Unmanned aerial vehicle route generation method

Abstract

The invention discloses an unmanned aerial vehicle route generation method. The method comprises the following steps: constructing a three-dimensional modeling graph based on a to-be-flied area; acquiring the position of a first object, the position of a second object and the position of a third object in the three-dimensional modeling graph; determining a line direction according to the number corresponding to the position of the first object and the number corresponding to the position of the third object, and determining a waypoint generation area according to the line direction; based on a target point on a shooting object of the second object, the position of the first object, the position of the second object and the position of the third object, determining a waypoint of an unmanned aerial vehicle route in the waypoint generation area; and generating an unmanned aerial vehicle route according to the waypoints of the unmanned aerial vehicle route. According to the technical scheme, the route of the unmanned aerial vehicle is planned, the inspection efficiency of the unmanned aerial vehicle is improved, and manpower and material resources are saved.

Description

Technical Field

[0001] The present invention relates to the technical field of drone patrol inspection, and particularly to a method for generating a drone flight path. Background Art

[0002] In the operation and maintenance work of the power system, the inspection of transmission towers is of great importance. With the rapid development of drone technology, it has been widely used in the field of transmission tower inspection.

[0003] However, under the existing technical conditions, the generation of drone flight paths mostly relies on manual drawing.

[0004] When the number of transmission towers is large, the manual method will consume a large amount of human and material resources, and also prevent the drone from quickly inspecting the transmission towers, reducing the inspection efficiency. Summary of the Invention

[0005] The present invention provides a method for generating a drone flight path, which improves the inspection efficiency of the drone and saves human and material resources.

[0006] According to one aspect of the present invention, there is provided a method for generating a drone flight path, the method comprising:

[0007] Based on the area to be flown, constructing a three-dimensional modeling diagram;

[0008] Obtaining the positions of a first object, a second object, and a third object in the three-dimensional modeling diagram; wherein, the first object and the third object are respectively adjacent to the second object; the number of the first object is less than the number of the second object; the number of the third object is greater than the number of the second object;

[0009] Determining the line direction according to the number corresponding to the position of the first object and the number corresponding to the position of the third object, and determining a waypoint generation area according to the line direction; wherein, the line direction is the direction from the number corresponding to the position of one object to the number corresponding to the position of another object;

[0010] Based on the target point on the shooting object of the second object, the position of the first object, the position of the second object, and the position of the third object, determining the waypoints of the drone flight path in the waypoint generation area; wherein, the shooting object is the object to be inspected by the drone;

[0011] Generating a drone flight path according to the waypoints of the drone flight path.

[0012] According to another aspect of the present invention, there is provided a device for generating a drone flight path, the device comprising:

[0013] A three-dimensional modeling diagram construction module, configured to construct a three-dimensional modeling diagram based on the area to be flown;

[0014] A position acquisition module, configured to acquire the positions of a first object, a second object, and a third object in the 3D modeling diagram; wherein, the first object and the third object are respectively adjacent to the second object; the number of the first object is less than the number of the second object; the number of the third object is greater than the number of the second object;

[0015] A region determination module, configured to determine a corresponding numbered line direction according to the number corresponding to the position of the first object and the position of the third object, and determine a waypoint generation region according to the line direction; wherein, the line direction is the direction from the number corresponding to the position of one object to the number corresponding to the position of another object;

[0016] A waypoint determination module, configured to determine waypoints of a UAV flight path in the waypoint generation region based on a target point on the shooting object of the second object, the position of the first object, the position of the second object, and the position of the third object; wherein, the shooting object is the object inspected by the UAV;

[0017] A UAV flight path generation module, configured to generate a UAV flight path according to the waypoints of the UAV flight path.

[0018] According to another aspect of the present invention, there is provided an electronic device, which includes:

[0019] At least one processor; and a memory communicatively connected to the at least one processor; wherein, 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 a UAV flight path generation method according to any embodiment of the present invention.

[0020] According to another aspect of the present invention, there is provided a computer-readable storage medium, which stores computer instructions for causing a processor to implement a UAV flight path generation method according to any embodiment of the present invention when executed.

[0021] In the technical solution of the embodiment of the present invention, the positions of the first object, the second object, and the third object are obtained in the three-dimensional modeling diagram. The line direction is determined according to the positions of the first object and the third object, and the waypoint generation area is determined based on the line direction. The waypoints of the UAV flight path are determined in the waypoint generation area based on the target point on the shooting object of the second object, the position of the first object, the position of the second object, and the position of the third object. And the UAV flight path is generated based on the waypoints of the UAV flight path. In this technical solution, the waypoints of the UAV flight path are determined by the positions of the objects, and then the UAV flight path is planned based on the waypoints of the UAV flight path, which solves the problem that the current UAV flight path planning depends on manual drawing, improves the inspection efficiency of the UAV, and saves manpower and material resources.

[0022] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0024] Figure 1 is a flowchart of a method for generating a UAV flight path according to Embodiment 1 of the present invention;

[0025] Figure 2 is a schematic diagram of the line direction provided in Embodiment 1 of the present application;

[0026] Figure 3 is a schematic diagram of a process for generating a UAV flight path provided in Embodiment 2 of the present invention;

[0027] Figure 4 is a schematic diagram of the shooting object provided in Embodiment 2 of the present application;

[0028] Figure 5 is a schematic diagram of the waypoints corresponding to the first shooting object provided in Embodiment 2 of the present application;

[0029] Figure 6 is a schematic diagram of the UAV field of view angle provided in Embodiment 2 of the present application;

[0030] Figure 7 is a schematic diagram of another process for generating a UAV flight path provided in Embodiment 3 of the present invention;

[0031] Figure 8It is a schematic diagram of the waypoint corresponding to the second shooting object provided in the third embodiment of this application;

[0032] Figure 9 It is a schematic diagram of the pitching angle of the gimbal provided in the third embodiment of this application;

[0033] Figure 10 It is a schematic diagram of another UAV route generation process provided in the fourth embodiment of the present invention;

[0034] Figure 11 It is a schematic diagram of the waypoint corresponding to the third shooting object provided in the fourth embodiment of this application;

[0035] Figure 12 It is a schematic diagram of the target point provided in the fourth embodiment of this application;

[0036] Figure 13 It is a schematic structural diagram of a UAV route generation device provided in the fifth embodiment of the present invention;

[0037] Figure 14 It is a schematic structural diagram of an electronic device for implementing a UAV route generation method according to an embodiment of the present invention. Detailed implementation manners

[0038] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0039] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0040] Embodiment 1

[0041] Figure 1It is a flowchart of a method for generating a UAV flight path according to Embodiment 1 of the present invention. This embodiment is applicable to the situation of planning a UAV flight path. This method can be executed by a UAV flight path generation device, which can be implemented in the form of hardware and / or software, and the UAV flight path generation device can be configured in a device. For example, the device can be a device with communication and computing capabilities such as a background server. As Figure 1 shown, the method includes:

[0042] S101. Based on the area to be flown, construct a 3D modeling diagram;

[0043] Among them, the area to be flown refers to a specific area where the UAV is to fly.

[0044] Specifically, modeling software can be used to construct a 3D modeling diagram based on the data of the area to be flown.

[0045] S102. Obtain the positions of the first object, the second object, and the third object in the 3D modeling diagram; among them, the first object and the third object are adjacent to the second object respectively; the number of the first object is less than the number of the second object; the number of the third object is greater than the number of the second object.

[0046] In this solution, the object is a support for supporting the transmission line in the overhead transmission line. It can be a pole tower, and the position of the object can be represented by longitude and latitude coordinates.

[0047] In this embodiment, when the first object, the second object, and the third object are simulated objects, the positions of the first object, the second object, and the third object can be obtained in the 3D modeling diagram.

[0048] Among them, the first object and the third object are adjacent to the second object respectively. Suppose the number of the second object is 11, then the number of the first object is 10, and the number of the third object is 12.

[0049] S103. Determine the line direction according to the number corresponding to the position of the first object and the number corresponding to the position of the third object, and determine the waypoint generation area according to the line direction; among them, the line direction is the direction from the number corresponding to the position of one object to the number corresponding to the position of another object.

[0050] Specifically, the line direction includes the direction from the first object to the third object or the direction from the third object to the first object, and the line direction can be determined based on the positions of the first object and the third object. Figure 2 It is a schematic diagram of the line direction provided in Embodiment 1 of the present application. As Figure 2 shown, the line direction is the direction from the first object to the third object.

[0051] Further, after determining the line direction, generate a waypoint generation area based on the line direction. For example, the left area of the line can be used as the waypoint generation area; the right area of the line can also be used as the waypoint generation area.

[0052] S104. Determine the waypoints of the UAV flight path in the waypoint generation area based on the target points on the shooting object of the second object, the position of the first object, the position of the second object, and the position of the third object; wherein, the shooting object is the object to be inspected by the UAV.

[0053] Among them, the waypoints of the UAV flight path in this application need to be generated in the left area and / or the right area of the line.

[0054] In this embodiment, the shooting object is the object to be inspected by the UAV. For example, the shooting object can be the tower head, tower body, etc. Among them, the target point is the point on the surface of the shooting object, that is, the part photographed by the UAV. For example, the target point can be the tower head, tower body, tower base, ground wire, insulator, conductor end hanging point, cross arm end hanging point, etc.

[0055] In this solution, a waypoint generation strategy corresponding to each target point can be obtained based on the target points on the shooting object of the second object, the position of the first object, the position of the second object, and the position of the third object. Specifically, the waypoints of the UAV flight path can be calculated based on the target points on the shooting object of the second object, the position of the first object, and the position of the second object; the waypoints of the UAV flight path can also be calculated based on the target points on the shooting object of the second object and the position of the second object; the waypoints of the UAV flight path can also be calculated based on the position of the second object and the position of the third object.

[0056] Specifically, the process of calculating the waypoints of the UAV flight path based on the target points on the shooting object of the second object, the position of the first object, and the position of the second object is as follows: By calculating the position of the first object and the position of the second object, determine the direction corresponding to the waypoints of the UAV flight path, and then determine the waypoints of the UAV flight path based on this direction and the target points on the shooting object of the second object.

[0057] Further, the process of calculating the waypoints of the UAV flight path based on the target points on the shooting object of the second object and the position of the second object is as follows: By calculating the target points on the shooting object of the second object and the position of the second object, determine the direction corresponding to the waypoints of the UAV flight path, and then determine the waypoints of the UAV flight path based on the points in this direction.

[0058] In this solution, the process of calculating the waypoints of the UAV flight path based on the positions of the second object and the third object is as follows: By calculating the positions of the second object and the third object, the direction corresponding to the waypoints of the UAV flight path is determined, and then the waypoints of the UAV flight path are determined based on the points in this direction.

[0059] S105. Generate a UAV flight path according to the waypoints of the UAV flight path.

[0060] In this solution, a path planning strategy can be used to generate a UAV flight path based on the waypoints of multiple UAV flight paths.

[0061] The technical solution of the embodiment of the present invention obtains the positions of the first object, the second object, and the third object in the 3D modeling diagram, determines the line direction according to the positions of the first object and the third object, and determines the waypoint generation area based on the line direction. Based on the target point on the shooting object of the second object, the positions of the first object, the second object, and the third object, the waypoints of the UAV flight path are determined in the waypoint generation area. Then, a UAV flight path is generated according to the waypoints of the UAV flight path. By implementing this technical solution, the waypoints of the UAV flight path are determined by the positions of the objects, and then the UAV flight path is planned based on the waypoints of the UAV flight path, solving the problem that the current UAV flight path planning depends on manual drawing, improving the inspection efficiency of the UAV, and saving manpower and material resources.

[0062] Embodiment 2

[0063] Figure 3 FIG. is a schematic diagram of the process of generating a UAV flight path provided in Embodiment 2 of the present invention. The relationship between this embodiment and the above embodiment is a detailed description of the process of determining the waypoints of the UAV flight path, the nose orientation of the UAV, and the pan tilt angle. As Figure 3 shown, the method includes:

[0064] S301. Build a 3D modeling diagram based on the area to be flown;

[0065] S302. Obtain the positions of the first object, the second object, and the third object in the 3D modeling diagram; wherein, the first object and the third object are adjacent to the second object respectively; the number of the first object is less than the number of the second object; the number of the third object is greater than the number of the second object.

[0066] S303. Determine the line direction according to the number corresponding to the position of the first object and the number corresponding to the position of the third object, and determine the waypoint generation area according to the line direction; wherein, the line direction is the direction from the number corresponding to the position of one object to the number corresponding to the position of another object.

[0067] S304. The photographed object includes a first photographed object; wherein, the first photographed object is a photographed part in a first height range; different photographed parts in different height ranges are obtained by dividing the photographed object.

[0068] In this solution, the photographed object can be divided according to the height value to obtain photographed parts in different height ranges. Among them, the height range can be set according to the photographing requirements. Specifically, the photographed object can be divided into a first photographed object, a second photographed object, and a third photographed object. The first photographed object is a photographed part in a first height range; the second photographed object is a photographed part in a second height range; the third photographed object is a photographed part in a third height range. The height range represents an interval with a certain height value. For example, 10 meters - 20 meters is a height range. The height of the photographed object can also be clearly determined through the height range, such as Figure 4 As shown, there is a corresponding relationship between the width of the frame enclosing the tower base and the height range of the tower base.

[0069] In this embodiment, the first photographed object includes the overall tower view, the tower head, the tower body, and the tower base. Figure 4 It is a schematic diagram of the photographed object provided in the second embodiment of the present application. As Figure 4 shown, by dividing the object, the overall tower view, the tower head, the tower body, and the tower base can be obtained. In the present application, the waypoints corresponding to the overall tower view, the tower head, the tower body, and the tower base can be generated in the left area of the line.

[0070] S305. Determine the center point position of the second object and the center point position of the first object.

[0071] In this solution, after obtaining the positions of the first object and the second object, calculate the center point position of the first object based on the position of the first object; calculate the center point position of the second object based on the position of the second object.

[0072] S306. Determine the longest crossbar on the second object, and use the point on the longest crossbar of the second object that is farthest from the center point position of the second object as the target point on the first photographed object.

[0073] Among them, in the power field, the crossbar on an object usually refers to a cross arm, which is an important part of the object. Its function is to install insulators and fittings to support the conductor and the lightning protection wire and keep a certain safe distance as required.

[0074] In this solution, there are multiple crossbars on the second object. Select the longest crossbar from the multiple crossbars, then calculate the point on the longest crossbar that is farthest from the center point position of the second object, and use this point as the target point on the first photographed object.

[0075] S307. Determine a first direction based on the center point position of the second object and the center point position of the first object.

[0076] In this embodiment, the direction in which the center point position of the second object designates the center point position of the first object can be used as the first direction.

[0077] Optionally, determining the first direction includes steps A1 - A3:

[0078] Step A1. Use the direction from the center point position of the second object to the center point position of the first object as the first original direction.

[0079] Step A2. Translate the starting point of the first original direction to a target point on the first photographed object to obtain a first translation direction.

[0080] Step A3. Rotate the first translation direction by a preset first angle to determine the first direction.

[0081] Among them, the preset first angle can be set based on historical data for generating the UAV flight path. For example, the first angle can be set to 30 degrees.

[0082] Specifically, Figure 5 is a schematic diagram of the waypoint corresponding to the first photographed object provided in the second embodiment of the present application. As Figure 5 shown, use the direction from the center point position of the second object to the center point position of the first object as the first original direction a. Then, translate the starting point of the first original direction a to the target point A on the first photographed object to obtain the first translation direction b. Then, rotate the first translation direction b clockwise by the preset first angle to obtain the first direction c.

[0083] In this solution, translating the first original direction a to the first translation direction b is for the safety of waypoint generation. If the direction obtained by rotating the first original direction a clockwise has some lines that coincide with the power transmission line, since waypoints are generated on the line of the direction in the present application, the generated waypoints may coincide with the power transmission line, resulting in the UAV colliding with the line when shooting at this waypoint.

[0084] Determining the first direction through the center point position of the second object and the center point position of the first object can determine the waypoints corresponding to the first photographed object based on the first direction, thereby planning the UAV flight path, improving the inspection efficiency of the UAV, and saving manpower and material resources.

[0085] S308. Determine the waypoints of the UAV flight path based on the target point on the first shooting object, the first direction, the horizontal distance between the UAV and the second object, and the shooting height of the UAV; wherein, the horizontal distance between the UAV and the second object and the shooting height of the UAV are calculated based on the UAV field of view angle.

[0086] In this solution, the horizontal distance between the UAV and the second object and the shooting height of the UAV can be obtained through the UAV field of view angle Calculated. Figure 6 It is a schematic diagram of the UAV field of view angle provided in the second embodiment of this application. As Figure 6 shown, when the shooting object is the whole tower, the shooting height of the UAV is y + half of the tower height + the altitude of the position where the tower foundation is located. When the shooting object is the tower top, the shooting height of the UAV is the altitude of the whole tower + the midpoint of the altitude of the highest point of the pole tower. When the shooting object is the tower body, the shooting height of the UAV is the altitude of the highest point of the pole tower. When the shooting object is the tower base, the shooting height of the UAV is the altitude of the position where the bottom crossbar of the pole tower is located. In addition, when the shooting object is the whole tower, the horizontal distance between the UAV and the second object is x. When the shooting object is the tower top and the tower body, the horizontal distance between the UAV and the second object is 2 / 3 of x. When the shooting object is the tower base, the horizontal distance between the UAV and the second object is 1 / 3 of x.

[0087] Optionally, the determination process of the horizontal distance between the UAV and the second object and the shooting height of the UAV includes:

[0088] Obtain the height of the second object;

[0089] Use the height of the second object and the pre-determined UAV field of view angle to calculate the first parameter;

[0090] According to the first parameter and the preset rotation angle, calculate the horizontal distance between the UAV and the second object and the shooting height of the UAV to be processed;

[0091] Determine the second parameter; wherein, the second parameter is calculated based on the height of the second object, the preset rotation angle, and the UAV field of view angle;

[0092] Add the second parameter and the shooting height of the UAV to be processed to obtain the shooting height of the UAV.

[0093] In this solution, as Figure 6 shown, the height of the second object is ab, and the first parameter is z. Rotate ab by a preset rotation angle with the center point as the center. Among them, the preset rotation angle can be set to 30 degrees. In a right triangle, according to half of the UAV field of view angle and the distance from a to the center point (i.e., half of the height ab of the second object), the first parameter z is obtained.

[0094] Further, as Figure 6 shown, in the right triangle zxy, the included angle between the two sides xy is 90 degrees. The horizontal distance x between the drone and the second object and the shooting height y of the drone to be processed can be calculated according to the first parameter z and the preset rotation angle. For example, when the preset rotation angle is 30 degrees, the horizontal distance x between the drone and the second object is equal to the first parameter z multiplied by cos30°, so the horizontal distance of the drone from the second object; the shooting height y of the drone to be processed is equal to the first parameter z multiplied by sin30°, so the shooting height of the drone to be processed.

[0095] In this embodiment, since the upper edge of the field of view angle of the drone does not wrap the top of the tower pole (i.e., point a), the top of the tower pole in the captured image exceeds the image range. Therefore, the shooting height y of the drone to be processed is adjusted so that the top of the tower pole in the captured image meets the image range. Specifically, as Figure 6 shown, the second parameter is pc. The second parameter pc is calculated based on the height of the second object, the preset rotation angle, and the field of view angle of the drone. The second parameter pc and the shooting height y of the drone to be processed are added together to obtain the shooting height of the drone.

[0096] By calculating the horizontal distance between the drone and the second object and the shooting height of the drone, the waypoints of the drone flight path can be determined based on the horizontal distance between the drone and the second object and the shooting height of the drone, thereby planning the drone flight path, improving the inspection efficiency of the drone, and saving manpower and material resources.

[0097] Optionally, determining the second parameter includes:

[0098] Calculating a third parameter according to the height of the second object and the preset rotation angle;

[0099] Calculating a fourth parameter according to the third parameter and the field of view angle of the drone; and calculating a fifth parameter according to the third parameter and the preset rotation angle;

[0100] Subtracting half of the height of the second object from the fifth parameter to obtain a sixth parameter;

[0101] Subtracting the fourth parameter from the sixth parameter to obtain a seventh parameter, and determining the second parameter based on the seventh parameter.

[0102] In this solution, as Figure 6 shown, the third parameter db is calculated according to half of the size of the height ab of the second object (the distance from b to the center point) and the preset rotation angle.

[0103] Among them, the fourth parameter is cd, and the fifth parameter is the distance from d to the center point. The fourth parameter is calculated based on the third parameter and the drone's field of view angle; and the fifth parameter is calculated based on the third parameter and the preset rotation angle. Specifically, angle c can be calculated based on the drone's field of view angle and the pre-determined pitch angle. The fourth parameter cd is calculated using angle c and the third parameter db.

[0104] Furthermore, half of the height of the second object (the distance from b to the center point) is subtracted from the fifth parameter (the distance from d to the center point) to obtain the sixth parameter db; then the fourth parameter cd is subtracted from the sixth parameter db to obtain the seventh parameter bc. Half of the seventh parameter bc is the second parameter pc.

[0105] By calculating the drone's shooting height, the waypoints of the drone's flight path can be determined based on the horizontal distance between the drone and the second object and the drone's shooting height, thereby planning the drone's flight path, improving the inspection efficiency of the drone, and saving manpower and material resources.

[0106] In this solution, the longitude and latitude of the waypoints of the drone's flight path can be determined based on the target point on the first shooting object, the first direction, and the horizontal distance between the drone and the second object. Then, based on the longitude and latitude of the waypoints of the drone's flight path and the drone's shooting height, the waypoints of the drone's flight path are determined. Specifically, the target point on the first shooting object is moved along the first direction by the horizontal distance between the drone and the second object to determine the longitude and latitude after the movement of the target point on the first shooting object, and the longitude and latitude are used as the longitude and latitude of the waypoints of the drone's flight path. Then, based on the longitude and latitude of the waypoints of the drone's flight path and the drone's shooting height, the waypoints of the drone's flight path are determined.

[0107] S309: Use the direction of the waypoint of the drone's flight path pointing to the point on the perpendicular line where the center point of the second object is located as the second direction, and use the angle between the second direction and the due north direction in the geodetic coordinate system as the heading of the drone.

[0108] Among them, the heading indicates that the nose of the drone will always face the direction of the shooting object.

[0109] Specifically, use the direction of the waypoint of the drone's flight path pointing to the point on the perpendicular line where the center point of the second object is located as the second direction, then calculate the angle between the second direction and the due north direction in the geodetic coordinate system, and use the angle as the heading of the drone. Among them, the point on the perpendicular line where the center point of the second pole tower is located has the same height as the waypoint.

[0110] S310. Take the direction of the waypoint of the UAV flight path pointing to the center point position of the second object as the third direction, and take the included angle between the third direction and the second direction as the pitch angle of the UAV's gimbal.

[0111] Among them, the pitch angle of the gimbal refers to the angle at which the UAV gimbal device rotates in the vertical direction.

[0112] Further, take the direction of the waypoint of the UAV flight path pointing to the center point position of the second object as the third direction, then calculate the included angle between the third direction and the second direction, and take this included angle as the pitch angle of the gimbal.

[0113] S311. Generate a UAV flight path based on the waypoints of the UAV flight path, the heading of the UAV, and the pitch angle of the gimbal.

[0114] The technical solution of the embodiment of the present invention obtains the positions of the first object, the second object, and the third object, determines the line direction according to the positions of the first object and the third object, and determines the waypoint generation area based on the line direction. The shooting object includes the first shooting object. Then determine the center point position of the second object and the center point position of the first object, determine the longest cross bar on the second object, and take the point on the longest cross bar of the second object that is farthest from the center point position of the second object as the target point on the first shooting object. Based on the center point position of the second object and the center point position of the first object, determine the first direction. Then, based on the target point on the first shooting object, the first direction, the horizontal distance between the UAV and the second object, and the shooting height of the UAV, determine the waypoints of the UAV flight path. Take the direction of the waypoint of the UAV flight path pointing to the point on the vertical line where the center point position of the second object is located as the second direction, and take the included angle between the second direction and the due north direction in the earth coordinate system as the heading of the UAV. Take the direction of the waypoint of the UAV flight path pointing to the center point position of the second object as the third direction, and take the included angle between the third direction and the second direction as the pitch angle of the UAV's gimbal. Generate a UAV flight path based on the waypoints of the UAV flight path, the heading of the UAV, and the pitch angle of the gimbal. By executing this technical solution, by obtaining the positions of the first object, the second object, and the third object, and then based on the positions of the first object, the second object, and the third object, determine the waypoints corresponding to the first shooting object, and can plan the UAV flight path based on these waypoints, realizing the inspection of the first shooting object, improving the inspection efficiency of the UAV, and saving manpower and material resources.

[0115] Embodiment III

[0116] Figure 7This is a schematic diagram of another process for generating a UAV flight path provided in Embodiment 3 of the present invention. The relationship between this embodiment and the above embodiments is a detailed description of the process for determining the waypoints of the UAV flight path, the heading of the UAV, and the pitch angle of the gimbal. As Figure 7 shown, the method includes:

[0117] S701. Based on the area to be flown, construct a three-dimensional modeling diagram.

[0118] S702. Obtain the positions of the first object, the second object, and the third object in the three-dimensional modeling diagram; wherein, the first object and the third object are respectively adjacent to the second object; the number of the first object is less than the number of the second object; the number of the third object is greater than the number of the second object.

[0119] S703. Determine the line direction according to the number corresponding to the position of the first object and the number corresponding to the position of the third object, and determine the waypoint generation area according to the line direction; wherein, the line direction is the direction from the number corresponding to the position of one object to the number corresponding to the position of another object.

[0120] The shooting object includes a second shooting object; wherein, the second shooting object is the shooting part in the second height interval; different height interval shooting parts are obtained by dividing the shooting object.

[0121] Among them, the second shooting object includes the ground wire. The ground wire, also known as the lightning protection wire, refers to the wire directly connected to the ground on high-voltage and extra-high-voltage lines. In this application, the waypoints corresponding to the ground wire can be generated in the left area and the right area of the line.

[0122] S705. Obtain the target points on the second shooting object.

[0123] In this solution, the target points on the second shooting object are obtained from the point cloud data through algorithms and other means.

[0124] S706. Determine the center point position of the second object, and determine the fourth original direction according to the points on the vertical line where the center point position of the second object is located and the target points on the second shooting object.

[0125] In this embodiment, after obtaining the position of the second object, the center point position of the second object can be calculated based on the position of the second object.

[0126] Specifically, Figure 8 is a schematic diagram of the waypoints corresponding to the second shooting object provided in Embodiment 3 of the present application. As Figure 8As shown, the extension direction from the point Q on the vertical line where the center point of the second object is located to the target point on the second photographed object can be used as the fourth original direction.

[0127] S707. Determine the longest crossbar on the second photographed object, and determine the first starting point based on the points on the longest crossbar of the second photographed object and the points on the vertical line where the center point of the second object is located.

[0128] In this solution, there are multiple crossbars on the second object. Select the longest crossbar from the multiple crossbars, then calculate the point on the longest crossbar that is farthest from the point Q on the vertical line where the center point of the second object is located, and use this point as the first starting point P.

[0129] S708. Translate the starting point of the fourth original direction to the first starting point to obtain the fourth direction.

[0130] Furthermore, translate the starting point of the fourth original direction to the first starting point P to obtain the fourth direction.

[0131] S709. Determine the waypoints of the UAV flight path according to the fourth direction and a preset first distance.

[0132] Among them, the preset first distance can be set based on the historical data for generating the UAV flight path.

[0133] In this solution, take the point corresponding to the preset first distance in the fourth direction, adjust the height of this point, and then use this point as the waypoint of the UAV flight path. That is, the distance between the waypoint of the UAV flight path and the ground is higher than the preset first distance.

[0134] S710. Use the direction from the waypoint of the UAV flight path to the point on the vertical line where the center point of the second object is located as the fifth direction, and use the angle between the fifth direction and the true north direction in the geodetic coordinate as the heading of the UAV.

[0135] Specifically, use the direction from the waypoint of the UAV flight path to the point Q on the vertical line where the center point of the second object is located as the fifth direction, calculate the angle between the fifth direction and the true north direction in the geodetic coordinate, and then use this angle as the heading of the UAV.

[0136] S711. Use the angle between the direction from the waypoint of the UAV flight path to the center point of the second object and the direction from the waypoint of the UAV flight path to the target point on the second photographed object as the pitch angle of the UAV gimbal.

[0137] Furthermore, Figure 9 is a schematic diagram of the pitch angle of the UAV gimbal provided in Embodiment 3 of the present application, as Figure 9As shown in the figure, calculate the angle e between the direction in which the waypoint of the UAV flight path points to the center point position of the second object and the direction in which the waypoint of the UAV flight path points to the target point on the second shooting object, and then use this angle e as the pitch angle of the UAV's pan-tilt head.

[0138] S712. Generate a UAV flight path based on the waypoints of the UAV flight path, the heading of the UAV, and the pitch angle of the pan-tilt head.

[0139] In the technical solution of the embodiment of the present invention, by obtaining the positions of the first object, the second object, and the third object in the 3D modeling diagram, determining the line direction according to the positions of the first object and the third object, and determining the waypoint generation area based on the line direction. The shooting object includes the second shooting object. Obtain the target point on the second shooting object, determine the center point position of the second object, and determine the fourth original direction according to the point on the perpendicular line where the center point position of the second object is located and the target point on the second shooting object. Then determine the longest crossbar on the second shooting object, and determine the first starting point according to the point on the longest crossbar on the second shooting object and the point on the perpendicular line where the center point position of the second object is located. Translate the starting point of the fourth original direction to the first starting point to obtain the fourth direction. Then, according to the fourth direction and the preset first distance, determine the waypoints of the UAV flight path. Use the direction in which the waypoint of the UAV flight path points to the point on the perpendicular line where the center point position of the second object is located as the fifth direction, and use the angle between the fifth direction and the due north direction in the geodetic coordinate as the heading of the UAV; use the angle between the direction in which the waypoint of the UAV flight path points to the center point position of the second object and the direction in which the waypoint of the UAV flight path points to the target point on the second shooting object as the pitch angle of the UAV's pan-tilt head. And generate a UAV flight path based on the waypoints of the UAV flight path, the heading of the UAV, and the pitch angle of the pan-tilt head. By implementing this technical solution, by obtaining the positions of the first object, the second object, and the third object, and then determining the waypoints corresponding to the second shooting object based on the positions of the first object, the second object, and the third object, the UAV flight path can be planned based on these waypoints, realizing the inspection of the second shooting object, improving the inspection efficiency of the UAV, and saving manpower and material resources.

[0140] Embodiment 4

[0141] Figure 10 FIG. is a schematic diagram of another UAV flight path generation process provided in Embodiment 4 of the present invention. The relationship between this embodiment and the above embodiment is a detailed description of the determination process of the waypoints of the UAV flight path, the heading of the UAV, and the pitch angle of the pan-tilt head. As Figure 10 shown, the method includes:

[0142] S1001. Construct a 3D modeling diagram based on the area to be flown.

[0143] S1002. Obtain the positions of the first object, the second object, and the third object in the three-dimensional modeling diagram; wherein, the first object and the third object are respectively adjacent to the second object; the number of the first object is less than the number of the second object; the number of the third object is greater than the number of the second object.

[0144] S1003. Determine the line direction according to the number corresponding to the position of the first object and the number corresponding to the position of the third object, and determine the waypoint generation area according to the line direction; wherein, the line direction is the direction from the number corresponding to the position of one object to the number corresponding to the position of another object.

[0145] S1004. The shooting object includes a third shooting object; wherein, the third shooting object is the shooting part in the third height interval; different height interval shooting parts are obtained by dividing the shooting object; the waypoints corresponding to the third shooting object include a first waypoint and a second waypoint; the first waypoint is used to shoot the line between the second object and the third object; the second waypoint is used to shoot the line between the second object and the first object.

[0146] In this solution, the third shooting object includes a large-side line and a small-side line. The waypoints corresponding to the large-side line, that is, the first waypoint, can shoot the line between the second object and the third object; the waypoints corresponding to the small-side line, that is, the second waypoint, can shoot the line between the second object and the first object. According to relevant regulations, the waypoints corresponding to the large-side line and the small-side line need to be generated in the right-side area of the line.

[0147] S1005. Determine the center point position of the second object and the center point position of the third object.

[0148] In this solution, after obtaining the positions of the second object and the third object, calculate the center point position of the second object based on the position of the second object; calculate the center point position of the third object based on the position of the third object.

[0149] S1006. Based on the center point position of the second object and the center point position of the third object, determine a sixth direction and a seventh direction.

[0150] In this embodiment, the direction from the center point position of the second object to the center point position of the third object can be rotated to obtain the sixth direction and the seventh direction respectively.

[0151] Optionally, determining the sixth direction and the seventh direction includes steps B1 - B5:

[0152] Step B1: Use the direction from the center point of the second object to the center point of the third object as the sixth original direction;

[0153] Step B2: Rotate the sixth original direction by a preset second angle to obtain the sixth rotation direction;

[0154] In this embodiment, the preset second angle can be set based on the historical data for generating the UAV flight path. For example, the second angle can be 90 degrees.

[0155] Step B3: Determine the longest crossbar on the second object, and use the point on the longest crossbar of the second object that is farthest from the center point of the second object as the second starting point;

[0156] In this solution, there are multiple crossbars on the second object. Select the longest crossbar from the multiple crossbars, then calculate the point on the longest crossbar that is farthest from the center point of the second object, and use this point as the second starting point.

[0157] Step B4: Translate the starting point of the sixth rotation direction to the second starting point to obtain the sixth translation direction;

[0158] Step B5: Rotate the sixth translation direction counterclockwise by a preset third angle to determine the sixth direction; and rotate the sixth translation direction clockwise by a preset fourth angle to determine the seventh direction.

[0159] In this solution, both the preset third angle and the preset fourth angle can be set based on the historical data for generating the UAV flight path. Among them, the third angle and the fourth angle can be the same or different. Preferably, the third angle and the fourth angle are the same.

[0160] Specifically, Figure 11 is a schematic diagram of the waypoint corresponding to the third shooting object provided in the fourth embodiment of this application, as Figure 11 shown. Use the direction from the center point of the second object to the center point of the third object as the sixth original direction q; rotate the sixth original direction q counterclockwise by 90 degrees to obtain the sixth rotation direction T; use the point on the longest crossbar of the second object that is farthest from the center point of the second object as the second starting point, then translate the starting point of the sixth rotation direction T to the second starting point to obtain the sixth translation direction, and finally rotate the sixth translation direction counterclockwise by a preset third angle to obtain the sixth direction Y; and rotate the sixth translation direction clockwise by a preset fourth angle to obtain the seventh direction U.

[0161] S1007: Determine the first waypoint of the UAV flight path based on the sixth direction and a preset second distance; and determine the second waypoint of the UAV flight path based on the seventh direction and a preset third distance.

[0162] In this solution, both the preset second distance and the preset third distance can be set based on the historical data for generating the UAV flight path.

[0163] Furthermore, take the point corresponding to the preset second distance in the sixth direction as the first waypoint of the UAV flight path; take the point corresponding to the preset third distance in the seventh direction as the second waypoint of the UAV flight path.

[0164] S1008. When the waypoint corresponding to the third shooting object is the first waypoint, calculate the line length between the second object and the first object; according to the center point position of the second object and the line length between the second object and the first object, determine the first target point on the third shooting object; take the angle between the direction of the first waypoint pointing to the first target point on the third shooting object and the due north direction in the geodetic coordinate as the UAV's nose orientation.

[0165] Specifically, Figure 12 is a schematic diagram of the target point provided in the fourth embodiment of the present application, as Figure 12 shown, the waypoint corresponding to the third shooting object is the first waypoint, that is, the waypoint corresponding to the large-size side line. By calculating the line length between the second object and the first object, and then taking the point corresponding to the line length between the second object and the first object starting from the center point position of the second object as the first target point on the third shooting object.

[0166] Furthermore, calculate the angle between the direction of the first waypoint pointing to the first target point on the third shooting object and the due north direction in the geodetic coordinate, and take this angle as the UAV's nose orientation.

[0167] S1009. When the waypoint corresponding to the third shooting object is the second waypoint, calculate the line length between the second object and the third object; according to the center point position of the second object and the line length between the second object and the third object, determine the second target point on the third shooting object; take the angle between the direction of the second waypoint pointing to the second target point on the third shooting object and the due north direction in the geodetic coordinate as the UAV's nose orientation.

[0168] In this solution, the waypoint corresponding to the third shooting object is the second waypoint, that is, the waypoint corresponding to the small-size side line. By calculating the line length between the second object and the third object, and then taking the point corresponding to the line length between the second object and the third object starting from the center point position of the second object as the second target point on the third shooting object. Calculate the angle between the direction of the second waypoint pointing to the second target point on the third shooting object and the due north direction in the geodetic coordinate, and take this angle as the UAV's nose orientation.

[0169] S1010. When the waypoint corresponding to the third shooting object is the first waypoint, the horizontal direction between the first waypoint and the first target point on the third shooting object and the angle between the first waypoint and the direction of the first target point on the third shooting object are used as the pitch angle of the gimbal of the UAV.

[0170] In this embodiment, when the waypoint corresponding to the third shooting object is the first waypoint, the horizontal direction between the first waypoint and the first target point on the third shooting object and the angle between the first waypoint and the direction of the first target point on the third shooting object are calculated, and this angle is used as the pitch angle of the gimbal of the UAV.

[0171] S1011. When the waypoint corresponding to the third shooting object is the second waypoint, the horizontal direction between the second waypoint and the second target point on the third shooting object and the angle between the second waypoint and the direction of the second target point on the third shooting object are used as the pitch angle of the gimbal of the UAV.

[0172] In this solution, when the waypoint corresponding to the third shooting object is the second waypoint, the horizontal direction between the second waypoint and the second target point on the third shooting object and the angle between the second waypoint and the direction of the second target point on the third shooting object are calculated, and this angle is used as the pitch angle of the gimbal of the UAV.

[0173] S1012. Generate a UAV flight path based on the waypoints of the UAV flight path, the heading of the UAV, and the pitch angle of the gimbal.

[0174] In the technical solution of the embodiment of the present invention, the positions of the first object, the second object, and the third object are obtained in the three-dimensional modeling diagram, the line direction is determined according to the positions of the first object and the third object, and the waypoint generation area is determined based on the line direction. The shooting object includes the third shooting object. The center point position of the second object and the center point position of the third object are determined, and then based on the center point position of the second object and the center point position of the third object, the sixth direction and the seventh direction are determined. According to the sixth direction and the preset second distance, the first waypoint of the UAV flight path is determined; and according to the seventh direction and the preset third distance, the second waypoint of the UAV flight path is determined. When the waypoint corresponding to the third shooting object is the first waypoint, the line length between the second object and the first object is calculated; according to the center point position of the second object and the line length between the second object and the first object, the first target point on the third shooting object is determined; the included angle between the direction of the first waypoint pointing to the first target point on the third shooting object and the due north direction in the geodetic coordinate is used as the nose orientation of the UAV; when the waypoint corresponding to the third shooting object is the second waypoint, the line length between the second object and the third object is calculated; according to the center point position of the second object and the line length between the second object and the third object, the second target point on the third shooting object is determined; the included angle between the direction of the second waypoint pointing to the second target point on the third shooting object and the due north direction in the geodetic coordinate is used as the nose orientation of the UAV. When the waypoint corresponding to the third shooting object is the first waypoint, the horizontal direction between the first waypoint and the first target point on the third shooting object and the included angle between the direction of the first waypoint and the first target point on the third shooting object are used as the pitch angle of the UAV gimbal; when the waypoint corresponding to the third shooting object is the second waypoint, the horizontal direction between the second waypoint and the second target point on the third shooting object and the included angle between the direction of the second waypoint and the second target point on the third shooting object are used as the pitch angle of the UAV gimbal. Based on the waypoints of the UAV flight path, the nose orientation of the UAV, and the pitch angle of the gimbal, the UAV flight path is generated. By implementing this technical solution, by obtaining the positions of the first object, the second object, and the third object, and then based on the positions of the first object, the second object, and the third object, the waypoint corresponding to the third shooting object is determined, and the UAV flight path can be planned based on this waypoint, realizing the inspection of the third shooting object, improving the inspection efficiency of the UAV, and saving manpower and material resources.

[0175] Embodiment 5

[0176] Figure 13 is a schematic structural diagram of a UAV flight path generation device provided by Embodiment 5 of the present invention. As Figure 13 shown, the device includes:

[0177] A three-dimensional modeling diagram construction module 1301, configured to construct a three-dimensional modeling diagram based on the area to be flown;

[0178] A position acquisition module 1302, configured to acquire the positions of a first object, a second object, and a third object in the three-dimensional modeling diagram; wherein, the first object and the third object are respectively adjacent to the second object; the number of the first object is less than the number of the second object; the number of the third object is greater than the number of the second object;

[0179] A region determination module 1303, configured to generate a region based on the positions of the first object and the third object; wherein, the line direction is the direction from the number corresponding to the position of one object to the number corresponding to the position of another object;

[0180] A waypoint determination module 1304, configured to determine the waypoints of the UAV flight path in the waypoint generation region based on the target point on the shooting object of the second object, the position of the first object, the position of the second object, and the position of the third object; wherein, the shooting object is the object to be inspected by the UAV;

[0181] A UAV flight path generation module 1305, configured to generate a UAV flight path according to the waypoints of the UAV flight path.

[0182] Optionally, the shooting object includes a first shooting object; wherein, the first shooting object is the shooting part in the first height interval; different height interval shooting parts are obtained by dividing the shooting object;

[0183] Correspondingly, the waypoint determination module 1304 includes:

[0184] A center point position determination unit, configured to determine the center point position of the second object and the center point position of the first object;

[0185] A target point determination unit on the first shooting object, configured to determine the longest crossbar on the second object, and use the point on the longest crossbar of the second object that is farthest from the center point position of the second object as the target point on the first shooting object;

[0186] A first direction determination unit, configured to determine a first direction based on the center point position of the second object and the center point position of the first object;

[0187] A waypoint determination unit of the UAV flight path, configured to determine the waypoints of the UAV flight path based on the target point on the first shooting object, the first direction, the horizontal distance between the UAV and the second object, and the UAV height; wherein, the horizontal distance between the UAV and the second object and the UAV height are calculated based on the UAV field of view angle.

[0188] Optionally, the first direction determination unit is specifically configured to:

[0189] Take the direction pointing from the center point position of the second object to the center point position of the first object as the first original direction;

[0190] Translate the starting point of the first original direction to the target point on the first shooting object to obtain the first translation direction;

[0191] Rotate the first translation direction by a preset first angle to determine the first direction.

[0192] Optionally, the device further includes:

[0193] The nose orientation determination module is configured to take the direction pointing from the waypoint of the UAV flight path to the point on the perpendicular line where the center point position of the second object is located as the second direction, and take the angle between the second direction and the true north direction in the earth coordinate system as the nose orientation of the UAV;

[0194] The gimbal pitch angle determination module is configured to take the direction pointing from the waypoint of the UAV flight path to the center point position of the second object as the third direction, and take the angle between the third direction and the second direction as the gimbal pitch angle of the UAV.

[0195] Optionally, the shooting object includes a second shooting object; wherein, the second shooting object is the shooting part in the second height interval; different height interval shooting parts are obtained by dividing the shooting object;

[0196] Correspondingly, the waypoint determination module 1304 includes:

[0197] The target point acquisition unit on the second shooting object is configured to acquire the target point on the second shooting object;

[0198] The fourth original direction determination unit is configured to determine the center point position of the second object, and determine the fourth original direction according to the point on the perpendicular line where the center point position of the second object is located and the target point on the second shooting object;

[0199] The first starting point determination unit is configured to determine the longest cross bar on the second shooting object, and determine the first starting point according to the point on the longest cross bar on the second shooting object and the point on the perpendicular line where the center point position of the second object is located;

[0200] The fourth direction obtaining unit is configured to translate the starting point of the fourth original direction to the first starting point to obtain the fourth direction;

[0201] The waypoint determination unit is configured to determine the waypoints of the UAV flight path according to the fourth direction and a preset first distance.

[0202] Optionally, the device further includes:

[0203] The nose orientation determination module is configured to use the direction of the waypoint of the UAV flight path pointing to a point on the perpendicular line of the center point position of the second object as the fifth direction, and use the angle between the fifth direction and the true north direction in the geodetic coordinate as the nose orientation of the UAV;

[0204] The gimbal pitch angle determination module is configured to use the angle between the direction of the waypoint of the UAV flight path pointing to the center point position of the second object and the direction of the waypoint of the UAV flight path pointing to the target point on the second shooting object as the gimbal pitch angle of the UAV.

[0205] Optionally, the shooting object includes a third shooting object; wherein, the third shooting object is the shooting part in the third height interval; different height interval shooting parts are obtained by dividing the shooting object; the waypoints corresponding to the third shooting object include a first waypoint and a second waypoint; the first waypoint is used to shoot the line between the second object and the third object; the second waypoint is used to shoot the line between the second object and the first object;

[0206] Correspondingly, the waypoint determination module 1304 includes:

[0207] The position determination unit is configured to determine the center point position of the second object and the center point position of the third object;

[0208] The direction determination unit is configured to determine a sixth direction and a seventh direction based on the center point position of the second object and the center point position of the third object;

[0209] The first waypoint and second waypoint determination unit is configured to determine the first waypoint of the UAV flight path according to the sixth direction and a preset second distance; and determine the second waypoint of the UAV flight path according to the seventh direction and a preset third distance.

[0210] Optionally, the direction determination unit is specifically configured to:

[0211] Use the direction from the center point position of the second object to the center point position of the third object as the sixth original direction;

[0212] Rotate the sixth original direction by a preset second angle to obtain a sixth rotated direction;

[0213] Determine the longest cross bar on the second object, and use the point on the longest cross bar of the second object that is farthest from the center point position of the second object as the second starting point;

[0214] Translate the starting point of the sixth rotated direction to the second starting point to obtain a sixth translated direction;

[0215] Rotate the sixth translation direction counterclockwise by a preset third angle to determine a sixth direction; and rotate the sixth translation direction clockwise by a preset fourth angle to determine a seventh direction.

[0216] Optionally, the device further includes:

[0217] A first nose orientation determination module, configured to calculate the line length between a second object and a first object when the waypoint corresponding to the third shooting object is the first waypoint; determine a first target point on the third shooting object according to the center point position of the second object and the line length between the second object and the first object; use the included angle between the direction of pointing the first waypoint to the first target point on the third shooting object and the true north direction in the geodetic coordinate as the nose orientation of the drone;

[0218] A second nose orientation module, configured to calculate the line length between a second object and a third object when the waypoint corresponding to the third shooting object is the second waypoint; determine a second target point on the third shooting object according to the center point position of the second object and the line length between the second object and the third object; use the included angle between the direction of pointing the second waypoint to the second target point on the third shooting object and the true north direction in the geodetic coordinate as the nose orientation of the drone.

[0219] Optionally, the device further includes:

[0220] A first gimbal pitch angle determination module, configured to use the included angle between the horizontal direction of the first waypoint and the first target point on the third shooting object and the direction of the first waypoint and the first target point on the third shooting object as the gimbal pitch angle of the drone when the waypoint corresponding to the third shooting object is the first waypoint;

[0221] A second gimbal pitch angle determination module, configured to use the included angle between the horizontal direction of the second waypoint and the second target point on the third shooting object and the direction of the second waypoint and the second target point on the third shooting object as the gimbal pitch angle of the drone when the waypoint corresponding to the third shooting object is the second waypoint.

[0222] Optionally, the waypoint determination unit of the drone flight path further includes:

[0223] A second object height acquisition sub-unit, configured to acquire the height of the second object;

[0224] A first parameter obtaining sub-unit, configured to calculate a first parameter by using the height of the second object and a pre-determined field of view angle of the drone;

[0225] A first parameter calculation subunit, configured to calculate a horizontal distance between the UAV and a second object and a shooting height of the UAV to be processed according to the first parameter and a preset rotation angle;

[0226] A second parameter determination subunit, configured to determine a second parameter; wherein, the second parameter is calculated according to a height of the second object, a preset rotation angle, and a field of view angle of the UAV;

[0227] A UAV shooting height obtaining subunit, configured to add the second parameter and the shooting height of the UAV to be processed to obtain the shooting height of the UAV.

[0228] Optionally, the second parameter determination subunit is specifically configured to:

[0229] Calculate a third parameter according to the height of the second object and the preset rotation angle;

[0230] Calculate a fourth parameter according to the third parameter and the field of view angle of the UAV; and calculate a fifth parameter according to the third parameter and the preset rotation angle;

[0231] Subtract half of the height of the second object from the fifth parameter to obtain a sixth parameter;

[0232] Subtract the fourth parameter from the sixth parameter to obtain a seventh parameter, and determine the second parameter based on the seventh parameter.

[0233] A UAV route generation device provided by an embodiment of the present invention can execute a UAV route generation method provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method.

[0234] Embodiment Six

[0235] Figure 14 FIG. shows a schematic structural diagram of an electronic device 100 that can be used to implement an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, a personal digital processing, a cellular phone, a smart phone, a wearable device (such as a helmet, glasses, a watch, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0236] As Figure 14As shown, the electronic device 100 includes at least one processor 110 and a memory communicatively connected to the at least one processor 110, such as read-only memory (ROM) 120, random access memory (RAM) 130, etc. The memory stores computer programs executable by the at least one processor. The processor 110 can execute various appropriate actions and processes according to the computer programs stored in the read-only memory (ROM) 120 or the computer programs loaded from the storage unit 180 into the random access memory (RAM) 130. In the RAM 130, various programs and data required for the operation of the electronic device 100 can also be stored. The processor 110, the ROM 120, and the RAM 130 are connected to each other via a bus 140. The input / output (I / O) interface 150 is also connected to the bus 140.

[0237] Multiple components in the electronic device 100 are connected to the I / O interface 150, including: an input unit 160, such as a keyboard, a mouse, etc.; an output unit 170, such as various types of displays, speakers, etc.; a storage unit 180, such as a magnetic disk, an optical disc, etc.; and a communication unit 190, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 190 allows the electronic device 100 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0238] The processor 110 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 110 include but are not limited to a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 110 executes the various methods and processes described above, such as a method for generating a drone flight path.

[0239] In some embodiments, a method for generating a drone flight path can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as the storage unit 180. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 100 via the ROM 120 and / or the communication unit 190. When the computer program is loaded into the RAM 130 and executed by the processor 110, one or more steps of the method for generating a drone flight path described above can be executed. Alternatively, in other embodiments, the processor 110 can be configured to execute a method for generating a drone flight path in any other appropriate manner (e.g., by means of firmware).

[0240] The various embodiments of the systems and techniques described above in this specification can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGA), application specific integrated circuits (ASIC), application specific standard products (ASSP), systems on a chip (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which may be a special-purpose or general-purpose programmable processor that receives data and instructions from, and transmits data and instructions to, a storage system, at least one input device, and at least one output device.

[0241] The computer program for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer program can be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

[0242] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0243] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0244] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0245] A computing system can include a client and a server. The client and the server are generally far from each other and typically interact through a communication network. The relationship between the client and the server is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system and solves the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0246] It should be understood that various forms of the processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is made herein.

[0247] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for generating a drone flight path, characterized in that, Including: Construct a 3D modeling map based on the area to be flown; Obtain the positions of a first object, a second object, and a third object in the 3D modeling map; wherein, the first object and the third object are respectively adjacent to the second object; the number of the first object is less than the number of the second object; the number of the third object is greater than the number of the second object; Determine the line direction according to the number corresponding to the position of the first object and the number corresponding to the position of the third object, and determine the waypoint generation area according to the line direction; wherein, the line direction is the direction from the number corresponding to the position of one object to the number corresponding to the position of another object; Based on the target point on the shooting object of the second object, the position of the first object, the position of the second object, and the position of the third object, determine the waypoints of the UAV flight path in the waypoint generation area; wherein, the shooting object is the object to be inspected by the UAV; Generate a UAV flight path according to the waypoints of the UAV flight path.

2. The method according to claim 1, wherein The shooting object includes a first shooting object; wherein, the first shooting object is the shooting part in the first height interval; different height interval shooting parts are obtained by dividing the shooting object; Correspondingly, determining the waypoints of the UAV flight path includes: Determine the center point position of the second object and the center point position of the first object; Determine the longest cross bar on the second object, and use the point on the longest cross bar of the second object that is farthest from the center point position of the second object as the target point on the first shooting object; Determine a first direction based on the center point position of the second object and the center point position of the first object; Based on the target point on the first shooting object, the first direction, the horizontal distance between the UAV and the second object, and the UAV shooting height, determine the waypoints of the UAV flight path; wherein, the horizontal distance between the UAV and the second object and the UAV shooting height are calculated based on the UAV field of view angle.

3. The method according to claim 2, wherein Determining the first direction includes: Taking the direction from the center point position of the second object to the center point position of the first object as the first original direction; Translating the starting point of the first original direction to the target point on the first shooting object to obtain a first translation direction; Rotating the first translation direction by a preset first angle to determine the first direction.

4. The method according to claim 2, wherein The method further includes: Taking the direction from the waypoints of the UAV flight path to the point on the vertical line where the center point position of the second object is located as the second direction, and taking the angle between the second direction and the true north direction in the geodetic coordinate as the UAV nose orientation; Taking the direction from the waypoints of the UAV flight path to the center point position of the second object as the third direction, and taking the angle between the third direction and the second direction as the UAV gimbal pitch angle.

5. The method according to claim 1, characterized in that, The shooting object includes a second shooting object; wherein, the second shooting object is the shooting part in the second height interval; different height interval shooting parts are obtained by dividing the shooting object; Correspondingly, determining the waypoints of the UAV flight path includes: Obtain the target point on the second shooting object; Determine the center point position of the second object, and determine the fourth original direction based on the points on the vertical line where the center point position of the second object is located and the target points on the second shooting object; Determine the longest crossbar on the second shooting object, and determine the first starting point based on the points on the longest crossbar on the second shooting object and the points on the vertical line where the center point position of the second object is located; Translate the starting point of the fourth original direction to the first starting point to obtain the fourth direction; Determine the waypoints of the UAV flight path according to the fourth direction and the preset first distance.

6. The method according to claim 5, characterized in that, The method further includes: Take the direction in which the waypoint of the UAV flight path points to the point on the vertical line where the center point position of the second object is located as the fifth direction, and take the included angle between the fifth direction and the true north direction in the geodetic coordinate as the heading of the UAV; Take the included angle between the direction in which the waypoint of the UAV flight path points to the center point position of the second object and the direction in which the waypoint of the UAV flight path points to the target point on the second shooting object as the pitch angle of the UAV gimbal.

7. The method according to claim 1, characterized in that, The shooting object includes a third shooting object; wherein, the third shooting object is the shooting part in the third height range; different height range shooting parts are obtained by dividing the shooting object; the waypoints corresponding to the third shooting object include a first waypoint and a second waypoint; the first waypoint is used to shoot the line between the second object and the third object; the second waypoint is used to shoot the line between the second object and the first object; Correspondingly, determining the waypoints of the UAV flight path includes: Determine the center point position of the second object and the center point position of the third object; Based on the center point position of the second object and the center point position of the third object, determine the sixth direction and the seventh direction; Determine the first waypoint of the UAV flight path according to the sixth direction and the preset second distance; and determine the second waypoint of the UAV flight path according to the seventh direction and the preset third distance.

8. The method according to claim 7, wherein Determining the sixth direction and the seventh direction includes: Take the direction from the center point position of the second object to the center point position of the third object as the sixth original direction; Rotate the sixth original direction by a preset second angle to obtain the sixth rotation direction; Determine the longest crossbar on the second object, and take the point on the longest crossbar on the second object that is farthest from the center point position of the second object as the second starting point; Translate the starting point of the sixth rotation direction to the second starting point to obtain the sixth translation direction; Rotate the sixth translation direction counterclockwise by a preset third angle to determine the sixth direction; and rotate the sixth translation direction clockwise by a preset fourth angle to determine the seventh direction.

9. The method according to claim 7, characterized in that The method further includes: When the waypoint corresponding to the third shooting object is the first waypoint, calculate the line length between the second object and the first object; according to the center point position of the second object and the line length between the second object and the first object, determine the first target point on the third shooting object; take the included angle between the direction in which the first waypoint points to the first target point on the third shooting object and the true north direction in the geodetic coordinate as the heading of the UAV; When the waypoint corresponding to the third shooting object is the second waypoint, calculate the line length between the second object and the third object; determine the second target point on the third shooting object according to the center point position of the second object and the line length between the second object and the third object; use the included angle between the direction pointing from the second waypoint to the second target point on the third shooting object and the due north direction in the geodetic coordinates as the nose orientation of the UAV.

10. The method according to claim 9, wherein The method further includes: When the waypoint corresponding to the third shooting object is the first waypoint, use the horizontal direction between the first waypoint and the first target point on the third shooting object and the included angle between the direction of the first waypoint and the first target point on the third shooting object as the gimbal pitch angle of the UAV; When the waypoint corresponding to the third shooting object is the second waypoint, use the horizontal direction between the second waypoint and the second target point on the third shooting object and the included angle between the direction of the second waypoint and the second target point on the third shooting object as the gimbal pitch angle of the UAV.

11. The method according to claim 2, wherein The determination process of the horizontal distance between the UAV and the second object and the shooting height of the UAV includes: Obtain the height of the second object; Calculate a first parameter by using the height of the second object and a pre-determined field of view angle of the UAV; Calculate the horizontal distance between the UAV and the second object and the to-be-processed shooting height of the UAV according to the first parameter and a preset rotation angle; Determine a second parameter; wherein, the second parameter is calculated based on the height of the second object, the preset rotation angle, and the field of view angle of the UAV; Add the second parameter and the to-be-processed shooting height of the UAV to obtain the shooting height of the UAV.

12. The method according to claim 11, wherein Determining the second parameter includes: Calculate a third parameter based on the height of the second object and the preset rotation angle; Calculate a fourth parameter according to the third parameter and the field of view angle of the UAV; and calculate a fifth parameter according to the third parameter and the preset rotation angle; Subtract half of the height of the second object from the fifth parameter to obtain a sixth parameter; Subtract the fourth parameter from the sixth parameter to obtain a seventh parameter, and determine the second parameter based on the seventh parameter.

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