Airline planning method, electronic equipment and computer readable storage medium

Abstract

The invention discloses an air route planning method, electronic equipment and a computer readable storage medium, and the method comprises the steps: obtaining alarm point position information generated when a radar detects that a to-be-checked object appears in a target object, and the alarm point position information comprises the longitude, latitude and height of a target monitoring position where the to-be-checked object appears; planning a route from the target starting point to the target monitoring position according to the set safe flight height, the set waypoint spacing and the alarm point position information, so that the unmanned aerial vehicle shoots the target monitoring position according to the route; the route comprises position information of a plurality of waypoints, yaw angles and pitch angles for shooting a target monitoring position at each waypoint, and waypoint heights. Thus, the target monitoring position where the to-be-checked object appears can be flexibly shot in all directions, the shooting effect can be effectively improved, and the accuracy and convenience of checking the to-be-checked object based on the shot image subsequently are further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of construction machinery, and particularly to a flight path planning method, an electronic device, and a computer-readable storage medium. Background Art

[0002] Smart mine projects play a crucial role in modern mining industries. By integrating advanced information technology, automation technology, and artificial intelligence, they improve the safety, efficiency, and sustainability of mines. Among them, the application of radar monitoring technology in these projects is particularly critical because it can provide real-time surface and underground environmental information to help managers make more accurate decisions.

[0003] Slope radars can penetrate rocks and other opaque substances to image the internal structure of mine shafts, thus timely detecting potential dangerous areas such as cracks, cavities, and water accumulations, which is crucial for preventing disasters such as collapses and floods. After the slope radar detects a potential dangerous area, it is usually necessary to further conduct inspections and investigations with the help of drones, etc. The existing drone inspection and investigation solutions generally take photos at a certain distance directly above the alarm point or at the calculated optimal shooting point, and then use AI algorithms to analyze the images. However, when encountering complex terrains with obstructions, the above methods are difficult to obtain good shooting effects, affecting the accuracy of subsequent inspections based on the taken images. Summary of the Invention

[0004] The purpose of this application is to provide a flight path planning method, an electronic device, and a computer-readable storage medium, which can flexibly and comprehensively take pictures of the target monitoring positions where objects to be investigated appear, effectively improving the shooting effect, and further enhancing the accuracy and convenience of subsequent inspections of the objects to be investigated based on the taken images.

[0005] To achieve the above object:

[0006] In a first aspect, an embodiment of this application provides a flight path planning method, which is applied to a server and includes:

[0007] Obtain the alarm point position information generated by the radar detecting the object to be investigated in the target object, where the alarm point position information includes the longitude, latitude, and altitude of the target monitoring position where the object to be investigated appears;

[0008] According to the set safe flight altitude, waypoint spacing, and the alarm point position information, plan a flight path from the target starting point to the target monitoring position, so that the unmanned aerial vehicle takes pictures of the target monitoring position according to the flight path; the flight path includes the position information of multiple waypoints, the yaw angle and pitch angle for taking pictures of the target monitoring position at each waypoint, and the waypoint altitude.

[0009] Optionally, before planning a flight path from a target starting point to the target monitoring position according to the set safe flight altitude, waypoint spacing, and the alarm point position information, so that the unmanned aerial vehicle takes pictures of the target monitoring position according to the flight path, it includes:

[0010] Determine the target starting point as the starting point closest to the target monitoring position according to the longitude and latitude of the target monitoring position.

[0011] Optionally, the calibration information includes the target identity identifier.

[0012] Optionally, the altitude includes the ellipsoidal height; the multiple waypoints include a first waypoint, a second waypoint, a third waypoint, a fourth waypoint, and a fifth waypoint at the same horizontal altitude; the first waypoint is directly above the target starting point; the fifth waypoint is directly above the target monitoring position and the height from the target monitoring position is the waypoint height; the third waypoint is between the first waypoint and the fifth waypoint and is on the same straight line as the first waypoint and the fifth waypoint, the third waypoint is on the same straight line as the second waypoint and the fourth waypoint, and the distances between the third waypoint and the second waypoint, the fourth waypoint, and the fifth waypoint are respectively the waypoint spacing;

[0013] Planning a flight path from a target starting point to the target monitoring position according to the set safe flight altitude, waypoint spacing, and the alarm point position information, so that the unmanned aerial vehicle takes pictures of the target monitoring position according to the flight path, includes:

[0014] Determine the waypoint height according to the set safe flight altitude and the ellipsoidal height of the target monitoring position.

[0015] Determine the longitude and latitude of the third waypoint according to the longitude and latitude of the first waypoint, the longitude and latitude of the fifth waypoint, and the waypoint spacing; the longitude and latitude of the first waypoint are determined based on the longitude and latitude of the target starting point, and the longitude and latitude of the fifth waypoint are determined based on the longitude and latitude of the target monitoring position;

[0016] Determine the longitude and latitude of the second waypoint and the fourth waypoint according to the longitude and latitude of the third waypoint, the longitude and latitude of the fifth waypoint, and the directions of the second waypoint and the fourth waypoint relative to the third waypoint respectively;

[0017] Determine the yaw angle and pitch angle corresponding to the first waypoint, the second waypoint, the third waypoint, the fourth waypoint, and the fifth waypoint respectively according to the longitudes and latitudes corresponding to the first waypoint, the second waypoint, the third waypoint, the fourth waypoint, and the fifth waypoint and the distances between them.

[0018] Optionally, the determining the waypoint altitude according to the set safe flight altitude and the ellipsoidal height of the target monitoring position includes:

[0019] Detect whether the sum of the ellipsoidal height of the target monitoring position and a preset height value is greater than or equal to the set safe flight altitude;

[0020] If so, determine the waypoint altitude as the sum of the ellipsoidal height of the target alarm position and the preset height value;

[0021] If not, determine the waypoint altitude as the safe flight altitude.

[0022] Optionally, the determining the longitude and latitude of the third waypoint according to the longitude and latitude of the first waypoint, the longitude and latitude of the fifth waypoint, and the waypoint spacing includes:

[0023] According to the longitude and latitude of the first waypoint and the longitude and latitude of the fifth waypoint, determine the distance between the first waypoint and the fifth waypoint and the longitude change and latitude change from the first waypoint to the fifth waypoint;

[0024] According to the distance, the longitude change, the latitude change, and the waypoint spacing, determine the longitude and latitude of the third waypoint.

[0025] Optionally, the determining the longitude and latitude of the second waypoint and the fourth waypoint according to the longitude and latitude of the third waypoint, the longitude and latitude of the fifth waypoint, and the directions of the second waypoint and the fourth waypoint relative to the third waypoint respectively includes:

[0026] According to the longitude and latitude of the third waypoint and the longitude and latitude of the fifth waypoint, determine the first included angle between the vector from the third waypoint to the fifth waypoint and a preset direction;

[0027] According to the first included angle and the directions of the second waypoint and the fourth waypoint relative to the third waypoint respectively, determine the second included angle between the vector from the third waypoint to the second waypoint and the preset direction, and the third included angle between the vector from the third waypoint to the fourth waypoint and the preset direction;

[0028] According to the longitude and latitude of the third waypoint, the waypoint spacing, and the second included angle, determine the longitude and latitude of the second waypoint;

[0029] Determine the longitude and latitude of the fourth waypoint according to the longitude and latitude of the third waypoint, the waypoint spacing, and the third included angle.

[0030] Optionally, the determining the yaw angles and pitch angles corresponding to the first waypoint, the second waypoint, the third waypoint, the fourth waypoint, and the fifth waypoint respectively according to the longitudes and latitudes corresponding to the first waypoint, the second waypoint, the third waypoint, the fourth waypoint, and the fifth waypoint and the distances therebetween includes:

[0031] Determine the yaw angles corresponding to the first waypoint, the second waypoint, the third waypoint, the fourth waypoint, and the fifth waypoint respectively according to the longitudes and latitudes corresponding to the first waypoint, the second waypoint, the third waypoint, the fourth waypoint, and the fifth waypoint.

[0032] Determine the pitch angles corresponding to the first waypoint, the second waypoint, the third waypoint, the fourth waypoint, and the fifth waypoint respectively according to the distances between the first waypoint, the second waypoint, the third waypoint, and the fourth waypoint and the fifth waypoint.

[0033] In a second aspect, an embodiment of the present application provides a route planning method, which is applied to a radar and includes:

[0034] In response to detecting a target object with a to-be-investigated object, obtain the longitude, latitude, and ellipsoidal height of the target monitoring position where the to-be-investigated object appears.

[0035] Send out alarm point position information, where the alarm point position information includes the longitude, latitude, and ellipsoidal height of the target monitoring position where the to-be-investigated object appears.

[0036] In a third aspect, an embodiment of the present application provides an electronic device, including: a processor and a memory storing a computer program. When the processor runs the computer program, the above route planning method is implemented.

[0037] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the above route planning method is implemented.

[0038] The route planning method, electronic device, and computer-readable storage medium provided by the embodiments of the present application. The method includes: obtaining the position information of the alarm point generated when a target object detected by radar appears with an object to be investigated, where the position information of the alarm point includes the longitude, latitude, and altitude of the target monitoring position where the object to be investigated appears; planning a route from the target starting point to the target monitoring position according to the set safe flight altitude, waypoint spacing, and the position information of the alarm point, so that the unmanned aerial vehicle takes pictures of the target monitoring position according to the route; the route includes the position information of multiple waypoints, the yaw angle and pitch angle for taking pictures of the target monitoring position at each waypoint, and the waypoint altitude. In this way, by the position information of the alarm point, the safe flight altitude, and the waypoint spacing, planning a route from the target starting point to the target monitoring position can take pictures of the target monitoring position where the object to be investigated appears in all directions and flexibly, effectively improving the shooting effect, and further improving the accuracy and convenience of investigating the object to be investigated based on the taken images. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 is a flowchart of the route planning method provided by the embodiment of the present invention Figure 1 ;

[0040] Figure 2 is a schematic diagram of the route trajectory planned in the embodiment of the present invention;

[0041] Figure 3 is a schematic diagram for calculating the distance between two points;

[0042] Figure 4 is a schematic diagram of the approximate spherical model of the earth;

[0043] Figure 5 is a schematic diagram for calculating the longitude and latitude of a point on a straight line;

[0044] Figure 6 is a top view of the route trajectory in the embodiment of the present invention;

[0045] Figure 7 is a schematic diagram for calculating the angle between a vector and the due north direction;

[0046] Figure 8 is a schematic diagram for calculating the longitude and latitude of a point after moving a specified distance in a specified direction;

[0047] Figure 9 is a side view of the route trajectory in the embodiment of the present invention;

[0048] Figure 10 is a flowchart of the route planning method provided by the embodiment of the present invention Figure 2 ;

[0049] Figure 11Schematic diagram of the architecture of the route planning system provided by the embodiment of the present invention;

[0050] Figure 12 Schematic diagram of the process of slope radar alarm in the embodiment of the present invention;

[0051] Figure 13 Schematic diagram of the process of route planning and UAV inspection in the embodiment of the present invention;

[0052] Figure 14 Schematic diagram of the structure of the electronic device provided by the embodiment of the present invention. Detailed implementation manners

[0053] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present application. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0054] Refer to Figure 1 , a route planning method provided by an embodiment of the present application. This route planning method can be executed by a route planning device provided by an embodiment of the present application. The route planning device can be implemented in a software and / or hardware manner, such as an electronic device like a computer or a server. In this embodiment, taking the execution subject of this route planning method as a server as an example, the route planning method provided by this embodiment includes:

[0055] Step S101: Obtain the position information of the alarm point generated when the radar detects that a target object appears with an object to be investigated. The alarm point position information includes the longitude, latitude, and altitude of the target monitoring position where the object to be investigated appears.

[0056] Among them, the target object is an object monitored by the radar in real time, which can be a mine, a building, etc. The radar can specifically be a slope radar, etc. The object to be investigated is an object actually detected in the target object monitored by the radar, which can be a crack, a cavity, etc. The monitoring position is the specific position where the radar monitors the target object, which can be a monitoring point or a monitoring area, etc. The target monitoring position (also called the alarm point) is the monitoring position where the radar detects that an object to be investigated appears in the target object. When the target monitoring position is a monitoring area, the longitude, latitude, and altitude of the center point of the monitoring area can be selected as the longitude, latitude, and altitude of the target monitoring position. The altitude can be the altitude above sea level or the ellipsoidal height, etc. The ellipsoidal height can also be called the geodetic height, which is used to represent the orthogonal distance between the monitoring position and the ellipsoidal surface. It should be noted that when the altitude is the altitude above sea level, the alarm point position information can also include the height difference between the altitude above sea level and the ellipsoidal height.

[0057] Specifically, the radar can periodically detect whether the object to be investigated appears at each monitoring position in the target object. After detecting that the object to be investigated appears at the target monitoring position in the target object, the radar sends alarm point location information including the longitude, latitude, and altitude of the target monitoring position where the object to be investigated appears to the server, and the server correspondingly obtains the alarm point location information sent by the radar. Of course, the server can also obtain the alarm point location information from a third-party device, which is not specifically limited herein.

[0058] Step S102: According to the set safe flight altitude, waypoint spacing, and alarm point location information, plan a flight route from the target starting point to the target monitoring position so that the unmanned aerial vehicle can take pictures of the target monitoring position according to the route; the route includes the location information of multiple waypoints, the yaw angle and pitch angle for taking pictures of the target monitoring position at each waypoint, and the waypoint altitude.

[0059] Among them, the safe flight altitude refers to the minimum height from the ground set to ensure the safety of the unmanned aerial vehicle during shooting. The waypoint spacing is used to indicate the minimum distance between waypoints. The distance between some waypoints is the waypoint spacing, while the distance between some waypoints may be greater than the waypoint spacing. The size of the waypoint spacing can be set based on actual needs. The waypoint altitude can be regarded as the height of each waypoint from the horizontal plane where the target monitoring position is located. The target starting point is used to indicate the takeoff and landing point of the unmanned aerial vehicle, which can specifically be an airport or a designated location, etc. Planning a flight route from the target starting point to the target monitoring position can be regarded as planning a flight route from directly above the target starting point to directly above the target monitoring position. It should be noted that the location information of multiple planned waypoints, the yaw angle and pitch angle for taking pictures of the target monitoring position at each waypoint, and the waypoint altitude can take pictures of the target monitoring position where the object to be investigated appears in an all-round and flexible manner, effectively improving the shooting effect. After planning the flight route from the target starting point to the target monitoring position, a shooting task including this route can be sent to the unmanned aerial vehicle so that the unmanned aerial vehicle can take pictures of the target monitoring position according to this route. The unmanned aerial vehicle in this embodiment has an image shooting device such as a camera, and the unmanned aerial vehicle can specifically be a drone, etc.

[0060] In an embodiment, the altitude includes ellipsoidal height; the multiple waypoints include a first waypoint, a second waypoint, a third waypoint, a fourth waypoint, and a fifth waypoint located at the same horizontal height; the first waypoint is directly above the target starting point; the fifth waypoint is directly above the target monitoring position and the height from the target monitoring position is the waypoint altitude; the third waypoint is located between the first waypoint and the fifth waypoint and is on the same straight line as the first waypoint and the fifth waypoint. The third waypoint is on the same straight line as the second waypoint and the fourth waypoint, and the distances between the third waypoint and the second waypoint, the fourth waypoint, and the fifth waypoint are respectively the waypoint spacing;

[0061] According to the set safe flight altitude, waypoint spacing, and alarm point location information, plan a flight path from the target starting point to the target monitoring location so that the unmanned aerial vehicle takes pictures of the target monitoring location according to the flight path, including:

[0062] Determine the waypoint altitude according to the set safe flight altitude and the ellipsoidal height of the target monitoring location;

[0063] Determine the longitude and latitude of the third waypoint according to the longitude and latitude of the first waypoint, the longitude and latitude of the fifth waypoint, and the waypoint spacing; the longitude and latitude of the first waypoint are determined based on the longitude and latitude of the target starting point, and the longitude and latitude of the fifth waypoint are determined based on the longitude and latitude of the target monitoring location;

[0064] Determine the longitude and latitude of the second waypoint and the fourth waypoint according to the longitude and latitude of the third waypoint, the longitude and latitude of the fifth waypoint, and the directions of the second waypoint and the fourth waypoint relative to the third waypoint respectively;

[0065] Determine the yaw angle and pitch angle corresponding to the first waypoint, the second waypoint, the third waypoint, the fourth waypoint, and the fifth waypoint respectively according to the longitude and latitude corresponding to the first waypoint, the second waypoint, the third waypoint, the fourth waypoint, and the fifth waypoint and the distances between them.

[0066] Exemplarily, taking the target starting point as the airport, the target monitoring location as the alarm point, and the unmanned aerial vehicle as the drone, refer to Figure 2 , which is a schematic diagram of the planned flight path trajectory. The drone departs from the airport to waypoint 1 (i.e., the first waypoint), then successively passes through waypoint 2 (i.e., the second waypoint), waypoint 3 (i.e., the third waypoint), waypoint 4 (i.e., the fourth waypoint), and finally reaches waypoint 5 (i.e., the fifth waypoint). The distances from waypoint 3 to waypoint 2, waypoint 4, and waypoint 5 are d (i.e., the waypoint spacing), and the height from waypoint 5 to the alarm point is h (i.e., the waypoint altitude).

[0067] Among them, since the first waypoint is directly above the target starting point, given the longitude and latitude of the target starting point and the height of the first waypoint from the target starting point, the longitude and latitude of the first waypoint can be deduced. The height of the first waypoint from the target starting point is the sum of the waypoint height and the target height value, and the target height value is the difference between the ellipsoidal height of the target monitoring position and the ellipsoidal height of the target starting point. For example, assuming the longitude of the target starting point is the same as that of the first waypoint, the latitude of the first waypoint can be calculated based on the latitude of the target starting point and the height of the first waypoint from the target starting point. Another example is that if the influence of factors such as the latitude difference caused by the height of the first waypoint from the target starting point is ignored, the latitude of the target starting point can also be used as the latitude of the first waypoint, and the longitude of the target starting point can be used as the longitude of the first waypoint. Similarly, since the fifth waypoint is directly above the target monitoring position, given the longitude and latitude of the target monitoring position and the height of the fifth waypoint from the target monitoring position, the longitude and latitude of the fifth waypoint can be deduced. For example, assuming the longitude of the target monitoring position is the same as that of the fifth waypoint, the latitude of the fifth waypoint can be calculated based on the latitude of the target monitoring position and the height of the fifth waypoint from the target monitoring position. Another example is that if the influence of factors such as the latitude difference caused by the height of the fifth waypoint from the target monitoring position is ignored, the latitude of the target monitoring position can also be used as the latitude of the fifth waypoint, and the longitude of the target monitoring position can be used as the longitude of the fifth waypoint.

[0068] Among them, since the third waypoint is located between the first waypoint and the fifth waypoint and on the same straight line as the first waypoint and the fifth waypoint, given the longitude and latitude of the first waypoint, the longitude and latitude of the fifth waypoint, and the distance between the third waypoint and the fifth waypoint, the longitude and latitude of the third waypoint can be calculated. In one embodiment, determining the longitude and latitude of the third waypoint based on the longitude and latitude of the first waypoint, the longitude and latitude of the fifth waypoint, and the waypoint spacing includes: determining the distance between the first waypoint and the fifth waypoint and the longitude change and latitude change from the first waypoint to the fifth waypoint based on the longitude and latitude of the first waypoint and the longitude and latitude of the fifth waypoint; determining the longitude and latitude of the third waypoint based on the distance, longitude change, latitude change, and waypoint spacing.

[0069] Specifically, based on the longitude and latitude of the first waypoint and the longitude and latitude of the fifth waypoint, determine the distance between the first waypoint and the fifth waypoint and the longitude change and latitude change from the first waypoint to the fifth waypoint, and then determine the longitude and latitude of the third waypoint based on the distance between the first waypoint and the fifth waypoint, the longitude change and latitude change from the first waypoint to the fifth waypoint, and the distance between the third waypoint and the fifth waypoint (i.e., the waypoint spacing).

[0070] Refer to Figure 3, is a schematic diagram for calculating the distance between two points. The Earth can be approximately regarded as a sphere. As Figure 4 shown, the radius of the Earth is denoted as R. Arbitrarily select two points A and B on the Earth. Connecting point A, point B, and the center of the sphere O can obtain a sector. First, calculate the longitude change (ΔLon) and latitude change (ΔLat) from point A (longitude is Lon A , latitude is Lat A ) to point B (longitude is Lon B , latitude is Lat B ). Then, use the haversine formula to calculate the central angle ∠AOB (denoted as θ) between point A and point B from the center of the Earth. Then convert the angle to radian form, denoted as rad. Finally, use the sector arc length formula to calculate the arc length of the sector, that is, the distance L between point A and B. In this embodiment, based on Figure 3 the shown calculation logic, when taking the first waypoint as point A and the fifth waypoint as point B, according to the longitude and latitude of the first waypoint and the longitude and latitude of the fifth waypoint, the distance between the first waypoint and the fifth waypoint can be obtained.

[0071] Refer to Figure 5 , which is a schematic diagram for calculating the longitude and latitude of a certain point on a straight line. Given the longitude and latitude of points A and B, point C is on line segment AB and the distance from point A is L AC . First, the distance L between points A and B can be obtained by using the distance calculation formula between two points in Figure 3 . Then calculate the longitude change ΔLon AB from point A to point B and the latitude change ΔLat AB . Then use the isosceles triangle formula to calculate the longitude change ΔLon AB from point A to point C and the latitude change ΔLat AC . Finally, adding the changes to point A can obtain the longitude (Lon AC ) and latitude (Lat C ) of point C. In this embodiment, based on C the shown calculation logic, when taking the first waypoint as point A, the fifth waypoint as point B, and the third waypoint as point C, according to the distance between the first waypoint and the fifth waypoint and the distance between the third waypoint and the fifth waypoint (i.e., the waypoint spacing), the distance between the first waypoint and the third waypoint can be determined. Combining the longitude change and latitude change from the first waypoint to the fifth waypoint, the longitude and latitude of the third waypoint can be determined. In this way, by determining the position relationship between different waypoints, the longitude and latitude of the waypoints can be determined conveniently and quickly with high accuracy. Figure 5 shown calculation logic, when taking the first waypoint as point A, the fifth waypoint as point B, and the third waypoint as point C, according to the distance between the first waypoint and the fifth waypoint and the distance between the third waypoint and the fifth waypoint (i.e., the waypoint spacing), the distance between the first waypoint and the third waypoint can be determined. Combining the longitude change and latitude change from the first waypoint to the fifth waypoint, the longitude and latitude of the third waypoint can be determined. In this way, by determining the position relationship between different waypoints, the longitude and latitude of the waypoints can be determined conveniently and quickly with high accuracy.

[0072] Among them, when the longitude and latitude of the third waypoint are obtained, in combination with the longitude and latitude of the fifth waypoint and the directions of the second waypoint and the fourth waypoint relative to the third waypoint respectively, the longitude and latitude of the second waypoint and the fourth waypoint can be determined. In an embodiment, determining the longitude and latitude of the second waypoint and the fourth waypoint according to the longitude and latitude of the third waypoint, the longitude and latitude of the fifth waypoint, and the directions of the second waypoint and the fourth waypoint relative to the third waypoint respectively includes: determining a first included angle between the vector from the third waypoint to the fifth waypoint and a preset direction according to the longitude and latitude of the third waypoint and the longitude and latitude of the fifth waypoint; determining a second included angle between the vector from the third waypoint to the second waypoint and the preset direction, and a third included angle between the vector from the third waypoint to the fourth waypoint and the preset direction according to the first included angle and the directions of the second waypoint and the fourth waypoint relative to the third waypoint respectively; determining the longitude and latitude of the second waypoint according to the longitude and latitude of the third waypoint, the distance between waypoints, and the second included angle; and determining the longitude and latitude of the fourth waypoint according to the longitude and latitude of the third waypoint, the distance between waypoints, and the third included angle.

[0073] Among them, the preset direction can be set according to actual needs, such as it can be set to the due north direction or the due south direction, etc. Refer to Figure 6 and Figure 7 , Figure 6 is a top view of the route trajectory, Figure 7 is a schematic diagram for calculating the included angle between a vector and the due north direction. Given the longitude and latitude of points A and B, first convert the longitude and latitude of points A and B into radian form, then calculate the longitude change ΔLon from point A to point B, and then apply the formula to calculate the included angle radian rad between vector AB and the due north direction. Finally, convert the obtained included angle radian rad into angle form, that is, angle. In this embodiment, based on Figure 7 the shown calculation logic, when taking the third waypoint as point A and the fifth waypoint as point B, according to the longitude and latitude of the third waypoint and the longitude and latitude of the fifth waypoint, the first included angle between the vector from the third waypoint to the fifth waypoint and the due north direction can be determined.

[0074] Refer to Figure 8 , which is a schematic diagram for calculating the longitude and latitude after a certain point moves a specified distance in a specified direction. Given the longitude and latitude of the starting point, the included angle between the specified direction and the due north direction, and the moving distance of the starting point, first, convert the moving distance E of the starting point (i.e., the distance between the starting point and the ending point) into the radian radE of the central angle of the earth, then convert the included angle Angle into radian form, and finally calculate the changes in longitude and latitude through sine and cosine, and add them to the longitude and latitude of the starting point to obtain the longitude (i.e., newLon) and latitude (i.e., newLat) of the ending point. In this embodiment, based on Figure 8 the shown calculation logic, continue to refer to Figure 6, when the third waypoint is used as the starting point and the fourth waypoint is used as the ending point, the moving distance of the starting point is the distance between the third waypoint and the fourth waypoint. According to the first included angle between the vector from the third waypoint to the fifth waypoint and the due north direction, it can be known that the included angle Angle between the specified direction (i.e., the vector direction from the third waypoint to the fourth waypoint) and the due north direction is angle + 90°, and then the longitude and latitude of the fourth waypoint can be calculated. Similarly, when the third waypoint is used as the starting point and the second waypoint is used as the ending point, the moving distance of the starting point is the distance between the third waypoint and the second waypoint. According to the first included angle between the vector from the third waypoint to the fifth waypoint and the due north direction, it can be known that the included angle Angle between the specified direction (i.e., the vector direction from the third waypoint to the second waypoint) and the due north direction is angle - 90°, and then the longitude and latitude of the second waypoint can be calculated. In this way, the longitude and latitude of the waypoints are determined through the positional relationship between different waypoints, which is convenient, fast, and highly accurate.

[0075] In one embodiment, according to the longitudes and latitudes corresponding to the first waypoint, the second waypoint, the third waypoint, the fourth waypoint, and the fifth waypoint respectively, as well as the distances between them, determining the yaw angles and pitch angles corresponding to the first waypoint, the second waypoint, the third waypoint, the fourth waypoint, and the fifth waypoint respectively includes:

[0076] According to the longitudes and latitudes corresponding to the first waypoint, the second waypoint, the third waypoint, the fourth waypoint, and the fifth waypoint respectively, determining the yaw angles corresponding to the first waypoint, the second waypoint, the third waypoint, the fourth waypoint, and the fifth waypoint respectively;

[0077] According to the distances between the first waypoint, the second waypoint, the third waypoint, and the fourth waypoint and the fifth waypoint respectively, determining the pitch angles corresponding to the first waypoint, the second waypoint, the third waypoint, the fourth waypoint, and the fifth waypoint respectively.

[0078] Among them, the yaw angle of the waypoint is the included angle between the shooting direction at this waypoint and the due north direction. Continuing to refer to Figure 6 , substituting the longitudes and latitudes of waypoint 1, waypoint 2, waypoint 3, waypoint 4, and waypoint 5 into Figure 7 The included angle calculation algorithm between the vector shown and the due north direction, the included angles between vectors a 15 、a 25 、a 35 、a 45 and the due north direction can be obtained respectively, which are the yaw angles of waypoint 1, waypoint 2, waypoint 3, and waypoint 4 respectively. Since the longitude and latitude of waypoint 5 coincide with the alarm point, its yaw angle is arbitrarily set, generally set to 0°.

[0079] Among them, the pitch angle of the waypoint is the angle of looking down at the alarm point at this waypoint. Referring to Figure 6 , waypoint 2, 3, and 5 form an isosceles right triangle. Given that the length of the right side is d, the length of the hypotenuse L can be calculated25 For reference Figure 9 , waypoint 2, waypoint 5 and the alarm point form a right triangle. Using the inverse trigonometric function , the pitch angle of waypoint 2 can be calculated It should be noted that the pitch angle should ultimately be negative. By analogy, the pitch angles of waypoints 1, 3, and 4 can be calculated respectively. Specifically, since waypoint 5 is directly above the alarm point, it can be directly shot vertically downward, and the pitch angle can be set to -90°. In this way, according to the positional relationship between the waypoints and the target monitoring positions, the yaw angle and pitch angle corresponding to each waypoint can be quickly and accurately determined, further improving the shooting effect.

[0080] In one embodiment, according to the set safe flight altitude and the ellipsoidal height of the target monitoring position, determining the waypoint altitude includes:

[0081] Detecting whether the sum of the ellipsoidal height of the target monitoring position and the preset altitude value is greater than or equal to the set safe flight altitude;

[0082] If so, determining the waypoint altitude as the sum of the ellipsoidal height of the target alarm position and the preset altitude value;

[0083] If not, determining the waypoint altitude as the safe flight altitude.

[0084] Among them, when it is detected that the sum of the ellipsoidal height of the target monitoring position and the preset altitude value is greater than or equal to the set safe flight altitude, it indicates that the height difference of the target monitoring position relative to the ground is relatively large. To ensure shooting safety, the waypoint altitude can be set as the sum of the ellipsoidal height of the target alarm position and the preset altitude value. When it is detected that the sum of the ellipsoidal height of the target monitoring position and the preset altitude value is less than the set safe flight altitude, it indicates that the height difference of the target monitoring position relative to the ground is relatively small. To ensure shooting safety, the waypoint altitude can be set as the safe flight altitude.

[0085] In one embodiment, according to the set safe flight altitude, the waypoint spacing, and the alarm point position information, planning the flight path from the target starting point to the target monitoring position before the unmanned aerial vehicle shoots the target monitoring position according to the flight path includes:

[0086] Determining the target starting point as the starting point closest to the target monitoring position according to the longitude and latitude of the target monitoring position.

[0087] Among them, in the case where multiple starting points are preset in advance, in order to enable the unmanned aerial vehicle to quickly shoot the target monitoring position, the starting point closest to the target monitoring position can be determined as the target starting point according to the longitude and latitude of the target monitoring position, thereby improving the processing speed.

[0088] In summary, in the route planning method provided by the above embodiments, the route from the target starting point to the target monitoring position is planned through the alarm point position information, the safe flight altitude, and the waypoint spacing, which can comprehensively and flexibly photograph the target monitoring position where the object to be investigated appears, effectively improving the photographing effect and the accuracy and convenience of subsequent investigation of the object to be investigated based on the photographed images.

[0089] Based on the same inventive concept as the foregoing embodiments, refer to Figure 10 , a route planning method provided by an embodiment of the present application. This route planning method can be executed by a route planning device provided by an embodiment of the present application. The route planning device can be implemented in software and / or hardware, such as a computer or an electronic device such as a radar. In this embodiment, taking the execution subject of this route planning method as a radar, the route planning method provided by this embodiment includes:

[0090] Step S201: In response to detecting an object to be investigated in the target object, obtain the longitude, latitude, and altitude of the target monitoring position where the object to be investigated appears.

[0091] Step S202: Send out alarm point position information, which includes the longitude, latitude, and altitude of the target monitoring position where the object to be investigated appears.

[0092] Among them, the target object is the object monitored by the radar in real time, which can be a mine, a building, etc. The radar can specifically be a slope radar, etc. The object to be investigated is the actually detected object in the target object monitored by the radar, which can be a crack, a cavity, etc. The monitoring position is the specific position where the radar monitors the target object, which can be a monitoring point or a monitoring area, etc. After the user sets the monitoring position of the target object in advance through the radar client, the radar can periodically detect whether there is an object to be investigated in each monitoring position of the target object. After detecting that there is an object to be investigated in the target monitoring position of the target object, obtain the longitude, latitude, and altitude of the target monitoring position where the object to be investigated appears, and send out alarm point position information including the longitude, latitude, and altitude of the target monitoring position where the object to be investigated appears. The altitude can be the altitude above sea level or the ellipsoidal height, etc. The ellipsoidal height can also be called the geodetic height, which is used to represent the orthogonal distance between the monitoring position and the ellipsoidal surface. It should be noted that when the altitude is the altitude above sea level, the alarm point position information can also include the height difference between the altitude above sea level and the ellipsoidal height.

[0093] Among them, the target monitoring position is the monitoring position where the object to be investigated appears in the target object detected by the radar. When the target monitoring position is a monitoring area, the longitude, latitude, and altitude of the center point of the monitoring area can be selected as the longitude, latitude, and altitude of the target monitoring position. The ellipsoidal height can also be called the geodetic height, which is used to represent the orthogonal distance between the monitoring position and the ellipsoidal surface. The radar can directly send the alarm point position information to the server, or send the alarm point position information to a third-party device, so that the third-party device sends the alarm point position information to the server. It should be noted that when the altitude of the target monitoring position obtained by the radar is the altitude above sea level, it needs to be converted to the ellipsoidal height for unified calculation and processing. In addition, if the radar also detected the object to be investigated at the target monitoring position of the target object in the previous cycle, the alarm point position information may not be sent to reduce the number of repeated information transmissions.

[0094] In summary, in the route planning method provided by the above embodiments, when detecting that the object to be investigated appears in the target object, the alarm point position information including the longitude, latitude, and altitude of the target monitoring position where the object to be investigated appears is sent in a timely manner, so as to facilitate the timely planning of the route from the target starting point to the target monitoring position, and can photograph the target monitoring position where the object to be investigated appears in an all-round and flexible manner, effectively improving the photographing effect, and further improving the accuracy and convenience of investigating the object to be investigated based on the captured images.

[0095] Based on the same inventive concept as the foregoing embodiments, the method provided by the foregoing embodiments will be illustrated by a specific example below. In this example, the monitoring position is a monitoring point, the unmanned aerial vehicle is a drone, the target object is a mine, the object to be investigated is a crack, and the radar is a slope radar.

[0096] Refer to Figure 11 , the route planning system for crack investigation provided in this embodiment includes a server, and a slope radar and a drone that are respectively communicatively connected to the server. Based on the above route planning system, the working process of the route planning method provided in this embodiment includes:

[0097] 1). The slope radar alarms, mainly including that the user pre-sets monitoring points or monitoring areas in the radar client. The slope radar constantly detects the mountain situation of the monitoring points or monitoring areas. If cracks appear, it sends an alarm to the server and reports the specific position (including longitude, latitude, altitude).

[0098] Such as Figure 12As shown in the figure, after the slope radar equipment is arranged in the mine, the user can set monitoring points or monitoring areas for the slope radar on the radar client. If it is a monitoring point, only the longitude and latitude of the monitoring point need to be set. If it is a monitoring area, the longitude and latitude of each vertex of the polygon monitoring area need to be set. The slope radar will periodically detect whether there is an alarm message at each monitoring point or monitoring area. If an alarm occurs and there was no alarm during the previous detection, the longitude, latitude, and altitude of the monitoring point where the alarm occurs will be encapsulated as alarm point location information, or the longitude, latitude, and altitude of the center point of the monitoring area where the alarm occurs will be encapsulated as alarm point location information.

[0099] Among them, the slope radar can judge the type of altitude. If the altitude is ellipsoidal height, no processing will be performed. If the altitude is elevation height, the interface in the height difference query microservice will be called to query the difference between the ellipsoidal height and the elevation height at the current longitude and latitude, and the height difference can be converted to the ellipsoidal height by adding the height difference to the elevation height. Finally, the encapsulated alarm point location information will be sent to the server.

[0100] 2) Route trajectory planning mainly includes first selecting the airport closest to the alarm point, and automatically planning the route trajectory and generating a route file in combination with the airport location, the alarm point location, the safe flight altitude configured by the user, and the shooting point spacing (i.e., the waypoint spacing).

[0101] Refer to Figure 13 , after receiving the alarm point location information, the server generates a complete route trajectory from waypoint 1 to waypoint 5, so that the drone can take pictures and collect evidence of the alarm point along this route. Among them, the process of route trajectory planning can be mainly divided into the following parts:

[0102] (1) Waypoint altitude calculation

[0103] The planning of the trajectory first requires determining the waypoint altitude. There is a preset default safe flight altitude. If the ellipsoidal height corresponding to the alarm point plus 20 meters is less than or equal to this safe flight altitude, then the altitude h of each waypoint is set to this safe flight altitude, otherwise it is set to the ellipsoidal height corresponding to the alarm point plus 20 meters to avoid the drone colliding due to too low altitude when flying towards the mountain.

[0104] (2) Waypoint longitude and latitude calculation

[0105] Based on Figure 3 、 Figure 5 、 Figure 7 and Figure 8 shown in the spatial approximation calculation algorithm, the longitude and latitude of each waypoint can be calculated. For example, continue to refer to Figure 6 , it is stipulated that waypoint 1 is directly above the airport and waypoint 5 is directly above the alarm point. Combine the longitude and latitude of waypoint 1 and waypoint 5 Figure 3The distance calculation algorithm between two points shown can obtain the straight-line distance L from waypoint 1 to waypoint 5. 15 Meanwhile, the waypoint spacing d is set by the user, so the straight-line distance L from waypoint 3 to waypoint 5 13 is d. Combining the above information Figure 5 with the longitude and latitude calculation algorithm for a certain point on the straight line shown can obtain the longitude and latitude of waypoint 3. Then, combining the longitude and latitude of waypoints 3 and 5 Figure 7 with the included angle calculation algorithm between the vector shown and the due north direction can obtain the vector α from waypoint 3 to waypoint 5 35 and the included angle angle with the due north direction. At the same time, since the vector α from waypoint 2 to waypoint 4 24 is perpendicular to the α from waypoint 3 to waypoint 5 35 , it is easy to calculate that the included angle between the vector α from waypoint 3 to waypoint 2 32 and the due north direction is angle - 90°, and the included angle between the vector α from waypoint 3 to waypoint 4 34 and the due north direction is angle + 90°. Then, combining the longitude and latitude of waypoint 3, the waypoint spacing d, angle - 90° and angle + 90° Figure 8 with the longitude and latitude calculation algorithm for a certain point moving a specified distance in a specified direction shown can obtain the longitude and latitude of waypoints 2 and 4.

[0106] (3) Calculation of the yaw angle and pitch angle of the waypoint

[0107] The yaw angle of the waypoint is the included angle between the shooting direction at this waypoint and the due north direction. Continuing to refer to Figure 6 , substituting the longitude and latitude of waypoints 1, 2, 3, 4, and 5 into the included angle calculation algorithm between the vector and the due north direction shown respectively Figure 7 can obtain the included angles between the vectors a 15 , a 25 , a 35 , a 45 and the due north direction respectively, which are the yaw angles of waypoints 1, 2, 3, and 4 respectively. Since the longitude and latitude of waypoint 5 coincide with the alarm point, its yaw angle is arbitrarily set, generally set to 0°.

[0108] The pitch angle of the waypoint is the angle of looking down at the alarm point at this waypoint. Referring to Figure 6 , waypoints 2, 3, and 5 form an isosceles right triangle. Given that the length of the right-angled side is d, the length of the hypotenuse L 25 is Referring to Figure 9 , waypoints 2, 5, and the alarm point form a right triangle. Using the inverse trigonometric function can calculate the pitch angle of waypoint 2 It should be noted that the pitch angle should ultimately be negative. By analogy, the pitch angles of waypoints 1, 3, and 4 can be calculated respectively. For example, waypoints 1, 5, and the alarm point form a right triangle, and using the inverse trigonometric function arctan(h / L 15 ) the pitch angle of waypoint 1 can be calculated Specifically, since waypoint 5 is directly above the alarm point, it can be directly photographed vertically downward, and the pitch angle can be set to -90°.

[0109] 3), The UAV takes pictures for evidence collection.

[0110] After determining the positions of all waypoints in the flight path trajectory and the shooting actions (i.e., yaw angle and pitch angle) at each waypoint, the server can automatically construct a flight path file. The flight path file can be in kmz format. Kmz is essentially a zip compressed package. After decompression, it is the wpmz root directory. The root directory contains the template.kml template file, the waylines.wpml execution file, and the res resource folder. The contents of the kml and wpml files are similar, mainly including some flight path global settings, waypoint local settings, and waypoint action setting elements. Res is generally used to save auxiliary resources.

[0111] After constructing the flight path file, the server can automatically generate a flight mission and bind the flight path file, and then send the flight mission to the UAV closest to the alarm point, so that the UAV can fly to multiple points near the alarm point according to the flight path in the flight path file for taking pictures for evidence collection.

[0112] 4), AI algorithm crack detection.

[0113] The photos taken during the UAV inspection process are temporarily stored in the UAV hardware device and sent to the server after the task is completed and the UAV returns. The server can call the crack recognition algorithm to check the photos taken by the UAV, mark the suspected crack parts with a square box, and display the corresponding confidence level. In addition, the server can also generate a complete crack detection report, and users can view the detailed report results through text messages or QR codes, etc., so as to facilitate the completion of the hidden danger inspection of the mine production process.

[0114] In summary, in the flight path planning method provided by the above embodiments, multiple suitable shooting points are automatically planned near the alarm point of the slope radar for crack detection from multiple angles, and at the same time, the custom waypoint spacing and flight safety height are provided, so that users can freely adjust the shooting points to a certain extent. In this way, it is possible to shoot the positions of suspected cracks on the slope comprehensively and flexibly, so that the AI algorithm can analyze accurately and efficiently, and ultimately ensure the safety of intelligent mine production.

[0115] Based on the same inventive concept as the foregoing embodiments, an embodiment of the present invention provides an electronic device, such asFigure 14 As shown, the electronic device includes: a processor 310 and a memory 311 storing a computer program; wherein, Figure 14 The processor 310 shown in is not used to indicate that the number of processors 310 is one, but only to indicate the positional relationship of the processor 310 relative to other components. In practical applications, the number of processors 310 can be one or more; similarly, Figure 14 The memory 311 shown in has the same meaning, that is, it is only used to indicate the positional relationship of the memory 311 relative to other components. In practical applications, the number of memories 311 can be one or more. When the processor 310 runs the computer program, the above-mentioned route planning method is implemented.

[0116] The electronic device may further include: at least one network interface 312. Each component in the electronic device is coupled together through a bus system 313. It can be understood that the bus system 313 is used to realize the connection and communication between these components. In addition to the data bus, the bus system 313 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clear illustration, in Figure 14 all kinds of buses are labeled as the bus system 313.

[0117] Based on the same inventive concept as the foregoing embodiments, this embodiment also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program. The computer-readable storage medium can be a ferromagnetic random access memory (FRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM), etc.; it can also be various devices including one or any combination of the above memories, such as a mobile phone, a computer, a tablet device, a personal digital assistant, etc. When the computer program stored in the computer-readable storage medium is run by a processor, the above-mentioned route planning method is implemented. For the specific step flow implemented when the computer program is executed by the processor, please refer to Figure 1 orFigure 10 The description of the illustrated embodiments will not be repeated here.

[0118] As described above, the above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claimed rights.

Claims

1. A route planning method, applied to a server, characterized in that: include: Acquire the alarm point location information generated when the radar detects that the object to be checked appears in the target object, the alarm point location information includes the longitude, latitude and altitude of the target monitoring position where the object to be checked appears; According to the set safe flight altitude and waypoint spacing and the alarm point location information, a route from the target starting point to the target monitoring position is planned so that the unmanned aerial vehicle can photograph the target monitoring position according to the route; the route includes the location information of multiple waypoints, the yaw angle and pitch angle for photographing the target monitoring position at each waypoint, and the waypoint height.

2. The method according to claim 1, characterized in that The method includes: planning a route from the target departure point to the target monitoring position according to the set safe flight altitude and waypoint spacing and the alarm point position information so that the unmanned aerial vehicle can shoot the target monitoring position according to the route, including: According to the longitude and latitude of the target monitoring position, the starting point closest to the target monitoring position is determined as the target starting point.

3. The method according to claim 1, characterized in that The height includes an ellipsoid height; the multiple waypoints include a first waypoint, a second waypoint, a third waypoint, a fourth waypoint and a fifth waypoint located at the same horizontal height; the first waypoint is located directly above the target starting point; The fifth waypoint is located directly above the target monitoring position and its height from the target monitoring position is the waypoint height; the third waypoint is located between the first waypoint and the fifth waypoint and is located on the same straight line as the first waypoint and the fifth waypoint, the third waypoint is located on the same straight line as the second waypoint and the fourth waypoint, and the distances between the third waypoint and the second waypoint, the fourth waypoint and the fifth waypoint are respectively the waypoint spacings; The method of planning a route from the target departure point to the target monitoring position according to the set safe flight altitude and waypoint spacing and the alarm point position information, so that the unmanned aerial vehicle can shoot the target monitoring position according to the route, includes: Determine the waypoint altitude according to the set safe flight altitude and the ellipsoid height of the target monitoring position; Determine the longitude and latitude of the third waypoint according to the longitude and latitude of the first waypoint, the longitude and latitude of the fifth waypoint, and the waypoint spacing; the longitude and latitude of the first waypoint are determined based on the longitude and latitude of the target departure point, and the longitude and latitude of the fifth waypoint are determined based on the longitude and latitude of the target monitoring position; Determine the longitude and latitude of the second waypoint and the fourth waypoint according to the longitude and latitude of the third waypoint, the longitude and latitude of the fifth waypoint, and the directions of the second waypoint and the fourth waypoint relative to the third waypoint, respectively; Determine the yaw angle and pitch angle corresponding to the first waypoint, the second waypoint, the third waypoint, the fourth waypoint and the fifth waypoint, respectively, based on the longitudes and latitudes respectively corresponding to the first waypoint, the second waypoint, the third waypoint, the fourth waypoint and the fifth waypoint, and the distances therebetween.

4. The method according to claim 3, characterized in that Determining the waypoint height according to the set safe flight altitude and the ellipsoid height of the target monitoring position includes: Detecting whether the sum of the ellipsoid height of the target monitoring position and the preset height value is greater than or equal to the set safe flight altitude; If yes, the waypoint height is determined as the sum of the ellipsoid height of the target alarm position and the preset height value; If not, the waypoint altitude is determined as the safe flight altitude.

5. The method according to claim 3, characterized in that: The determining the longitude and latitude of the third waypoint according to the longitude and latitude of the first waypoint, the longitude and latitude of the fifth waypoint, and the waypoint distance comprises: Determine, based on the longitude and latitude of the first waypoint and the longitude and latitude of the fifth waypoint, the distance between the first waypoint and the fifth waypoint and the change in longitude and latitude from the first waypoint to the fifth waypoint; The longitude and latitude of the third waypoint are determined according to the distance, the longitude change, the latitude change, and the waypoint spacing.

6. The method according to claim 3, characterized in that: The determining the longitude and latitude of the second waypoint and the fourth waypoint according to the longitude and latitude of the third waypoint, the longitude and latitude of the fifth waypoint, and the directions of the second waypoint and the fourth waypoint relative to the third waypoint, respectively, comprises: Determine a first angle between a vector from the third waypoint to the fifth waypoint and a preset direction according to the longitude and latitude of the third waypoint and the longitude and latitude of the fifth waypoint; Determine a second angle between a vector from the third waypoint to the second waypoint and the preset direction, and a third angle between a vector from the third waypoint to the fourth waypoint and the preset direction according to the first angle and the directions of the second waypoint and the fourth waypoint relative to the third waypoint; Determine the longitude and latitude of the second waypoint according to the longitude and latitude of the third waypoint, the waypoint distance, and the second angle; The longitude and latitude of the fourth waypoint are determined according to the longitude and latitude of the third waypoint, the waypoint distance, and the third angle.

7. The method according to claim 3, characterized in that The determining, according to the longitudes and latitudes respectively corresponding to the first waypoint, the second waypoint, the third waypoint, the fourth waypoint and the fifth waypoint and the distances therebetween, the yaw angle and the pitch angle respectively corresponding to the first waypoint, the second waypoint, the third waypoint, the fourth waypoint and the fifth waypoint, comprises: Determine the yaw angles corresponding to the first waypoint, the second waypoint, the third waypoint, the fourth waypoint, and the fifth waypoint, respectively, according to the longitudes and latitudes corresponding to the first waypoint, the second waypoint, the third waypoint, the fourth waypoint, and the fifth waypoint, respectively; Determine the pitch angles corresponding to the first waypoint, the second waypoint, the third waypoint, the fourth waypoint and the fifth waypoint, respectively, according to the distances between the first waypoint, the second waypoint, the third waypoint, the fourth waypoint and the fifth waypoint, respectively.

8. A route planning method, applied to radar, characterized in that: include: In response to detecting that an object to be checked appears in the target object, obtaining the longitude, latitude and altitude of a target monitoring position where the object to be checked appears; The alarm point location information is issued, and the alarm point location information includes the longitude, latitude and altitude of the target monitoring location where the object to be checked appears.

9. An electronic device, characterized in that: include: A processor and a memory storing a computer program, wherein when the processor runs the computer program, the route planning method according to any one of claims 1 to 8 is implemented.

10. A computer-readable storage medium, characterized in that: A computer program is stored, and when the computer program is executed by a processor, the route planning method according to any one of claims 1 to 8 is implemented.

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