​is less than or equal to the distance allowance, the moving trajectory is redrawn with the starting point of the overlapping part of the previous moving trajectory and the end point of the overlapping part of the next moving trajectory in the time series as the endpoints, as shown Fig.11 shown.

[0115] The curvature radius of the redrawn moving track refers to the curvature radius of the overlapping part of the previous moving track and / or the overlapping part of the next moving track in the time series, which is specifically divided into the following cases:

[0116] 1. Use the curvature radius of the overlapping part of the previous moving trajectory as the curvature radius of two adjacent moving trajectories;

[0117] 2. Use the curvature radius of the overlapping part of the latter moving track as the curvature radius of the two adjacent moving tracks;

[0118] 3. Calculate the average of the curvature radius of the overlapping part of the previous moving trajectory and the curvature radius of the overlapping part of the next moving trajectory in the time series and use the average as the curvature radius value of the redrawn moving trajectory.

[0119] The present application also provides a point-to-point drone shooting trajectory correction device, comprising:

[0120] A first acquisition unit is used to acquire a set of continuous data in the line data in response to the acquired multiple sets of line data, wherein the generation angles of the multiple sets of continuous data are all different;

[0121] A first construction unit is used to construct a model based on continuous data, obtain multiple arc segments and record the arc segment with the shortest length as a standard arc segment;

[0122] An altitude adjustment unit, used for adjusting the flight altitude to be at the same altitude as the center of curvature of the standard arc segment;

[0123] A second construction unit, configured to construct a surface model in response to the acquired point cloud data;

[0124] A first trajectory generating unit, configured to generate a moving trajectory based on a surface model; and

[0125] The second trajectory generating unit is used to generate a new movement trajectory when the movement trajectory usage exceeds a set value.

[0126] Furthermore, it also includes:

[0127] A first calculation unit, used to calculate the distance between adjacent points to obtain a plurality of distance values;

[0128] A first screening unit is used to screen a plurality of data points reaching a degree of aggregation according to a discrete degree of distance values; and

[0129] The third trajectory generating unit is used to generate an arc segment according to the plurality of data points obtained by screening, where the arc segment is a part of a circle.

[0130] Furthermore, it also includes:

[0131] A first processing unit is used to place the multiple data points obtained by screening between two parallel line segments;

[0132] The second processing unit is used to reduce the distance between the two line segments until the minimum straight-line distance between the two line segments is less than or equal to a distance threshold; all the multiple data points obtained by screening are located between the two line segments or all the multiple data points exceeding the allowed number are located between the two line segments; and

[0133] The fourth trajectory generating unit is used to generate a replacement line segment, where the replacement line segment is located between two mutually parallel line segments and the two line segments are symmetrical about the replacement line segment.

[0134] Furthermore, it also includes:

[0135] A second calculation unit is used to calculate the distance between adjacent points to obtain a plurality of distance values, wherein the distance values ​​include a horizontal distance value and a vertical distance value;

[0136] A second screening unit is used to screen a plurality of adjacent points that reach a certain degree of aggregation according to a discrete degree of distance values;

[0137] a third processing unit, configured to generate a boundary using adjacent points, the boundary comprising two long arcs with a constant spacing and two short arcs parallel to each other; and

[0138] The fourth processing unit is used to generate a moving trajectory using the two long arcs, and the shortest distances from any position on the moving trajectory to the two long arcs are equal.

[0139] Furthermore, it also includes:

[0140] A second acquisition unit is used to obtain the overlapped part of two adjacent movement trajectories in the time series after obtaining the new movement trajectory;

[0141] A third calculation unit, configured to calculate distance values ​​at corresponding points of two overlapping parts to obtain a plurality of reference distance values; and

[0142] a fifth trajectory generating unit, configured to fuse overlapping portions of two adjacent moving trajectories according to a reference distance value;

[0143] Among them, when the average of multiple reference distance values ​​is greater than the allowed distance value, the new moving trajectory is used as the moving trajectory; when the average of multiple reference distance values ​​is less than or equal to the allowed distance value, the moving trajectory is redrawn with the starting point of the overlapping part of the previous moving trajectory and the end point of the overlapping part of the next moving trajectory in the time series as endpoints.

[0144] Further, the curvature radius of the redrawn movement trajectory refers to the curvature radius of the overlapped portion of the previous movement trajectory and / or the overlapped portion of the next movement trajectory in the time series.

[0145] Furthermore, the average value of the curvature radius of the overlapping portion of the previous moving trajectory and the curvature radius of the overlapping portion of the next moving trajectory in the time series is calculated and the average value is used as the curvature radius value of the redrawn moving trajectory.

[0146] In one example, the unit in any of the above devices can be one or more integrated circuits configured to implement the above methods, such as: one or more application specific integrated circuits (ASICs), or, one or more digital signal processors (DSPs), or, one or more field programmable gate arrays (FPGAs), or a combination of at least two of these integrated circuit forms.

[0147] For another example, when the units in the device can be implemented in the form of a processing element scheduling program, the processing element can be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call a program. For another example, these units can be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0148] Various objects such as various messages / information / equipment / network elements / systems / devices / actions / operations / processes / concepts that may appear in this application are named. It can be understood that these specific names do not constitute a limitation on the relevant objects. The names assigned may change with factors such as scenarios, contexts or usage habits. The understanding of the technical meaning of the technical terms in this application should be mainly determined from the functions and technical effects embodied / executed in the technical scheme.

[0149] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0150] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0151] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0152] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0153] It should also be understood that in various embodiments of the present application, the first, second, etc. are only used to indicate that multiple objects are different. For example, the first time window and the second time window are only used to indicate different time windows. They should not have any impact on the time window itself, and the first, second, etc. mentioned above should not impose any limitations on the embodiments of the present application.

[0154] It should also be understood that in the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form new embodiments according to their internal logical relationships.

[0155] If the functions are implemented in the form of software functional units 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 application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a computer-readable 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 application. The aforementioned computer-readable storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0156] The present application also provides a computer program product, which includes instructions. When the instructions are executed, the trajectory correction device performs operations corresponding to the trajectory correction device of the above method.

[0157] The present application also provides a point-to-point drone shooting trajectory correction system, the system comprising:

[0158] one or more memories for storing instructions; and

[0159] One or more processors are used to call and run the instructions from the memory to execute the method as described above.

[0160] The present application also provides a chip system, which includes a processor for implementing the functions involved in the above content, such as generating, receiving, sending, or processing the data and / or information involved in the above method.

[0161] The chip system may be composed of chips, or may include chips and other discrete devices.

[0162] The processor mentioned in any of the above places can be a CPU, a microprocessor, an ASIC, or one or more integrated circuits for executing programs for controlling the above-mentioned feedback information transmission method.

[0163] In a possible design, the chip system also includes a memory, which is used to store necessary program instructions and data. The processor and the memory can be decoupled and respectively set on different devices, connected by wire or wireless means to support the chip system to implement various functions in the above embodiments. Alternatively, the processor and the memory can also be coupled on the same device.

[0164] Optionally, the computer instructions are stored in a memory.

[0165] Optionally, the memory is a storage unit within the chip, such as a register, a cache, etc. The memory can also be a storage unit within the terminal located outside the chip, such as a ROM or other types of static storage devices that can store static information and instructions, RAM, etc.

[0166] It can be understood that the memory in the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories.

[0167] The non-volatile memory may be a ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), or a flash memory.

[0168] The volatile memory may be a RAM, which is used as an external cache. There are many different types of RAM, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct memory bus RAM.

[0169] The embodiments of this specific implementation method are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Therefore, all equivalent changes made based on the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A point-to-point drone shooting trajectory correction method, characterized in that: include: In response to the acquired multiple sets of line data, a set of continuous data in the line data is acquired, and the line data is obtained by scanning the transmission cable using a rotating line scanning sensor; A model is constructed based on continuous data to obtain multiple arc segments and the arc segment with the shortest length is recorded as a standard arc segment; Adjust the flight altitude to the same altitude as the center of curvature of the standard arc segment; In response to the acquired point cloud data, a surface model of the power transmission cable is constructed, and the power transmission cable is scanned using a laser scanning sensor to obtain point cloud data; Generate movement trajectory based on surface model; as well as Generate a new moving track when the moving track usage exceeds the set value; Among them, the generation angles of multiple sets of continuous data are all different.

2. The point-to-point UAV shooting trajectory correction method according to claim 1 is characterized in that: Building models based on continuous data includes: Calculate the distance between adjacent points and obtain multiple distance values; Filter multiple data points that reach a certain degree of aggregation according to the degree of dispersion of the distance values; and An arc segment is generated according to the multiple data points obtained by screening, and the arc segment is a part of a circle.

3. The point-to-point drone shooting trajectory correction method according to claim 2 is characterized in that: Also includes: Place the multiple data points obtained by screening between two parallel line segments; The distance between the two line segments is reduced until the minimum straight-line distance between the two line segments is less than or equal to the distance threshold; all the multiple data points obtained by screening are located between the two line segments or all the multiple data points exceeding the allowed number are located between the two line segments; and A substitute line segment is generated, where the substitute line segment is located between two mutually parallel line segments and the two line segments are symmetrical about the substitute line segment.

4. The point-to-point UAV shooting trajectory correction method according to any one of claims 1 to 3, characterized in that: Building a surface model includes: Calculate the distance between adjacent points to obtain multiple distance values, including horizontal distance values ​​and vertical distance values; According to the discrete degree of distance value, multiple adjacent points that reach the aggregation degree are selected; Using adjacent points to generate a boundary, the boundary consists of two long arcs with a constant distance between them and two short arcs that are parallel to each other; and The moving trajectory is generated using two long arcs, and the shortest distance from any position on the moving trajectory to the two long arcs is equal.

5. The point-to-point UAV shooting trajectory correction method according to claim 4 is characterized in that: After generating a new moving trajectory, it also includes: After obtaining the new moving trajectory, the overlapping part of two adjacent moving trajectories in the time series is obtained; Calculating distance values ​​at corresponding points of two overlapping parts to obtain multiple reference distance values; and The overlapping parts of two adjacent moving trajectories are fused according to the reference distance value; Among them, when the average of multiple reference distance values ​​is greater than the allowed distance value, the new moving trajectory is used as the moving trajectory; when the average of multiple reference distance values ​​is less than or equal to the allowed distance value, the moving trajectory is redrawn with the starting point of the overlapping part of the previous moving trajectory and the end point of the overlapping part of the next moving trajectory in the time series as endpoints.

6. The point-to-point UAV shooting trajectory correction method according to claim 5 is characterized in that: The curvature radius of the redrawn movement trajectory refers to the curvature radius of the overlapped portion of the previous movement trajectory and / or the overlapped portion of the next movement trajectory in the time series.

7. The point-to-point UAV shooting trajectory correction method according to claim 5 is characterized in that: The average value of the curvature radius of the overlapping portion of the previous moving trajectory and the curvature radius of the overlapping portion of the next moving trajectory in the time series is calculated and the average value is used as the curvature radius value of the redrawn moving trajectory.

8. A point-to-point drone shooting trajectory correction device, characterized in that: include: A first acquisition unit is used to acquire a set of continuous data in the line data in response to the acquired multiple sets of line data, wherein the multiple sets of continuous data are generated at different angles, and the line data is obtained by scanning the power transmission cable using a rotating line scanning sensor; In response to the acquired multiple sets of line data, a set of continuous data in the line data is acquired, A first construction unit is used to construct a model based on continuous data, obtain multiple arc segments and record the arc segment with the shortest length as a standard arc segment; An altitude adjustment unit, used for adjusting the flight altitude to be at the same altitude as the center of curvature of the standard arc segment; A second construction unit is used to construct a surface model of the power transmission cable in response to the acquired point cloud data, and to scan the power transmission cable using a laser scanning sensor to obtain the point cloud data; A first trajectory generating unit, used for generating a moving trajectory based on a surface model; as well as The second trajectory generating unit is used to generate a new movement trajectory when the movement trajectory usage exceeds a set value.

9. A point-to-point drone shooting trajectory correction system, characterized in that: The system comprises: one or more memories for storing instructions; and One or more processors, configured to call and execute the instructions from the memory to perform the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer readable storage medium comprises: The program, when the program is executed by a processor, the method according to any one of claims 1 to 7 is executed.

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