Method, device, equipment and storage medium for generating route of unmanned aerial vehicle

Abstract

The present invention discloses a method, device, equipment and storage medium for generating a route of an unmanned aerial vehicle. The method comprises: dividing the point cloud data of a transmission line based on the angle information of each tower to obtain the point cloud data of each tower, determining the type of each tower according to the point cloud quantity of the drainage line point cloud data of each tower and the insulator point cloud data of each tower; calculating the component points of each tower according to the type of each tower, the drainage line point cloud data of each tower and the insulator point cloud data, and determining the connection order of the component points of each tower based on the minimum path principle; generating the photographing points of each tower on both sides of each tower according to the preset photographing distance, the component points of each tower and the angle information, and generating the auxiliary points of each tower on both sides of each tower according to the preset auxiliary distance, the component points of each tower and the angle information; connecting the component points, photographing points and auxiliary points of each tower based on the connection order of the component points of each tower to obtain the route of the unmanned aerial vehicle.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of unmanned aerial vehicles, and in particular to a method, device, equipment and storage medium for generating a route of an unmanned aerial vehicle. Background Art

[0002] In the field of power inspection, as the scale of the power grid continues to expand, the number of transmission towers has increased dramatically, and they are widely distributed in complex and changeable geographical environments such as mountains, jungles, rivers, and densely populated urban areas. In view of these complex conditions, drones have gradually become an ideal choice for power inspection due to their unique advantages of strong maneuverability, low-altitude flight, and freedom from terrain restrictions.

[0003] However, existing methods for generating drone routes mainly rely on manual work to determine the drone's photo points and the parts that need to be inspected in detail. This method is not only inefficient and difficult to meet the needs of large-scale inspections, but also due to the complex and changeable geographical environment, manually planned routes often cannot ensure the safety of drones during flight.

[0004] Therefore, it is urgent to propose a new method to solve the above problems. Summary of the invention

[0005] The present invention provides a method, device, equipment and storage medium for generating a route of an unmanned aerial vehicle, which can improve the efficiency of route determination while ensuring the safety of the unmanned aerial vehicle during flight.

[0006] In a first aspect, an embodiment of the present invention provides a method for generating a route of a drone, comprising:

[0007] The point cloud data of the transmission line is divided based on the angle information of each tower to obtain the point cloud data of each tower, and the point cloud data of each tower includes the point cloud data of the drainage line and the point cloud data of the insulator;

[0008] Determine the type of each tower according to the point cloud quantity of the flow line point cloud data of each tower and the insulator point cloud data of each tower;

[0009] According to the type of each tower, the flow line point cloud data of each tower and the insulator point cloud data, the component points of each tower are calculated, and the connection order of the component points of each tower is determined based on the minimum path principle;

[0010] Generate photographic points of each tower on both sides of each tower according to a preset photographing distance, component points of each tower and angle information, and generate auxiliary points of each tower on both sides of each tower according to a preset auxiliary distance, component points of each tower and angle information;

[0011] Based on the connection sequence of the component points of each tower, the component points, photo points and auxiliary points of each tower are connected to obtain the route of the drone.

[0012] In a second aspect, an embodiment of the present invention further provides a route generation device for a drone, the device comprising:

[0013] A division module is used to divide the point cloud data of the transmission line based on the angle information of each tower to obtain the point cloud data of each tower, and the point cloud data of each tower includes the point cloud data of the drainage line and the point cloud data of the insulator;

[0014] A type determination module, used to determine the type of each tower according to the point cloud quantity of the flow line point cloud data of each tower and the insulator point cloud data of each tower;

[0015] A calculation module, used to calculate the component points of each tower according to the type of each tower, the drainage line point cloud data of each tower and the insulator point cloud data, and determine the connection order of the component points of each tower based on the minimum path principle;

[0016] A generation module, used to generate a photo point of each tower on both sides of each tower according to a preset photo distance, component points of each tower and angle information, and to generate an auxiliary point of each tower on both sides of each tower according to a preset auxiliary distance, component points of each tower and angle information;

[0017] The route determination module is used to connect the component points, photographing points and auxiliary points of each tower based on the connection order of the component points of each tower to obtain the route of the drone.

[0018] In a third aspect, an embodiment of the present invention further provides an electronic device, the electronic device comprising:

[0019] at least one processor; and a memory communicatively coupled to the at least one processor;

[0020] The memory stores a computer program that can be executed by at least one processor, and the computer program is executed by at least one processor so that the at least one processor can implement any of the UAV route generation methods in the first aspect.

[0021] In a fourth aspect, an embodiment of the present invention further provides a storage medium including computer executable instructions,

[0022] When the computer executable instructions are executed by a computer processor, they implement any of the methods for generating routes for a drone in the first aspect.

[0023] It should be noted that the above-mentioned computer instructions may be stored in whole or in part on a computer-readable storage medium. The computer-readable storage medium may be packaged together with the processor of the drone's route generation device, or may be packaged separately from the processor of the drone's route generation device, and this application does not limit this.

[0024] The description of the second, third and fourth aspects in this application can refer to the detailed description of the first aspect; and the beneficial effects of the description of the second, third and fourth aspects can refer to the beneficial effect analysis of the first aspect, which will not be repeated here.

[0025] In this application, the name of the above-mentioned drone route generation device does not limit the device or functional module itself. In actual implementation, these devices or functional modules may appear with other names. As long as the functions of each device or functional module are similar to those of this application, they fall within the scope of the claims of this application and their equivalent technologies.

[0026] These and other aspects of the present application will become more apparent from the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0028] Figure 1a A flowchart of a method for generating a route for a drone provided by an embodiment of the present invention;

[0029] Figure 1b An example diagram of component points of a current tower provided by an embodiment of the present invention;

[0030] Figure 2a A flow chart of another method for generating a route for a drone provided by an embodiment of the present invention;

[0031] Figure 2b An example diagram of a drone route of a current tower provided by an embodiment of the present invention;

[0032] Figure 3 A schematic diagram of the structure of a route generating device for a drone provided by an embodiment of the present invention;

[0033] Figure 4 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0034] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0035] The term "and / or" in this article is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0036] The terms "first" and "second" and the like in the specification and drawings of this application are used to distinguish different objects, or to distinguish different processing of the same object, rather than to describe a specific order of objects.

[0037] In addition, the terms "including" and "having" and any variations thereof mentioned in the description of the present application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include other steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices.

[0038] Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow charts describe the operations (or steps) as sequential processes, many of the operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but it can also have additional steps not included in the accompanying drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc. In addition, the embodiments in the present invention and the features in the embodiments can be combined with each other without conflict.

[0039] It should be noted that, in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0040] In the description of the present application, unless otherwise specified, “plurality” means two or more.

[0041] Figure 1a The flowchart of a method for generating a route for a drone provided in an embodiment of the present invention is applicable to situations where a route for a drone to inspect a power transmission line needs to be generated. The method can be executed by a drone route generation device, which can be implemented in hardware / software. The device can be integrated into an electronic device, such as a computer, and the embodiment of the present invention does not limit this. Figure 1a As shown, the specific steps include:

[0042] Step 110: divide the point cloud data of the transmission line based on the angle information of each tower to obtain the point cloud data of each tower.

[0043] Specifically, the point cloud data of each tower includes the point cloud data of the flow line and the point cloud data of the insulator. The tower refers to the supporting structure used to support the transmission line in the overhead transmission line. The angle information refers to the angle formed by connecting the current tower with the previous tower and the next tower of the current tower respectively. The point cloud data of the transmission line refers to the set of a large number of discrete points obtained by scanning the transmission line (such as the tower, flow line and insulator) in three-dimensional space by measuring equipment (such as laser radar). The flow line refers to the part connecting the tower and the transmission line, which is used to guide the current to the appropriate position. The flow line point cloud data refers to the point cloud data of the flow line part obtained by the measuring equipment. The insulator is a component installed on the tower to support or suspend the wire and insulate the wire from the tower. The insulator point cloud data refers to the set of points obtained after three-dimensional scanning of the insulator. The transmission line refers to a wire system supported and connected by multiple towers, which is used to transmit electricity from a power plant or substation to the user end.

[0044] In a specific implementation, after obtaining the point cloud data of the transmission line, for the current tower, the angle information of the current tower can be determined according to the coordinate information of the x-axis and y-axis of the current tower, the coordinate information of the x-axis and y-axis of the tower before the current tower, and the coordinate information of the x-axis and y-axis of the tower after the current tower. Then, the angle bisector of the current tower is determined according to the angle information of the current tower. Then, the position of the current tower is determined as the midpoint of the angle bisector, and the two vertices of the angle bisector are determined according to the length of the preset angle bisector. Then, the two vertices of the angle bisector, the tower before the current tower, and the tower after the current tower are connected to obtain the divided area of ​​the current tower. Finally, the point cloud data of the transmission line with the coordinate information of the x-axis and y-axis in the divided area of ​​the current tower is determined as the point cloud data of the current tower.

[0045] Step 120: Determine the type of each tower according to the point cloud quantity of the flow line point cloud data of each tower and the insulator point cloud data of each tower.

[0046] Specifically, types of pole towers include straight towers and tension towers.

[0047] In the specific implementation, for the current tower, the number of point clouds of the flow line point cloud data of the current tower can be counted first, and then it is determined whether the number of point clouds of the flow line point cloud data of the current tower exceeds the preset number of point clouds. If it exceeds, the type of the current tower is determined to be a tension tower. If it does not exceed, the insulator point cloud data of the current tower is input into the pre-selected and trained judgment model to obtain the type of the current tower.

[0048] It should be noted that the pre-selected trained judgment model is obtained by training the deep learning model using the historical insulator point cloud data of each tower and the corresponding tower type.

[0049] Step 130: Calculate the component points of each tower according to the type of each tower, the flow line point cloud data of each tower, and the insulator point cloud data, and determine the connection sequence of the component points of each tower based on the minimum path principle.

[0050] Specifically, component points refer to the key points of each component of the tower (such as crossarms, conductors, ground wires and insulators) in three-dimensional space. Component points include crossarm hanging points, insulator hanging points, ground wire hanging points and conductor hanging points. The point cloud data of each tower also includes tower category point cloud data, conductor point cloud data and ground wire point cloud data.

[0051] In the specific implementation, for the current pole tower, you can first select a suitable clustering method (such as distance-based clustering, density-based clustering, grid-based clustering or graph-based clustering) according to the actual situation to cluster the insulator point cloud data of the current pole tower, obtain various types of insulator point cloud data, determine the centroid or geometric center of various types of insulator point cloud data as the center point of various types of insulator point cloud data, and then determine the center point of various types of insulator point cloud data as the insulator hanging point of the current pole tower. Then, based on the actual situation, select a suitable clustering method to cluster the ground wire point cloud data of the current pole tower to obtain various types of ground wire point cloud data; for the current ground wire point cloud data, the current ground wire point cloud data is filtered based on the distance from each point in the current ground wire point cloud data to the current pole tower to obtain the target ground wire point cloud data of the current ground wire point cloud data, and the ground wire hanging point of the current pole tower is determined according to the mean of the horizontal position information and height information of the target ground wire point cloud data. Then determine the type of the current pole tower. If the type of the current pole tower is a straight tower, then for the current insulator point cloud data, determine the pole tower category point cloud data whose height information is greater than the height information of the current center point of the current insulator point cloud data as the middle cross arm point cloud data of the current insulator point cloud data. Filter the middle cross arm point cloud data based on the distance between the current center point and each point in the middle cross arm point cloud data to obtain the target cross arm point cloud data of the current insulator point cloud data. Determine the cross arm hanging point of the current pole tower based on the mean of the horizontal position information and height information of the target cross arm point cloud data. Determine the conductor point cloud data whose height information is less than the height information of the current center point as the middle conductor point cloud data of the current insulator point cloud data. Filter the middle conductor point cloud data based on the distance between the current center point and each point in the middle conductor point cloud data to obtain the target conductor point cloud data of the current insulator point cloud data. Determine the conductor hanging point of the current pole tower based on the mean of the horizontal position information and height information of the target conductor point cloud data. If the current tower is a tension tower, the elevation difference of each type of insulator point cloud data is determined according to the height information of each type of insulator point cloud data; the minimum bounding box of each type of insulator point cloud data is determined according to the horizontal position information of each type of insulator point cloud data, and the long side length of the minimum bounding box of each type of insulator point cloud data is determined; the type of each type of insulator point cloud data is determined according to the elevation difference of each type of insulator point cloud data and the long side length of the minimum bounding box; the component points of the current tower are determined according to the type of each type of insulator point cloud data, the tower type point cloud data of the current tower, and the conductor point cloud data. For example: Figure 1b As shown, an example diagram of the component points of the current tower is given, and the points in the diagram are component points.

[0052] After the component points of the current pole tower are obtained, the connection order of the component points of the current pole tower can be determined based on the minimum path principle. Specifically, the division area of ​​the component points of the current pole tower can be determined according to the coordinate information of the division area of ​​the current pole tower and the coordinate information of the x-axis and y-axis of the component points of the current pole tower, and the division area includes the left area (the area formed by connecting the vertex of the angle bisector of the current pole tower to the left side of the direction of the next pole tower and the position point of the current pole tower with the position point of the previous pole tower of the current pole tower and the position point of the next pole tower of the current pole tower), the right area (the area formed by connecting the vertex of the angle bisector of the current pole tower to the right side of the direction of the next pole tower and the position point of the current pole tower with the position point of the previous pole tower of the current pole tower and the position point of the next pole tower of the current pole tower), the small area (the area formed by connecting the two vertices of the angle bisector with the position point of the previous pole tower of the current pole tower and the position point of the current pole tower) and the large area (the area formed by connecting the two vertices of the angle bisector with the position point of the next pole tower of the current pole tower and the position point of the current pole tower). The component point with the smallest height information in the area divided into the left area and the small area is determined as the left starting point of the current pole tower, the distance between the left starting point and the component point divided into the left area is calculated, and the component point corresponding to the smallest distance is determined as the point connected to the left starting point, then the distance between the newly determined connection point and the remaining component points divided into the left area is calculated again, and the component point corresponding to the smallest distance is determined as the point connected to the connection point, and so on, until the connection order of all component points in the left area is determined. Then the component point with the largest height information in the area divided into the right area and the large area is determined as the right starting point of the current pole tower, the distance between the right starting point and the component point divided into the right area is calculated, and the component point corresponding to the smallest distance is determined as the point connected to the right starting point, and then the distance between the newly determined connection point and the remaining component points divided into the right area is calculated, and the component point corresponding to the smallest distance is determined as the point connected to the connection point, and so on, until the connection order of all component points in the right area is determined. Finally, based on the principle of flying from left to right, the connection sequence of the component points of the current tower is determined according to the connection sequence of the component points in the left area and the connection sequence of the component points in the right area.

[0053] Step 140: generating photographing points of each tower on both sides of each tower according to a preset photographing distance, component points of each tower and angle information, and generating auxiliary points of each tower on both sides of each tower according to a preset auxiliary distance, component points of each tower and angle information.

[0054] Specifically, the preset photographing distance refers to the distance between a component point and its corresponding photographing point that is preset according to actual conditions or needs, for example, the preset photographing distance may be 3 meters. The preset auxiliary distance refers to the distance between a component point and its corresponding auxiliary point that is preset according to actual conditions or needs. The preset auxiliary distance is greater than the preset photographing distance. The photographing point refers to the location point used by the drone to photograph the tower and its components during flight. The auxiliary point refers to the location point used to provide additional support or reference in the drone route planning.

[0055] In the specific implementation, for the current tower, after obtaining the component points of the current tower and the connection order of the component points of the current tower, first determine the angle bisector of the current tower according to the angle information of the current tower, and then determine the left end point and the right end point of the current tower according to the connection order of the component points of the current tower.

[0056] Then, for the component points located in the left area, the preset photographing distance is moved along the direction from the current tower to the vertex of the current tower angle bisector in the left area to obtain the photographing point of the component points in the left area. Similarly, for the component points located in the right area, the preset photographing distance is moved along the direction from the current tower to the vertex of the current tower angle bisector in the right area to obtain the photographing point of the component points in the right area. At the same time, for the left starting point, the preset auxiliary distance can be moved along the direction from the current tower to the vertex of the current tower angle bisector in the left area to obtain the auxiliary point of the left starting point. For the left end point, the preset auxiliary distance is moved along the direction from the current tower to the vertex of the current tower angle bisector in the left area to obtain the auxiliary point of the left end point. For the right starting point, the preset auxiliary distance is moved along the direction from the current tower to the vertex of the current tower angle bisector in the right area to obtain the auxiliary point of the right starting point. For the right end point, the preset auxiliary distance is moved along the direction from the current tower to the vertex of the current tower angle bisector in the right area to obtain the auxiliary point of the right end point.

[0057] It should be noted that, no matter it is a photographing point or an auxiliary point, their z-axis coordinate values ​​are consistent with the z-axis coordinate values ​​of their corresponding component points, and only the x-axis and y-axis coordinate values ​​change.

[0058] Step 150: Connect the component points, photographing points and auxiliary points of each tower based on the connection sequence of the component points of each tower to obtain the route of the drone.

[0059] Specifically, a drone's route refers to the path that the drone flies when performing a mission.

[0060] Exemplarily, if the pole tower includes 1 pole tower and 2 pole towers, the component points of 1 pole tower are A, B, C, D, E and F, the photo point corresponding to component point A is a, the photo point corresponding to component point B is b, the photo point corresponding to component point C is c, the photo point corresponding to component point D is d, the photo point corresponding to component point E is e, and the photo point corresponding to component point F is f. The left starting point of 1 pole tower is A, the left end point of 1 pole tower is C, the right starting point of 1 pole tower is D, and the right end point of 1 pole tower is F. The connection order of the component points of 1 pole tower is A, B, C, D, E and F. The auxiliary point of the left starting point of 1 pole tower is z1, the auxiliary point of the left end point of 1 pole tower is z2, the auxiliary point of the right starting point of 1 pole tower is z3, and the auxiliary point of the right end point of 1 pole tower is z4; the component points of 2 pole towers are G, H, I, J, K and L, the photo point corresponding to component point G is g, and the photo point corresponding to component point H is The corresponding photo point is h, the photo point corresponding to component point I is i, the photo point corresponding to component point J is j, the photo point corresponding to component point K is k, and the photo point corresponding to component point L is l. The left starting point of the 2 towers is G, the left end point of the 2 towers is I, the right starting point of the 2 towers is J, and the right end point of the 2 towers is L. The connection order of the component points of the 2 towers is G, H, I, J, K and L. The auxiliary point of the left starting point of the 2 towers is y1, the auxiliary point of the left end point of the 2 towers is y2, the auxiliary point of the right starting point of the 2 towers is y3, and the auxiliary point of the right end point of the 2 towers is y4. The drone flies to tower 1 first and then to tower 2. The route of the drone is A→z1→a→B→b→c→z2→C→D→z3→d→E→e→f→z4→F→G→y1→g→H→h→i→y2→I→J→y3→j→K→k→l→y4→L.

[0061] In the embodiment of the present invention, firstly, the point cloud data of the transmission line is divided more accurately by using the angle information of each tower, so as to obtain the point cloud data of each tower with better data quality, which effectively reduces the risk of data confusion and misjudgment. Then, the type of each tower is determined according to the point cloud quantity of the drainage line point cloud data of each tower and the insulator point cloud data of each tower, which provides a data basis for the subsequent calculation of the component points of each tower. Then, according to the type of each tower, the drainage line point cloud data of each tower and the insulator point cloud data, the component points of each tower are calculated, and the connection order of the component points of each tower is determined based on the minimum path principle, which not only improves the accuracy of the determination of the component points of each tower, but also provides a data basis for the subsequent determination of the route of the drone, and ensures that the route of the drone can be arranged according to the minimum path on both the left and right sides of the tower, and strictly avoids crossing the tower, thereby further optimizing the efficiency of the inspection operation and improving the safety of the inspection. Then, according to the preset shooting distance, the component points and angle information of each tower, the shooting points of each tower are generated on both sides of each tower, which not only improves the efficiency and accuracy of determining the shooting points, but also ensures that the shooting points can be set closely around each key component of the tower (such as crossarms, hanging points and insulators, etc.), so as to achieve all-round and complete shooting of the tower, which helps to fully grasp the actual situation of each component of the tower and ensure that no potential hidden dangers are missed, thereby improving the integrity and accuracy of the transmission line status monitoring. According to the preset auxiliary distance, the component points and angle information of each tower, the auxiliary points of each tower are generated on both sides of each tower, which can help drones enter and leave the tower more smoothly, and the auxiliary points can be used as a reference for planning drone routes, helping to plan more reasonable drone routes, thereby improving the inspection efficiency and stability of drones. Finally, based on the connection order of the component points of each tower, the component points, photographing points and auxiliary points of each tower are connected to obtain the route of the UAV. This not only realizes the automatic determination of the UAV route and improves the efficiency of determining the UAV route, but also improves the precision and accuracy of the determined UAV route, ensuring the safety of the UAV during flight, and solving the problems of low efficiency and difficulty in ensuring the safety of the UAV during flight in the existing technology.

[0062] Figure 2a A flowchart of another method for generating a route for a drone provided in an embodiment of the present invention. This embodiment is specific based on the above embodiment. In this embodiment, the method may also include:

[0063] Step 210: divide the point cloud data of the transmission line based on the angle information of each tower to obtain the point cloud data of each tower.

[0064] Specifically, the point cloud data of each tower includes flow line point cloud data and insulator point cloud data.

[0065] Further, step 210 may specifically include: for the current tower, determining the angle information of the current tower according to the horizontal position information of the current tower, the horizontal position information of the tower before the current tower, and the horizontal position information of the tower after the current tower; determining the division area of ​​the current tower according to the angle information of the current tower and a preset division distance; and determining the point cloud data of the transmission line with the horizontal position information in the division area of ​​the current tower as the point cloud data of the current tower.

[0066] Specifically, the horizontal position information refers to the coordinate information of the x-axis and the y-axis. The preset division distance refers to the distance set in advance according to the actual situation or demand to determine the size of the division area of ​​the current tower. The division area refers to a specific area determined according to the angle information of the current tower and the preset division distance. This area is used to distinguish which transmission line point cloud data belongs to the point cloud data of the current tower.

[0067] In a specific implementation, a vector starting from the current tower and ending at the previous tower is determined based on the coordinate information of the x-axis and y-axis of the current tower and the coordinate information of the x-axis and y-axis of the previous tower of the current tower, i.e., the first vector. A vector starting from the current tower and ending at the next tower is determined based on the coordinate information of the x-axis and y-axis of the current tower and the coordinate information of the x-axis and y-axis of the next tower of the current tower, i.e., the second vector. Then, the angle between the two vectors, that is, the angle information of the current tower, is determined using a vector angle calculation formula (such as a dot product formula or a cross product formula). Then, the angle bisector of the current tower is determined based on the angle information of the current tower. Then, the current tower location is determined as the midpoint of the angle bisector, and the two vertices of the angle bisector are determined based on the preset length of the angle bisector. Then, the two vertices of the angle bisector, the previous tower of the current tower, and the next tower of the current tower are connected to obtain the divided area of ​​the current tower. Finally, the point cloud data of the transmission line of the x-axis and y-axis coordinate information in the divided area of ​​the current tower is determined as the point cloud data of the current tower.

[0068] In this embodiment, through the above steps, the accuracy and precision of the point cloud data of each tower are improved.

[0069] Step 211: for the current tower, determine whether the point cloud quantity of the flow line point cloud data of the current tower is greater than a preset point cloud quantity.

[0070] If it is greater, execute step 212; if it is not greater, execute step 213.

[0071] Specifically, the preset number of point clouds refers to the number of point clouds used to determine the type of tower that is set in advance according to actual conditions (such as design standards for flow lines of different types of towers) or needs.

[0072] In a specific implementation, the number of point clouds of the drainage line point cloud data of the current tower can be obtained by traversing the data structure storing the drainage line point cloud data and using a counter to count the number of points contained therein. Then, it is determined whether the number of point clouds of the drainage line point cloud data of the current tower is greater than the preset number of point clouds. If it is greater, the current tower is determined to be a tension tower. If it is not greater, the insulator point cloud data of the current tower is clustered based on the first preset clustering distance to obtain various types of insulator point cloud data, and the center point of each type of insulator point cloud data is determined.

[0073] Step 212: Determine whether the current tower is a tension tower.

[0074] In a specific implementation, after determining that the number of point clouds of the flow line point cloud data of the current tower is greater than a preset number of point clouds, the current tower can be directly determined to be a tension tower.

[0075] Step 213: cluster the insulator point cloud data of the current tower based on the first preset clustering distance to obtain various types of insulator point cloud data, and determine the center point of each type of insulator point cloud data.

[0076] Specifically, the first preset clustering distance refers to a distance parameter set in advance according to actual conditions or requirements, and is used to determine the "closeness" or "similarity" between insulator points in the clustering algorithm. The center point of each type of insulator point cloud data refers to a representative point of each type of insulator point cloud data, which is used to represent the overall position and characteristics of each type of insulator point cloud data.

[0077] In the specific implementation, first select a suitable clustering algorithm (such as K-means, DBSCAN or hierarchical clustering) according to actual needs, then based on the first preset clustering distance, apply the selected clustering algorithm to cluster the insulator point cloud data of the current tower to obtain various types of insulator point cloud data, and then determine the center point of each type of insulator point cloud data according to the coordinate mean of each type of insulator point cloud data. For example: if the current type of insulator point cloud data contains point A1 (x1, y1, z1), point B1 (x2, y2, z2) and point C1 (x3, y3, z3), then the center point D1 of the current type of insulator point cloud data is ((x1+x2+x3) / 3, (y1+y2+y3) / 3, (z1+z2+z3) / 3).

[0078] Step 214: determine the angle bisector of the current tower according to the angle information of the current tower.

[0079] Specifically, the angle bisector of the current pole tower refers to the bisector of the angle formed by connecting the current pole tower with the previous pole tower and the next pole tower of the current pole tower respectively, with the current pole tower as the center point.

[0080] In the specific implementation, first determine a vector with the current tower as the starting point and the previous tower as the end point based on the coordinate information of the x-axis and y-axis of the current tower and the coordinate information of the x-axis and y-axis of the previous tower of the current tower, that is, the first vector. Determine a vector with the current tower as the starting point and the next tower as the end point based on the coordinate information of the x-axis and y-axis of the current tower and the coordinate information of the x-axis and y-axis of the next tower of the current tower, that is, the second vector. Then, use the vector angle calculation formula to determine the angle between the two vectors, that is, the angle information of the current tower. After obtaining the angle information, divide it in half to obtain the angle direction of the angle bisector, and then use the position origin of the current tower to make a ray along the angle direction of the angle bisector to obtain the angle bisector of the current tower.

[0081] Step 215: determine whether the average distance from the center point of each type of insulator point cloud data to the angle bisector of the current tower is greater than a preset distance threshold.

[0082] If it is greater, execute step 212; if it is not greater, execute step 216.

[0083] Specifically, the preset distance threshold refers to a distance threshold that is set in advance according to actual conditions (such as design requirements of the transmission line and the normal distribution range of insulators of different tower types) or needs.

[0084] In the specific implementation, first, the vertical distance from the center point of each type of insulator point cloud data to the angular bisector of the current tower is calculated to obtain the vertical distance from the insulator to the angular bisector. Then, the vertical distance from each type of insulator to the angular bisector is accumulated to obtain the total distance from the center point of each type of insulator point cloud data to the angular bisector of the current tower. Then the total distance value is divided by the number of insulator clusters to obtain the average distance from the center point of each type of insulator point cloud data to the angular bisector of the current tower. Finally, it is determined whether the average distance from the center point of each type of insulator point cloud data to the angular bisector of the current tower is greater than the preset distance threshold. If it is greater than, it means that the spatial distribution of the current insulator does not conform to the layout law of the straight tower. At this time, it can be determined that the current tower is a tension tower. If it is not greater than, it means that the spatial distribution of the current insulator conforms to the layout law of the straight tower. At this time, it can be determined that the current tower is a straight tower.

[0085] In this embodiment, through the above steps, the accuracy of subsequent determination of the current tower type is improved.

[0086] Step 216: Determine whether the current tower is a straight tower.

[0087] In a specific implementation, after determining that the average distance from the center point of each type of insulator point cloud data to the angle bisector of the current tower is not greater than a preset distance threshold, it can be determined that the current tower is a straight tower.

[0088] In this embodiment, through the above steps, the accuracy of determining whether the current pole tower is a straight tower is improved.

[0089] Step 217: cluster the ground wire point cloud data of the current tower based on the second preset clustering distance to obtain various types of ground wire point cloud data; for the current type of ground wire point cloud data, filter the current type of ground wire point cloud data based on the distance from each point in the current type of ground wire point cloud data to the current tower to obtain the target ground wire point cloud data of the current type of ground wire point cloud data, and determine the ground wire hanging point of the current tower according to the mean of the horizontal position information and height information of the target ground wire point cloud data.

[0090] Specifically, the point cloud data of each tower also includes tower category point cloud data, conductor point cloud data and ground wire point cloud data. The component points of each tower include insulator hanging points, cross arm hanging points, conductor hanging points and ground wire hanging points. The second preset clustering distance refers to a distance parameter set in advance according to actual conditions or needs, which is used to determine the similarity or distance between ground wire point cloud data in the clustering algorithm. Ground wire point cloud data refers to a set of coordinate points of the ground wire in three-dimensional space obtained by a measuring device (such as a lidar). Horizontal position information refers to the coordinate values ​​of the x-axis and y-axis. Height information refers to the coordinate value of the z-axis. The ground wire hanging point refers to the location point where the ground wire is connected to the tower. The target ground wire point cloud data refers to the point cloud data obtained by screening the current ground wire point cloud data based on the distance from each point to the current tower.

[0091] In the specific implementation, first select a suitable clustering algorithm (such as K-means, DBSCAN or hierarchical clustering) according to actual needs, and then based on the second preset clustering distance, apply the selected clustering algorithm to cluster the ground wire point cloud data of the current tower to obtain various types of ground wire point cloud data. Then, for the current ground wire point cloud data, calculate the distance between each point in the current ground wire point cloud data and the current tower position point, and then sort the obtained distance values ​​from small to large, and select the ground wire point cloud data of the preset number (such as 20) as the target ground wire point cloud data of the current ground wire point cloud data. Finally, calculate the mean of the horizontal position information and height information of the target ground wire point cloud data to obtain the ground wire hanging point of the current tower. For example: if the target ground wire point cloud data of the current ground wire point cloud data contains point A2 (x1, y1, z1), point B2 (x2, y2, z2) and point C2 (x3, y3, z3), then the ground wire hanging point D2 of the current ground wire point cloud data, that is, the ground wire hanging point D2 of the current tower is ((x1+x2+x3) / 3, (y1+y2+y3) / 3, (z1+z2+z3) / 3).

[0092] In this embodiment, through the above steps, the accuracy of determining the ground wire hanging point of the current tower is improved.

[0093] Step 218: Determine whether the type of the current tower is a straight tower.

[0094] If yes, execute step 227; if no, execute step 219.

[0095] In a specific implementation, after determining the ground wire hanging point of the current pole tower, determine whether the type of the current pole tower is a straight tower. If it is a straight tower, the center point of each type of insulator point cloud data is determined as the insulator hanging point of the current pole tower. If it is not a straight tower, that is, a tension tower, the insulator point cloud data of the current pole tower is clustered based on the first preset clustering distance to obtain various types of insulator point cloud data, and determine the center point of each type of insulator point cloud data, and determine the center point of each type of insulator point cloud data as the insulator hanging point of the current pole tower.

[0096] In this embodiment, through the above steps, a judgment basis is provided for a calculation method for determining component points of the current pole tower later, thereby improving the accuracy of the subsequent determination of component points of the current pole tower.

[0097] Step 219: cluster the insulator point cloud data of the current tower based on the first preset clustering distance to obtain various types of insulator point cloud data, determine the center point of each type of insulator point cloud data, and determine the center point of each type of insulator point cloud data as the insulator hanging point of the current tower.

[0098] Specifically, the insulator hanging point refers to the location point where the insulator is connected to the pole tower.

[0099] In the specific implementation, a suitable clustering algorithm is first selected according to actual needs, and then based on the first preset clustering distance, the selected clustering algorithm is applied to cluster the insulator point cloud data of the current tower to obtain various types of insulator point cloud data, and then the center point of each type of insulator point cloud data is determined according to the coordinate mean of each type of insulator point cloud data, and the center point of each type of insulator point cloud data is determined as the insulator hanging point of the current tower.

[0100] Step 220: Determine the elevation difference of each type of insulator point cloud data according to the height information of each type of insulator point cloud data.

[0101] Specifically, the height information of each type of insulator point cloud data refers to the z-axis coordinate value of each type of insulator point cloud data. The elevation difference refers to the difference between different points in the height (z-axis) direction within each type of insulator point cloud data. In this embodiment, the elevation difference refers to the maximum difference between different points in the height (z-axis) direction within each type of insulator point cloud data.

[0102] For example, if the height information of the current insulator-like point cloud data is 1, 6, 7, and 9, the elevation difference of the current insulator-like point cloud data is 8.

[0103] Step 221 : determining the minimum bounding box of each type of insulator point cloud data according to the horizontal position information of each type of insulator point cloud data, and determining the long side length of the minimum bounding box of each type of insulator point cloud data.

[0104] Specifically, the minimum bounding box refers to the smallest rectangle that can just enclose all the insulator point cloud data of this type. The long side length refers to the length of the longest side of the minimum bounding box.

[0105] In the specific implementation, for the current insulator-like point cloud data, first read the three-dimensional coordinates of each point from the data structure storing the current insulator-like point cloud data, then ignore the z coordinate, that is, the height information, and only retain the x and y coordinates to obtain the coordinate representation of each point on the two-dimensional plane. Then traverse the x-axis coordinate values ​​of all points in the current insulator-like point cloud data to find the minimum value X min and the maximum value X max Similarly, traverse the y-axis coordinate values ​​of all points in the current insulator point cloud data and find the minimum value Y min and the maximum value Y max Then, based on these four boundary values, a preliminary bounding box is constructed. The preliminary bounding box is (X min , Y min ) is the lower left vertex, and (X max , Y max ) is a rectangle with the upper right corner vertex. Then the covariance matrix of the current insulator point cloud data is calculated using the coordinate data of the two-dimensional plane. The specific calculation formula is as follows:

[0106]

[0107] in, , represents the average value of the x-coordinate, , represents the average value of the y coordinate, C represents the covariance matrix, and n represents the number of points in the current insulator point cloud data.

[0108] Then use a mathematical library (such as the numpy library) to perform eigenvalue decomposition on the covariance matrix to obtain two eigenvalues ​​and the corresponding two eigenvectors. Then use the obtained eigenvectors to construct a rotation matrix. The construction of the rotation matrix is: , where R represents the rotation matrix. and Represents the two eigenvectors obtained after eigenvalue decomposition of the covariance matrix. Finally, for each vertex coordinate of the preliminary bounding box, multiply it by the rotation matrix to obtain the vertex coordinates of the minimum bounding box, and then use the vertex coordinates of the minimum bounding box to construct the minimum bounding box. For example: if the coordinates of the four vertices of the preliminary bounding box are (1, 2), (1, 7), (5, 7) and (5, 2), the rotation matrix is , the coordinates of the four vertices of the minimum bounding box are (-0.7, 2.1), (-4.2, 5.6), (-1.4, 8.4) and (2.1, 4.9) respectively.

[0109] Then, the distances between adjacent vertices of the minimum bounding box are calculated to obtain the lengths of the four sides of the minimum bounding box, and the maximum value of the obtained side lengths is determined as the length of the long side of the minimum bounding box.

[0110] Step 222: Determine the type of each type of insulator point cloud data according to the elevation difference of each type of insulator point cloud data and the length of the long side of the minimum bounding box.

[0111] Specifically, the types of various insulator point cloud data include horizontal strings and vertical strings. A horizontal string refers to a string of insulators arranged horizontally, that is, the main part of the insulators extends in the horizontal direction. A vertical string refers to a string of insulators arranged vertically, that is, the main part of the insulators extends in the vertical direction.

[0112] In a specific implementation, for the current insulator-like point cloud data, if the length of the long side of the minimum bounding box of the current insulator-like point cloud data is greater than a preset multiple (such as twice) of the elevation difference of the current insulator-like point cloud data, the type of the current insulator-like point cloud data is determined to be a vertical string. If the length of the long side of the minimum bounding box of the current insulator-like point cloud data is not greater than a preset multiple (such as twice) of the elevation difference of the current insulator-like point cloud data, the type of the current insulator-like point cloud data is determined to be a horizontal string.

[0113] Step 223: for the current type of insulator point cloud data, determine whether the type of the current type of insulator point cloud data is a horizontal string.

[0114] If it is a horizontal string, execute step 224; if it is not a horizontal string, execute step 228.

[0115] In the specific implementation, for the current insulator point cloud data, determine whether the type of the current insulator point cloud data is a horizontal string. If it is a horizontal string, determine the short side of the minimum bounding box of the current insulator point cloud data, and determine the midpoint of the short side with the smallest distance from the current tower as the reference point. If it is not a horizontal string, determine the tower type point cloud data whose height information is greater than the height information of the current center point of the current insulator point cloud data as the middle cross arm point cloud data of the current insulator point cloud data, filter the middle cross arm point cloud data based on the distance between the current center point and each point in the middle cross arm point cloud data, obtain the target cross arm point cloud data of the current insulator point cloud data, and determine the cross arm hanging point of the current tower according to the average of the horizontal position information and height information of the target cross arm point cloud data.

[0116] Step 224: determine the short side of the minimum bounding box of the current insulator-like point cloud data, and determine the midpoint of the short side with the shortest distance from the current tower as the reference point.

[0117] Specifically, the reference point refers to a reference point used to determine the conductor hanging point and the crossarm hanging point.

[0118] In the specific implementation, after determining that the type of the current insulator point cloud data is a horizontal string, the minimum length of the four sides of the minimum bounding box is determined as the short side of the minimum bounding box. Then, the vertical distance from the current tower position to each short side is calculated, and the midpoint of the short side corresponding to the minimum vertical distance is determined as the reference point.

[0119] Step 225, determine the pole tower category point cloud data whose first plane information is greater than the first plane information of the reference point as the intermediate crossarm point cloud data of the current type insulator point cloud data, filter the intermediate crossarm point cloud data based on the distance between the reference point and each point in the intermediate crossarm point cloud data, obtain the target crossarm point cloud data of the current type insulator point cloud data, and determine the crossarm hanging point of the current pole tower according to the average of the horizontal position information and height information of the target crossarm point cloud data.

[0120] Specifically, the first plane information refers to the coordinate information of the x-axis. The pole tower category point cloud data refers to the point cloud data set of the pole tower. The crossarm hanging point refers to the location point on the pole tower crossarm for installing insulators and conductors. The intermediate crossarm point cloud data refers to the crossarm point cloud data filtered out according to certain conditions (such as the first plane information is greater than the first plane information of the reference point). The target crossarm point cloud data refers to the point cloud data that more accurately represents the crossarm part of the pole tower after being filtered by distance (such as the distance between the reference point and each point in the intermediate crossarm point cloud data).

[0121] In the specific implementation, for the current insulator-type point cloud data, the pole tower type point cloud data whose x-axis coordinate value is greater than the x-axis coordinate value of the reference point is determined as the middle cross arm point cloud data of the current insulator-type point cloud data, and then the distance between each point in the middle cross arm point cloud data and the reference point is calculated, and then the obtained distance values ​​are sorted from small to large, and the preset number (such as 20) of middle cross arm point cloud data is selected as the target cross arm point cloud data of the current insulator-type point cloud data. Finally, the mean of the horizontal position information and height information of the target cross arm point cloud data is calculated to obtain the cross arm hanging point of the current pole tower. For example: if the target crossarm point cloud data of the current insulator-like point cloud data contains point A3 (x1, y1, z1), point B3 (x2, y2, z2) and point C3 (x3, y3, z3), then the crossarm hanging point D3 of the current insulator-like point cloud data, that is, the crossarm hanging point D3 of the current tower is ((x1+x2+x3) / 3, (y1+y2+y3) / 3, (z1+z2+z3) / 3).

[0122] Step 226: determine the conductor point cloud data whose first plane information is smaller than the first plane information of the reference point as the intermediate conductor point cloud data of the current type insulator point cloud data; filter the intermediate conductor point cloud data based on the distance between the reference point and each point in the intermediate conductor point cloud data to obtain the target conductor point cloud data of the current type insulator point cloud data; and determine the conductor hanging point of the current pole tower according to the average of the horizontal position information and height information of the target conductor point cloud data.

[0123] Specifically, the conductor hanging point refers to the fixed position point where the conductor is connected to the tower. The intermediate conductor point cloud data refers to the conductor point cloud data that is screened out according to certain conditions (such as the first plane information is smaller than the first plane information of the reference point). The target conductor point cloud data refers to the point cloud data that is obtained after being screened by distance (such as the distance between the reference point and each point in the intermediate conductor point cloud data) and more accurately represents the conductor part of the tower.

[0124] In the specific implementation, for the current insulator-type point cloud data, the pole tower type point cloud data whose x-axis coordinate value is less than the x-axis coordinate value of the reference point is determined as the intermediate conductor point cloud data of the current insulator-type point cloud data, and then the distance between each point in the intermediate conductor point cloud data and the reference point is calculated, and then the obtained distance values ​​are sorted from small to large, and the preset number (such as 20) of intermediate conductor point cloud data is selected as the target conductor point cloud data of the current insulator-type point cloud data. Finally, the mean of the horizontal position information and height information of the target conductor point cloud data is calculated to obtain the conductor hanging point of the current pole tower.

[0125] Step 227: determine the center point of each type of insulator point cloud data as the insulator hanging point of the current tower.

[0126] Step 228, for the current type of insulator point cloud data, determine the tower category point cloud data whose height information is greater than the height information of the current center point of the current type of insulator point cloud data as the intermediate crossarm point cloud data of the current type of insulator point cloud data, filter the intermediate crossarm point cloud data based on the distance between the current center point and each point in the intermediate crossarm point cloud data, obtain the target crossarm point cloud data of the current type of insulator point cloud data, and determine the crossarm hanging point of the current tower according to the average of the horizontal position information and height information of the target crossarm point cloud data.

[0127] Specifically, the current center point refers to the center point of the current insulator-like point cloud data.

[0128] In the specific implementation, for the current insulator point cloud data, after determining that the type of the current insulator point cloud data is not a horizontal string (i.e., a vertical string) or determining that the type of the current tower is a straight tower and the center point of each type of insulator point cloud data is determined as the insulator hanging point of the current tower, the tower type point cloud data whose z-axis coordinate value is greater than the z-axis coordinate value of the current center point of the current insulator point cloud data is determined as the middle cross arm point cloud data of the current insulator point cloud data, and then calculate the distance between each point in the middle cross arm point cloud data and the current center point, and then sort the obtained distance values ​​from small to large, and select the preset number (such as 20) of middle cross arm point cloud data as the target cross arm point cloud data of the current insulator point cloud data. Finally, calculate the mean of the horizontal position information and height information of the target cross arm point cloud data to obtain the cross arm hanging point of the current tower.

[0129] Step 229, determine the conductor point cloud data whose height information is less than the height information of the current center point as the intermediate conductor point cloud data of the current type insulator point cloud data, filter the intermediate conductor point cloud data based on the distance between the current center point and each point in the intermediate conductor point cloud data, obtain the target conductor point cloud data of the current type insulator point cloud data, and determine the conductor hanging point of the current pole tower according to the average of the horizontal position information and height information of the target conductor point cloud data.

[0130] In the specific implementation, for the current insulator-type point cloud data, the pole tower type point cloud data whose z-axis coordinate value is less than the z-axis coordinate value of the current center point of the current insulator-type point cloud data is determined as the intermediate conductor point cloud data of the current insulator-type point cloud data, and then the distance between each point in the intermediate conductor point cloud data and the current center point is calculated, and then the obtained distance values ​​are sorted from small to large, and the preset number (such as 20) of intermediate conductor point cloud data is selected as the target conductor point cloud data of the current insulator-type point cloud data. Finally, the mean of the horizontal position information and height information of the target conductor point cloud data is calculated to obtain the conductor hanging point of the current pole tower.

[0131] Step 230: Determine the connection sequence of the component points of each tower based on the minimum path principle.

[0132] Step 231: generating photographing points of each tower on both sides of each tower according to a preset photographing distance, component points of each tower and angle information, and generating auxiliary points of each tower on both sides of each tower according to a preset auxiliary distance, component points of each tower and angle information.

[0133] Step 232: Connect the component points, photographing points and auxiliary points of each tower based on the connection order of the component points of each tower to obtain the route of the drone.

[0134] For example, Figure 2bAs shown, an example diagram of a drone route on the current tower is given, and the lines in the diagram are drone routes.

[0135] Furthermore, after the component points, photographing points and auxiliary points of each tower are connected based on the connection order of the component points of each tower to obtain the route of the UAV, it also includes: determining whether the distance between each point in the environmental point cloud data of each tower and the route of the UAV is greater than a preset safety distance; if not, updating the route of the UAV according to the preset moving distance.

[0136] Specifically, the environmental point cloud data of the tower refers to the set of discrete coordinate points in three-dimensional space of the tower's surrounding environment (such as terrain, vegetation, and nearby buildings) obtained through three-dimensional measurement technology (such as lidar scanning). The preset safety distance refers to a value set in advance according to actual conditions or needs to ensure the safety of drone flight. The preset moving distance refers to a pre-set distance parameter set in advance according to actual conditions or needs for updating the drone's route.

[0137] In the specific implementation, after obtaining the route of the drone, the points that constitute the route of the drone (including component points, photo points and auxiliary points) are determined as the waypoints of the drone route. For the current tower, the division area of ​​each waypoint of the current tower is determined according to the coordinate information of the division area of ​​the current tower and the coordinate information of the x-axis and y-axis of the waypoints of the drone route, and the division area includes the left area and the right area. Subsequently, for each pair of adjacent waypoints, two spherical detection bounding box ranges are constructed in space with them as the center and the preset safety distance as the radius. Then, the vertices of the two spherical detection bounding boxes are projected onto the horizontal plane (i.e., the xy plane) to obtain the projection vertices. Based on these projected vertices, the minimum bounding box of the projection vertex is determined, and then the point cloud data of the current tower and the environmental point cloud data of the coordinate information of the x-axis and y-axis in the minimum bounding box of the projection vertex are determined as the detection data of the current tower.

[0138] Next, the route between the two waypoints is determined as a waypoint segment, and the waypoint segment is discretized according to the preset interval (such as 0.1 meters) to obtain multiple discrete points, and then the distance between each discrete point and each point in the detection data of the current tower is detected to see whether it is greater than the preset safety distance. If they are all greater, the drone's route will not be updated, that is, the drone will fly according to the route determined above. If not, first determine whether the two waypoints are in the same area (such as the left area or the right area).

[0139] If the two waypoints are in the same area, the discrete point corresponding to the minimum distance between each discrete point and each point in the detection data of the current tower is determined as the detection point, and the point in the detection data corresponding to the minimum distance is determined as the hidden danger point. Then, the two waypoints are simultaneously moved in the direction of the hidden danger point pointing to the detection point by the preset moving distance (such as the distance between the hidden danger point and the detection point minus the preset safety distance plus 0.5 meters), and two new waypoints are obtained. Then, the previous detection method is used to check whether the two new waypoints meet the safety requirements (the distance between each discrete point and each point in the detection data of the current tower is greater than the preset safety distance). If satisfied, the two original waypoints are replaced with the new two waypoints, and the drone's route is updated. After that, the drone will fly according to the updated route. If not satisfied, the two waypoints continue to be moved in the direction of the hidden danger point pointing to the detection point by the preset moving distance until the safety requirements are met or the preset number of moves (such as 5 times) is reached. If the safety requirements are still not met after reaching the preset number of movements, an auxiliary point is added in the direction in which the potential danger point points to the detection point, that is, the detection point is moved in the direction in which the potential danger point points to the detection point by a preset moving distance to obtain an auxiliary point, and the auxiliary point is determined as a new waypoint. The aforementioned method is then used to detect whether the waypoint segment formed by the new waypoint and the original two waypoints meets the safety requirements. If so, the UAV's route is updated with the new waypoint, that is, the new waypoint is added between the original two waypoints; if not, the two waypoints continue to be moved in the direction in which the potential danger point points to the detection point by a preset moving distance until the safety requirements are met or the preset number of movements is reached.

[0140] If the two waypoints are not in the same area, the detection point and the potential danger point are also determined first, that is, the discrete point corresponding to the minimum distance between each discrete point and each point in the current tower detection data is the detection point, and the point in the detection data corresponding to the minimum distance is the potential danger point. Then, the two waypoints are simultaneously moved in the direction of the potential danger point pointing to the detection point by a preset multiple (such as 2 times) of the preset safety distance to obtain two horizontal auxiliary points, and then the two horizontal auxiliary points are moved along the positive direction of the z axis by a preset elevation distance (such as 1 meter) to obtain two vertical auxiliary points. These four auxiliary points are determined as new waypoints, and then the above-mentioned detection method in the same area is used to check whether the waypoint section formed by the new waypoint and the original two waypoints meets the safety requirements. If it meets the requirements, the new waypoints are used to update the route of the drone, that is, the four new waypoints are added between the original two waypoints, and the connection order of the new waypoints is determined based on the minimum path principle and the principle of ensuring that the horizontal auxiliary points are walked before the corresponding vertical auxiliary points; if it does not meet the requirements, the two waypoints are continued to be moved in the direction of the potential danger point pointing to the detection point by the preset moving distance until the safety requirements are met or the preset number of moves is reached.

[0141] In this embodiment, through the above steps, the safety of subsequent UAV flights is improved, the route adaptability is enhanced, and the flight efficiency and route accuracy are optimized.

[0142] Therefore, the technical solution of the present invention, first, uses the angle information of each tower to divide the point cloud data of the transmission line more accurately, so as to obtain the point cloud data of each tower with better data quality, effectively reducing the risk of data confusion and misjudgment. Then, for the current tower, determine whether the number of point clouds of the drainage line point cloud data of the current tower is greater than the preset number of point clouds. If it is greater, the current tower is determined to be a tension tower, which improves the efficiency of determining that the current tower is a tension tower. If it is not greater, the insulator point cloud data of the current tower is clustered based on the first preset clustering distance to obtain various types of insulator point cloud data, and determine the center point of various types of insulator point cloud data, and then determine the angle bisector of the current tower according to the angle information of the current tower, which provides a data basis for determining the type of the current tower later. Then determine whether the average distance from the center point of various types of insulator point cloud data to the angle bisector of the current tower is greater than the preset distance threshold. If it is greater, the current tower is determined to be a tension tower; if it is not greater, the current tower is determined to be a straight tower. After determining the type of the pole tower, cluster the ground wire point cloud data of the current pole tower based on the second preset clustering distance to obtain various types of ground wire point cloud data; for the current type of ground wire point cloud data, filter the current type of ground wire point cloud data based on the distance from each point in the current type of ground wire point cloud data to the current pole tower to obtain the target ground wire point cloud data of the current type of ground wire point cloud data, and determine the ground wire hanging point of the current pole tower according to the mean of the horizontal position information and height information of the target ground wire point cloud data, thereby improving the accuracy of determining the ground wire hanging point of the current pole tower. Then determine whether the type of the current pole tower is a straight tower. If so, determine the center point of various types of insulator point cloud data as the insulator hanging point of the current pole tower; if not, cluster the insulator point cloud data of the current pole tower based on the first preset clustering distance to obtain various types of insulator point cloud data, and determine the center point of various types of insulator point cloud data, and determine the center point of various types of insulator point cloud data as the insulator hanging point of the current pole tower, thereby improving the accuracy of determining the insulator hanging point of the current pole tower. Then, the elevation difference of each type of insulator point cloud data is determined according to the height information of each type of insulator point cloud data, the minimum bounding box of each type of insulator point cloud data is determined according to the horizontal position information of each type of insulator point cloud data, and the long side length of the minimum bounding box of each type of insulator point cloud data is determined, which provides a data basis for determining the type of each type of insulator point cloud data. The type of each type of insulator point cloud data is determined according to the elevation difference of each type of insulator point cloud data and the long side length of the minimum bounding box, which improves the accuracy of determining the type of each type of insulator point cloud data, and provides a basis for determining the calculation method of the component points of different types of insulator point cloud data, thereby improving the accuracy of tower component point determination. For the current type of insulator point cloud data, determine whether the type of the current type of insulator point cloud data is a horizontal string.If it is not a horizontal string, for the current insulator point cloud data, the tower type point cloud data whose height information is greater than the height information of the current center point of the current insulator point cloud data is determined as the middle cross arm point cloud data of the current insulator point cloud data, and the middle cross arm point cloud data is screened based on the distance between the current center point and each point in the middle cross arm point cloud data to obtain the target cross arm point cloud data of the current insulator point cloud data, and the cross arm hanging point of the current tower is determined according to the mean of the horizontal position information and height information of the target cross arm point cloud data. If it is a horizontal string, the short side of the minimum enclosing box of the current insulator point cloud data is determined, and the midpoint of the short side with the smallest distance from the current tower is determined as the reference point, which provides a data basis for determining the cross arm hanging point and conductor hanging point of the current tower later. Then, the pole tower category point cloud data whose first plane information is greater than the first plane information of the reference point is determined as the middle cross arm point cloud data of the current insulator point cloud data, and the middle cross arm point cloud data is screened based on the distance between the reference point and each point in the middle cross arm point cloud data to obtain the target cross arm point cloud data of the current insulator point cloud data, and the cross arm hanging point of the current pole tower is determined according to the mean of the horizontal position information and height information of the target cross arm point cloud data, thereby improving the accuracy of the determined cross arm hanging point of the current pole tower. The conductor point cloud data whose first plane information is less than the first plane information of the reference point is determined as the middle conductor point cloud data of the current insulator point cloud data, and the middle conductor point cloud data is screened based on the distance between the reference point and each point in the middle conductor point cloud data to obtain the target conductor point cloud data of the current insulator point cloud data, and the conductor hanging point of the current pole tower is determined according to the mean of the horizontal position information and height information of the target conductor point cloud data, thereby improving the accuracy of the determined conductor hanging point of the current pole tower. For the current type of insulator point cloud data, after determining that the type of the current type of insulator point cloud data is not a horizontal string (i.e., a vertical string) or determining that the type of the current pole tower is a straight tower and the center point of each type of insulator point cloud data is determined as the insulator hanging point of the current pole tower, the pole tower category point cloud data whose height information is greater than the height information of the current center point of the current type of insulator point cloud data is determined as the middle crossarm point cloud data of the current type of insulator point cloud data, the middle crossarm point cloud data is screened based on the distance between the current center point and each point in the middle crossarm point cloud data, and the target crossarm point cloud data of the current type of insulator point cloud data is obtained, and the crossarm hanging point of the current pole tower is determined according to the average of the horizontal position information and height information of the target crossarm point cloud data, thereby improving the accuracy of the determined crossarm hanging point of the current pole tower.After that, the conductor point cloud data whose height information is less than the height information of the current center point is determined as the intermediate conductor point cloud data of the current insulator point cloud data. The intermediate conductor point cloud data is screened based on the distance between the current center point and each point in the intermediate conductor point cloud data to obtain the target conductor point cloud data of the current insulator point cloud data. The conductor hanging point of the current tower is determined according to the mean of the horizontal position information and height information of the target conductor point cloud data, which improves the accuracy of the conductor hanging point of the current tower. After determining the component points (conductor hanging point, cross arm hanging point, ground wire hanging point and insulator hanging point), the connection order of the component points of each tower is determined based on the minimum path principle, which not only improves the accuracy of the determination of the component points of each tower, but also provides a data basis for determining the route of the drone later, and ensures that the route of the drone can be arranged according to the minimum path on the left and right sides of the tower, and strictly avoids crossing the tower, thereby further optimizing the efficiency of the inspection operation and improving the safety of the inspection. Then, according to the preset shooting distance, the component points and angle information of each tower, the shooting points of each tower are generated on both sides of each tower, which not only improves the efficiency and accuracy of determining the shooting points, but also ensures that the shooting points can be set closely around each key component of the tower, so as to achieve all-round and complete shooting of the tower, which helps to fully grasp the actual situation of each component of the tower and ensure that no potential hidden dangers are missed, thereby improving the integrity and accuracy of the transmission line status monitoring. According to the preset auxiliary distance, the component points and angle information of each tower, the auxiliary points of each tower are generated on both sides of each tower, which can help drones enter and leave the tower more smoothly, and the auxiliary points can be used as a reference for planning drone routes, helping to plan more reasonable drone routes, thereby improving the inspection efficiency and stability of drones. Finally, based on the connection order of the component points of each tower, the component points, photographing points and auxiliary points of each tower are connected to obtain the route of the UAV. This not only realizes the automatic determination of the UAV route and improves the efficiency of determining the UAV route, but also improves the precision and accuracy of the determined UAV route, ensuring the safety of the UAV during flight, and solving the problems of low efficiency and difficulty in ensuring the safety of the UAV during flight in the existing technology.

[0143] Figure 3 A schematic diagram of the structure of a route generating device for an unmanned aerial vehicle provided in an embodiment of the present invention. The device and the route generating methods for unmanned aerial vehicles in the above-mentioned embodiments belong to the same inventive concept. For details not fully described in the embodiments of the route generating device for an unmanned aerial vehicle, reference can be made to the embodiments of the route generating methods for the above-mentioned unmanned aerial vehicle.

[0144] like Figure 3 As shown, the device comprises:

[0145] A division module 310 is used to divide the point cloud data of the transmission line based on the angle information of each tower to obtain the point cloud data of each tower, wherein the point cloud data of each tower includes the point cloud data of the flow line and the point cloud data of the insulator;

[0146] A type determination module 320, used to determine the type of each tower according to the number of point clouds of the flow line point cloud data of each tower and the insulator point cloud data of each tower;

[0147] The calculation module 330 is used to calculate the component points of each tower according to the type of each tower, the flow line point cloud data of each tower and the insulator point cloud data, and determine the connection order of the component points of each tower based on the minimum path principle;

[0148] A generating module 340, for generating a photographing point of each tower on both sides of each tower according to a preset photographing distance, a component point of each tower and angle information, and generating an auxiliary point of each tower on both sides of each tower according to a preset auxiliary distance, a component point of each tower and angle information;

[0149] The route determination module 350 is used to connect the component points, the photographing points and the auxiliary points of each tower based on the connection sequence of the component points of each tower to obtain the route of the drone.

[0150] Based on the above embodiment, the division module 310 is specifically used for:

[0151] For the current pole tower, the angle information of the current pole tower is determined according to the horizontal position information of the current pole tower, the horizontal position information of the previous pole tower of the current pole tower, and the horizontal position information of the next pole tower of the current tower; the division area of ​​the current pole tower is determined according to the angle information of the current pole tower and the preset division distance; the point cloud data of the transmission line with the horizontal position information in the division area of ​​the current pole tower is determined as the point cloud data of the current pole tower.

[0152] Based on the above embodiment, the type determination module 320 is specifically used for:

[0153] For the current pole tower, when the number of point clouds of the drainage line point cloud data of the current pole tower is greater than the preset number of point clouds, the current pole tower is determined to be a tension tower; when the number of point clouds of the drainage line point cloud data of the current pole tower is not greater than the preset number of point clouds, the insulator point cloud data of the current pole tower is clustered based on the first preset clustering distance to obtain various types of insulator point cloud data, and the center points of various types of insulator point cloud data are determined; the angular bisector of the current pole tower is determined according to the angle information of the current pole tower; when the average distance from the center point of each type of insulator point cloud data to the angular bisector of the current pole tower is greater than the preset distance threshold, the current pole tower is determined to be a tension tower; when the distance average is not greater than the preset distance threshold, the current pole tower is determined to be a straight tower.

[0154] On the basis of the above embodiment, the point cloud data of each tower also includes tower type point cloud data, conductor point cloud data and ground wire point cloud data, and the component points of each tower include insulator hanging points, cross arm hanging points, conductor hanging points and ground wire hanging points. The calculation module 330 calculates the component points of each tower according to the type of each tower, the drainage line point cloud data of each tower and the insulator point cloud data, including:

[0155] For the current pole tower, the ground wire point cloud data of the current pole tower is clustered based on the second preset clustering distance to obtain various types of ground wire point cloud data; for the current type of ground wire point cloud data, the current type of ground wire point cloud data is screened based on the distance from each point in the current type of ground wire point cloud data to the current pole tower to obtain the target ground wire point cloud data of the current type of ground wire point cloud data, and the ground wire hanging point of the current pole tower is determined according to the mean of the horizontal position information and height information of the target ground wire point cloud data; determine whether the type of the current pole tower is a straight tower; if the current pole tower is a straight tower, the center point of each type of insulator point cloud data is determined as the insulator hanging point of the current pole tower; for the current type of insulator point cloud data, the pole tower category point cloud data whose height information is greater than the height information of the current center point of the current type of insulator point cloud data is determined The middle cross-arm point cloud data of the current type insulator point cloud data is determined as the middle cross-arm point cloud data. The middle cross-arm point cloud data is screened based on the distance between the current center point and each point in the middle cross-arm point cloud data to obtain the target cross-arm point cloud data of the current type insulator point cloud data, and the cross-arm hanging point of the current tower is determined according to the mean of the horizontal position information and height information of the target cross-arm point cloud data; the conductor point cloud data whose height information is less than the height information of the current center point is determined as the middle conductor point cloud data of the current type insulator point cloud data, and the middle conductor point cloud data is screened based on the distance between the current center point and each point in the middle conductor point cloud data to obtain the target conductor point cloud data of the current type insulator point cloud data, and the conductor hanging point of the current tower is determined according to the mean of the horizontal position information and height information of the target conductor point cloud data.

[0156] Based on the above embodiment, the device further includes:

[0157] The tension tower component point determination module is used to, after determining whether the type of the current pole tower is a straight tower, cluster the insulator point cloud data of the current pole tower based on the first preset clustering distance if the current pole tower is a tension tower, obtain various types of insulator point cloud data, determine the center point of various types of insulator point cloud data, and determine the center point of various types of insulator point cloud data as the insulator hanging point of the current pole tower; determine the elevation difference of various types of insulator point cloud data according to the height information of various types of insulator point cloud data; determine the minimum bounding box of various types of insulator point cloud data according to the horizontal position information of various types of insulator point cloud data, and determine the long side length of the minimum bounding box of various types of insulator point cloud data; determine the type of various types of insulator point cloud data according to the elevation difference of various types of insulator point cloud data and the long side length of the minimum bounding box; determine the component point of the current pole tower according to the type of various types of insulator point cloud data, the pole tower category point cloud data of the current tower, and the conductor point cloud data.

[0158] On the basis of the above embodiment, the types of various insulator point cloud data include horizontal strings and vertical strings. The tension tower component point determination module determines the component points of the current tower according to the types of various insulator point cloud data, the tower type point cloud data of the current tower and the conductor point cloud data, including:

[0159] For the current type of insulator point cloud data, if the type of the current type of insulator point cloud data is a horizontal string, the short side of the minimum bounding box of the current type of insulator point cloud data is determined, and the midpoint of the short side with the shortest distance from the current tower is determined as the reference point; the tower type point cloud data whose first plane information is greater than the first plane information of the reference point is determined as the middle crossarm point cloud data of the current type of insulator point cloud data, and the middle crossarm point cloud data is screened based on the distance between the reference point and each point in the middle crossarm point cloud data to obtain the target crossarm point cloud data of the current type of insulator point cloud data, and the crossarm hanging point of the current tower is determined according to the mean of the horizontal position information and height information of the target crossarm point cloud data; the conductor point cloud data whose first plane information is less than the first plane information of the reference point is determined as the middle conductor point cloud data of the current type of insulator point cloud data, and the middle conductor point cloud data is screened based on the distance between the reference point and each point in the middle conductor point cloud data to obtain the target conductor point cloud data of the current type of insulator point cloud data, and the conductor hanging point of the current tower is determined according to the mean of the horizontal position information and height information of the target conductor point cloud data.

[0160] Based on the above embodiment, the device further includes:

[0161] The updating module is used to connect the component points, photographing points and auxiliary points of each tower based on the connection order of the component points of each tower, and after obtaining the route of the drone, determine whether the distance between each point in the environmental point cloud data of each tower and the route of the drone is greater than the preset safety distance; if not, update the route of the drone according to the preset moving distance.

[0162] The drone route generation device provided in the embodiment of the present invention can execute the drone route generation method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0163] It is worth noting that in the embodiment of the above-mentioned UAV route generation device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0164] Figure 4 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. Figure 4 A block diagram of an exemplary electronic device 4 suitable for implementing embodiments of the present invention is shown. Figure 4 The electronic device 4 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0165] like Figure 4 As shown, the electronic device 4 is in the form of a general purpose computing electronic device. The components of the electronic device 4 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 connecting different system components (including the system memory 28 and the processing unit 16).

[0166] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. By way of example, these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0167] The electronic device 4 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device 4, including volatile and non-volatile media, removable and non-removable media.

[0168] The system memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The electronic device 4 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Figure 4not shown, usually called a "hard drive"). Although Figure 4 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data medium interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0169] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. Program modules 42 generally perform the functions and / or methods of the embodiments described herein.

[0170] The electronic device 4 may also communicate with one or more external devices 14 (e.g., keyboards, pointing devices, displays 24, etc.), one or more devices that enable a user to interact with the electronic device 4, and / or any device that enables the electronic device 4 to communicate with one or more other computing devices (e.g., network cards, modems, etc.). Such communication may be performed via an input / output (I / O) interface 22. Furthermore, the electronic device 4 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter 20. Figure 4 As shown, the network adapter 20 communicates with other modules of the electronic device 4 via the bus 18. It should be understood that although Figure 4 Not shown, other hardware and / or software modules may be used in conjunction with the electronic device 4, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0171] The processing unit 16 executes various functional applications and page displays by running the program stored in the system memory 28, such as implementing the route generation method for the drone provided in the embodiment of the present invention. This method is the same as the method in the aforementioned embodiment and will not be repeated here.

[0172] Of course, those skilled in the art can understand that the processor can also implement the technical solution of the method for generating a route for a drone provided in any embodiment of the present invention.

[0173] An embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the method for generating a route for a drone provided in an embodiment of the present invention is implemented. The method is the same as the method in the aforementioned embodiment and will not be described in detail herein.

[0174] It should be understood by those skilled in the art that the modules or steps of the present invention described above can be implemented by a general-purpose computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, optionally, they can be implemented by a program code executable by a computer device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0175] In addition, the acquisition, storage, use, and processing of data in the technical solution of the present invention are in compliance with the relevant provisions of national laws and regulations.

[0176] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for generating a route for an unmanned aerial vehicle, characterized in that: The method comprises: Dividing the point cloud data of the transmission line based on the angle information of each tower to obtain the point cloud data of each tower, wherein the point cloud data of each tower includes the point cloud data of the flow line and the point cloud data of the insulator; Determine the type of each tower according to the number of point clouds of the flow line point cloud data of each tower and the insulator point cloud data of each tower; the type of each tower includes a straight tower and a tension tower; Calculating the component points of each tower according to the type of each tower, the flow line point cloud data of each tower, and the insulator point cloud data, and determining the connection order of the component points of each tower based on the minimum path principle; Generating photographing points of each tower on both sides of each tower according to a preset photographing distance, component points of each tower and angle information, and generating auxiliary points of each tower on both sides of each tower according to a preset auxiliary distance, component points of each tower and angle information; Connecting the component points, the photographing points and the auxiliary points of each tower based on the connection order of the component points of each tower to obtain the route of the drone; Point cloud data of a transmission line is divided based on angle information of each tower to obtain point cloud data of each tower, including: for a current tower, angle information of the current tower is determined according to horizontal position information of the current tower, horizontal position information of a tower before the current tower, and horizontal position information of a tower after the current tower; the angle information is an angle formed by connecting the current tower with the tower before and the tower after the current tower respectively, with the current tower as the center point; a division area of ​​the current tower is determined according to the angle information of the current tower and a preset division distance; and point cloud data of the transmission line whose horizontal position information is in the division area of ​​the current tower is determined as the point cloud data of the current tower.

2. The method for generating a route for a drone according to claim 1, characterized in that: Determining the type of each tower according to the number of point clouds of the flow line point cloud data of each tower and the insulator point cloud data of each tower includes: For the current pole tower, when the number of point clouds of the drainage line point cloud data of the current pole tower is greater than the preset number of point clouds, determining that the current pole tower is a tension tower; When the number of point clouds of the flow line point cloud data of the current tower is not greater than the preset number of point clouds, clustering the insulator point cloud data of the current tower based on a first preset clustering distance to obtain various types of insulator point cloud data, and determining the center point of various types of insulator point cloud data; Determine the angle bisector of the current tower according to the angle information of the current tower; When the average value of the distance from the center point of each type of insulator point cloud data to the angle bisector of the current tower is greater than a preset distance threshold, determining that the current tower is the tension tower; When the distance mean is not greater than the preset distance threshold, it is determined that the current pole tower is a straight tower.

3. The method for generating a route for a drone according to claim 2, characterized in that: The point cloud data of each pole tower also includes pole tower type point cloud data, conductor point cloud data and ground wire point cloud data. The component points of each pole tower include insulator hanging points, cross arm hanging points, conductor hanging points and ground wire hanging points. According to the type of each pole tower, the drainage line point cloud data of each pole tower and the insulator point cloud data, the component points of each pole tower are calculated, including: For the current pole tower, cluster the ground wire point cloud data of the current pole tower based on a second preset clustering distance to obtain various types of ground wire point cloud data; for the current type of ground wire point cloud data, filter the current type of ground wire point cloud data based on the distance from each point in the current type of ground wire point cloud data to the current pole tower to obtain the target ground wire point cloud data of the current type of ground wire point cloud data, and determine the ground wire hanging point of the current pole tower according to the average of the horizontal position information and height information of the target ground wire point cloud data; Determine whether the type of the current tower is the straight tower; If the current pole tower is the straight tower, the center point of each type of insulator point cloud data is determined as the insulator hanging point of the current pole tower; For the current type of insulator point cloud data, determine the pole tower type point cloud data whose height information is greater than the height information of the current center point of the current type of insulator point cloud data as the intermediate cross arm point cloud data of the current type of insulator point cloud data, filter the intermediate cross arm point cloud data based on the distance between the current center point and each point in the intermediate cross arm point cloud data, obtain the target cross arm point cloud data of the current type of insulator point cloud data, and determine the cross arm hanging point of the current pole tower according to the average of the horizontal position information and height information of the target cross arm point cloud data; The conductor point cloud data whose height information is less than the height information of the current center point is determined as the intermediate conductor point cloud data of the current type insulator point cloud data, and the intermediate conductor point cloud data is screened based on the distance between the current center point and each point in the intermediate conductor point cloud data to obtain the target conductor point cloud data of the current type insulator point cloud data, and the conductor hanging point of the current pole tower is determined according to the average of the horizontal position information and height information of the target conductor point cloud data.

4. The method for generating a route for a drone according to claim 3, characterized in that: After determining whether the type of the current pole tower is the straight tower, the method further includes: If the current pole tower is the tension tower, clustering the insulator point cloud data of the current pole tower based on the first preset clustering distance to obtain various types of insulator point cloud data, and determining the center point of each type of insulator point cloud data, and determining the center point of each type of insulator point cloud data as the insulator hanging point of the current pole tower; Determine the elevation difference of various insulator point cloud data according to the height information of various insulator point cloud data; Determine the minimum bounding box of each type of insulator point cloud data according to the horizontal position information of each type of insulator point cloud data, and determine the long side length of the minimum bounding box of each type of insulator point cloud data; Determining the type of each type of insulator point cloud data according to the elevation difference of each type of insulator point cloud data and the length of the long side of the minimum bounding box; The component points of the current tower are determined according to the types of the various insulator point cloud data, the tower type point cloud data of the current tower, and the conductor point cloud data.

5. The method for generating a route for a drone according to claim 4, characterized in that: The types of the various insulator point cloud data include horizontal strings and vertical strings. Determining the component points of the current tower according to the types of the various insulator point cloud data, the tower type point cloud data of the current tower, and the conductor point cloud data includes: For the current type of insulator point cloud data, if the type of the current type of insulator point cloud data is the horizontal string, determine the short side of the minimum bounding box of the current type of insulator point cloud data, and determine the midpoint of the short side with the shortest distance from the current tower as the reference point; Determine the pole tower type point cloud data whose first plane information is greater than the first plane information of the reference point as the intermediate cross-arm point cloud data of the current type insulator point cloud data, filter the intermediate cross-arm point cloud data based on the distance between the reference point and each point in the intermediate cross-arm point cloud data, obtain the target cross-arm point cloud data of the current type insulator point cloud data, and determine the cross-arm hanging point of the current pole tower according to the average of the horizontal position information and height information of the target cross-arm point cloud data; The conductor point cloud data whose first plane information is smaller than the first plane information of the reference point is determined as the intermediate conductor point cloud data of the current type insulator point cloud data, and the intermediate conductor point cloud data is screened based on the distance between the reference point and each point in the intermediate conductor point cloud data to obtain the target conductor point cloud data of the current type insulator point cloud data, and the conductor hanging point of the current pole tower is determined according to the average of the horizontal position information and height information of the target conductor point cloud data.

6. The method for generating a route for a drone according to claim 1, characterized in that: After the component points, the photographing points and the auxiliary points of each tower are connected based on the connection sequence of the component points of each tower to obtain the route of the drone, the method further includes: Determine whether the distance between each point in the environmental point cloud data of each tower and the flight path of the drone is greater than a preset safety distance; If not, the route of the UAV is updated according to the preset moving distance.

7. A route generation device for an unmanned aerial vehicle, characterized in that: The device comprises: A division module, used for dividing the point cloud data of the transmission line based on the angle information of each tower, to obtain the point cloud data of each tower, wherein the point cloud data of each tower includes the point cloud data of the drainage line and the point cloud data of the insulator; A type determination module, used to determine the type of each tower according to the number of point clouds of the flow line point cloud data of each tower and the insulator point cloud data of each tower; the type of each tower includes a straight tower and a tension tower; A calculation module, used to calculate the component points of each tower according to the type of each tower, the drainage line point cloud data of each tower and the insulator point cloud data, and determine the connection order of the component points of each tower based on the minimum path principle; A generating module, configured to generate the photographing points of each tower on both sides of each tower according to a preset photographing distance, the component points of each tower and the angle information, and to generate the auxiliary points of each tower on both sides of each tower according to a preset auxiliary distance, the component points of each tower and the angle information; A route determination module, used to connect the component points, the photographing points and the auxiliary points of each tower based on the connection order of the component points of each tower to obtain the route of the drone; The division module is specifically used to: for a current tower, determine the angle information of the current tower according to the horizontal position information of the current tower, the horizontal position information of the tower before the current tower, and the horizontal position information of the tower after the current tower; the angle information is the angle formed by connecting the current tower with the tower before and the tower after the current tower respectively, with the current tower as the center point; determine the division area of ​​the current tower according to the angle information of the current tower and a preset division distance; determine the point cloud data of the transmission line whose horizontal position information is in the division area of ​​the current tower as the point cloud data of the current tower.

8. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively coupled to the at least one processor; The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the route generation method for a drone as described in any one of claims 1-6.

9. A storage medium containing computer executable instructions, characterized in that: The computer executable instructions, when executed by a computer processor, implement the method for generating a route for a drone as described in any one of claims 1 to 6.

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