Unmanned aerial vehicle route generation method and device

Abstract

The invention discloses an unmanned aerial vehicle route generation method and device. The method comprises the following steps: determining object information of a target object; determining a line direction for the target object, and determining a waypoint generation area according to the line direction; determining an object type of a first object of the target object; the object type is determined according to the relative position relation between the first object and the target object; the first object is a core component for realizing electrical insulation between the target object and the second object; the second object has a power transmission function; the first end of the first object is connected with the target object; the second end of the first object is connected with the second object; determining a waypoint in the waypoint generation area based on a target point on a first object of the target object, the object information of the target object and the object type of the first object of the target object; and generating an unmanned aerial vehicle route according to the waypoints. The safety of the unmanned aerial vehicle in the flight process is guaranteed, and the inspection efficiency of the unmanned aerial vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and particularly to a method and device for generating flight paths of an unmanned aerial vehicle. Background Art

[0002] In the field of power line inspection, with the continuous expansion of the power grid scale, the number of transmission towers has increased sharply and is widely distributed in complex and changeable geographical environments. Given these complex conditions, unmanned aerial vehicles have gradually become the first choice for power line inspection due to their strong mobility, ability to fly at low altitudes, and unique advantage of being unrestricted by terrain. However, currently, the generation of flight paths of unmanned aerial vehicles mostly relies on manual drawing. When the number of transmission towers is large, the manual method will consume a large amount of manpower and material resources, prevent the unmanned aerial vehicle from quickly inspecting the transmission towers, and also cannot ensure the safety of the unmanned aerial vehicle during flight, reducing the inspection efficiency of the unmanned aerial vehicle. Summary of the Invention

[0003] The present invention provides a method and device for generating flight paths of an unmanned aerial vehicle to ensure the safety of the unmanned aerial vehicle during flight and improve the inspection efficiency of the unmanned aerial vehicle.

[0004] According to one aspect of the present invention, there is provided a method for generating a flight path of an unmanned aerial vehicle, the method comprising:

[0005] Determining the object information of a target object; the object information includes the position information and direction information of the target object;

[0006] Determining the line direction for the target object, and determining a waypoint generation area based on the line direction;

[0007] Determining the object type of a first object of the target object; the object type is determined according to the relative position relationship between the first object and the target object; the first object is a core component for achieving electrical insulation between the target object and a second object; the second object has a power transmission function; a first end of the first object is connected to the target object; a second end of the first object is connected to the second object;

[0008] Determining waypoints in the waypoint generation area based on a target point on a first object of the target object, the object information of the target object, and the object type of the first object of the target object; generating an unmanned aerial vehicle flight path based on the waypoints.

[0009] According to another aspect of the present invention, there is provided a device for generating a flight path of an unmanned aerial vehicle, the device comprising:

[0010] An information determination module, configured to determine the object information of a target object; the object information includes the position information and direction information of the target object;

[0011] An area determination module, configured to determine a line direction for the target object, and determine a waypoint generation area according to the line direction;

[0012] An object type determination module, configured to determine the object type of the first object of the target object; the object type is determined according to the relative position relationship between the first object and the target object; the first object is a core component for achieving electrical insulation between the target object and the second object; the second object has a power transmission function; the first end of the first object is connected to the target object; the second end of the first object is connected to the second object;

[0013] A flight path generation module, configured to determine waypoints in the waypoint generation area based on the target points on the first object of the target object, the object information of the target object, and the object type of the first object of the target object; and generate a UAV flight path according to the waypoints.

[0014] According to another aspect of the present invention, there is provided an electronic device, including:

[0015] At least one processor; and

[0016] A memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the UAV flight path generation method according to any embodiment of the present invention.

[0018] According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to execute the UAV flight path generation method according to any embodiment of the present invention when executed.

[0019] The technical solution of the embodiment of the present invention determines the object information of the target object; the object information includes the position information and direction information of the target object; determines the line direction for the target object, and determines the waypoint generation area according to the line direction, so as to achieve an accurate division of the area corresponding to the waypoint. Further, determine the object type of the first object of the target object; the object type is determined according to the relative position relationship between the first object and the target object; the first object is the core component for realizing electrical insulation between the target object and the second object; the second object has a power transmission function; the first end of the first object is connected to the target object; the second end of the first object is connected to the second object; because the object type of the first object is different and the position of the first object relative to the target object is different, if the object type is not introduced, situations such as the determined waypoint being too close to the first object may occur, affecting the flight of the unmanned aerial vehicle. Finally, based on the target point on the first object of the target object, the object information of the target object, and the object type of the first object of the target object, determine the waypoint in the waypoint generation area, considering multiple factors to achieve accurate determination of the waypoint, and further accurately generate the unmanned aerial vehicle route according to the waypoint, ensuring the safety of the unmanned aerial vehicle during flight and improving the inspection efficiency of the unmanned aerial vehicle.

[0020] 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

[0021] 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 following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0022] Figure 1 is a flowchart of a method for generating an unmanned aerial vehicle route according to an embodiment of the present invention;

[0023] Figure 2a is a schematic diagram for determining a line direction applicable to an embodiment of the present invention;

[0024] Figure 2b is a schematic diagram for determining a direction vector of a waypoint generation area applicable to an embodiment of the present invention;

[0025] Figure 3 is another schematic diagram for determining a direction vector of a waypoint generation area applicable to an embodiment of the present invention;

[0026] Figure 4It is a flowchart of another method for generating a flight route of a drone according to an embodiment of the present invention;

[0027] Figure 5 It is a schematic diagram for generating a waypoint applicable to an embodiment of the present invention;

[0028] Figure 6 It is a flowchart of another method for generating a flight route of a drone according to an embodiment of the present invention;

[0029] Figure 7 It is another schematic diagram for generating a waypoint applicable to an embodiment of the present invention;

[0030] Figure 8 It is a schematic diagram of waypoint update applicable to an embodiment of the present invention;

[0031] Figure 9 It is a schematic structural diagram of a device for generating a flight route of a drone according to an embodiment of the present invention;

[0032] Figure 10 It is a schematic structural diagram of an electronic device for implementing the method for generating a flight route of a drone according to an embodiment of the present invention. Detailed implementation manners

[0033] In order to enable those skilled in the art to better understand the solutions 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 of 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.

[0034] It should be noted that the terms "first", "second", "third", "fourth", "target", 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 here can be implemented in an order different from those illustrated or described here. In addition, the terms "comprising" 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.

[0035] Embodiment 1

[0036] Figure 1The flowchart of a method for generating a flight path of an unmanned aerial vehicle (UAV) provided by an embodiment of the present invention. This embodiment is applicable to the situation of planning the flight path of a UAV. This method can be executed by a flight path generation device of the UAV. The flight path generation device of the UAV can be implemented in the form of hardware and / or software, and the flight path generation device of the UAV can be configured in any electronic device with network communication functions. As Figure 1 shown, the method for generating the flight path of the UAV of the present invention includes the following processes:

[0037] S110. Determine the object information of the target object; the object information includes the position information and the direction information of the target object.

[0038] Among them, the target object can be a support for supporting transmission lines in an overhead transmission line. The target object can be a tower pole, and the position information of the target object can be represented by longitude and latitude coordinates; the direction information of the target object can be understood as the direction information relative to adjacent objects.

[0039] Specifically, use modeling software to construct a three-dimensional modeling diagram based on the data of the area to be flown. Obtain the position information and direction information of the target object in the three-dimensional modeling diagram, and use the position information and direction information of the target object as the object information of the target object. Among them, the area to be flown refers to a specific area where the UAV is to fly.

[0040] S120. Determine the line direction for the target object, and determine the waypoint generation area according to the line direction.

[0041] Specifically, determine the first object and the second object adjacent to the target object in the three-dimensional modeling diagram, and the target object, the first object, and the second object are numbered in sequence. The number of the first object is less than the number of the target object, and the number of the second object is greater than the number of the target object, that is, the target object is located between the first object and the second object. Further, according to the number of the first object and the number of the second object, determine the line direction for the target object.

[0042] Specifically: the line direction can include the direction from the first object to the second object or the direction from the second object to the first object, and the line direction can be determined based on the positions of the first object and the third object. By way of example, as Figure 2a shown, assume that the number of the target object A is 11, the number of the first object B is 10, and the number of the second object C is 12, Figure 2a the direction from the first object to the second object in is the line direction.

[0043] Further, after determining the line direction, divide the waypoint generation area based on the line direction. For example, Figure 2aAs shown, the left area of the line can be used as the first line area; the right area of the line can also be used as the second line area, that is, the waypoint generation area includes the first line area and the second line area.

[0044] As an alternative embodiment, the object information of the target object includes a first vector and a second vector; the first vector is a vector from the center point position of the target object to the center point position of the first object; the second vector is a vector from the center point position of the target object to the center point position of the second object. For example, Figure 2b As shown, the first vector (little Vec) is a vector from the center point position of the target object A to the center point position of the first object B; the second vector (big Vec) is a vector from the center point position of the target object A to the center point position of the second object C.

[0045] Correspondingly, after determining the waypoint generation area according to the line direction, the method further includes steps A1 - A3:

[0046] Step A1, construct angle information according to the center point position of the target object, the center point position of the first object, and the center point position of the second object; the angle information is the angle value formed by a first ray and a second ray with the center point position of the target object as the common end point; the first ray is the ray connecting the center point position of the target object and the center point position of the first object; the second ray is the ray connecting the center point position of the target object and the center point position of the second object.

[0047] For example, Figure 2b As shown, the first ray is the ray connecting the center point position of the target object A and the center point position of the first object B, that is, the ray along the little Vec vector direction. The second ray is the ray connecting the center point position of the target object A and the center point position of the first object C, that is, the ray along the big Vec vector direction; further, the constructed angle information is ∠CAB.

[0048] Step A2, use the reverse vector of the cross product of the first vector and the second vector as the first result vector.

[0049] Specifically, the first result vector can reflect which side of the line direction the small - angle side of the angle information faces. If the first result vector is greater than zero, the small - angle side of the angle information faces the left side of the line direction; if the first result vector is less than zero, the small - angle side of the angle information faces the right side of the line direction. For example, Figure 2b As shown, the reverse vector of the cross product of the first vector (little Vec) and the second vector (big Vec) is the first result vector (dirVec), and the first result vector is greater than zero, then the small - angle side of the angle information faces the first side of the line direction, that is, the left side.

[0050] Step A3: Based on the first result vector and the angle information, determine the direction vector of the waypoint generation area.

[0051] The waypoint generation area includes a first line area and a second line area; the first line area is on the first side of the line direction; the second line area is on the second side of the line direction, and the directions of the first side and the second side are opposite. The first side can be the left side, and the second side can be the right side.

[0052] Specifically, based on the first result vector and the angle information, determining the direction vector of the waypoint generation area includes: if the first result vector is greater than the preset value, rotate the second vector counterclockwise by a preset angle to obtain a third vector; the third vector is the direction vector of the first line area, and the direction of the third vector is reversed to obtain the direction vector of the second line area; the preset angle is a preset multiple of the angle information. If the first result vector is less than the preset value, rotate the second vector counterclockwise by a preset angle to obtain a fourth vector; the fourth vector is the direction vector of the second line area, and the direction of the fourth vector is reversed to obtain the direction vector of the first line area.

[0053] Among them, the preset value and the preset multiple can be set according to the actual situation. In the present invention, the preset value can be zero, and the preset multiple can be 1 / 2.

[0054] Exemplarily, as Figure 2b shown, the first result vector (dirVec) is greater than zero. Rotating dirVec counterclockwise by 1 / 2 of the angle information can obtain the direction vector (towerLeftVec) of the first line area; reversing the direction of the direction vector (towerLeftVec) of the first line area can obtain the direction vector (towerRightVec) of the second line area.

[0055] In addition, when the target object is the first object or the last object among all objects, the first side ground wire point position, the second side ground wire point position of the target object, and the center point position of the target object can be used to determine the direction vector of the first line area and the direction vector of the second line area; among them, the first side ground wire point position is the ground wire point position on the target object corresponding to the first line area, and the second side ground wire point position is the ground wire point position on the target object corresponding to the second line area. For example, as Figure 3 shown, the first line area is the left area, and the second line area is the right area; when the target object is the first and the last tower of the entire transmission line, the direction vector (towerLeftVec) of the first line area is the direction vector from the center point position of the target object to the first side ground wire point position of the target object; the direction vector (towerRightVec) of the second line area is the direction vector from the center point position of the target object to the second side ground wire point position of the target object.

[0056] In the technical solution of this embodiment, angle information is constructed based on the center point position of the target object, the center point position of the first object, and the center point position of the second object, so as to accurately determine the positional relationship among the target object, the first object, and the second object at this time, thereby facilitating the subsequent determination of the direction vector of the waypoint generation area according to the angle information. Then, the reverse vector of the cross product of the first vector and the second vector is used as the first result vector, and the value of the first result vector can accurately reflect the orientation on the small-angle side in the angle information, that is, whether it is oriented towards the first line area or the second line area, which is convenient for accurately determining the direction vector of the waypoint generation area based on the first result vector and the angle information. The introduction of vectors can more quantitatively determine the direction vector of the waypoint generation area, that is, the determination of the direction vector of the waypoint generation area is more accurate.

[0057] In this embodiment, optionally, after determining the direction vector of the waypoint generation area based on the first result vector and the angle information, the method further includes: using the vector from the center point position of the target object to the second ground wire point position as the first direction vector; the second ground wire point position is the ground wire point position of the target object corresponding to the first line area. Determine the included angle between the first direction vector and the direction vector of the first line area; if the included angle is less than or equal to the fourth preset angle, it is determined that the direction vector of the first line area is correct. If the included angle is greater than the fourth preset angle, the direction vector of the first line area and the direction vector of the second line area are exchanged. Among them, the fourth preset angle can be set according to actual needs, and the fourth preset angle of the present invention can be 90 degrees.

[0058] In this embodiment, according to the judgment relationship between the included angle between the first direction vector and the direction vector of the first line area and the fourth preset angle, it is further determined whether the direction vector of the first line area and the direction vector of the second line area are correct, so as to avoid misjudgment of the direction vector due to data error problems.

[0059] S130. Determine the object type of the first object of the target object; the object type is determined according to the relative position relationship between the first object and the target object; the first object is the core component for realizing electrical insulation between the target object and the second object; the second object has a power transmission function; the first end of the first object is connected to the target object; the second end of the first object is connected to the second object.

[0060] Among them, the target object can be a tower, the first object can be an insulator string, and due to different tower types, the position of the insulator string on the tower relative to the tower is different. The second object can be a wire. The first end of the first object can be the hanging point at the cross arm end; the second end of the first object can be the hanging point at the conductor end.

[0061] Specifically, determining the object type of the first object of the target object may include: determining a first direction and a second direction; the first direction is the direction in which the target object is perpendicular to the ground; the second direction is the direction from the first end of the first object of the target object to the second end. If the first direction and the second direction meet the first preset condition, it is determined that the object type of the first object of the target object is the first type, that is, at this time the first object is vertical relative to the target object, that is, the first object is relatively parallel to the target object; the first preset condition is that the first direction and the second direction are in the same direction within the first preset range. If the first direction and the second direction meet the second preset condition, that is, at this time the first object is in the horizontal direction relative to the target object, that is, the first object is relatively perpendicular to the target object, then it is determined that the object type of the first object of the target object is the second type; the second preset condition is that the first direction and the second direction are perpendicular to each other within the second preset range.

[0062] Exemplarily, for a multi-circuit straight tower of an AC line, the insulator string thereon is vertical relative to the multi-circuit straight tower of the AC line, while for a multi-circuit tension tower of an AC line, there is an insulator string that is horizontal relative to the multi-circuit straight tower of the AC line; and the object type of the first object of the target object also affects the determination of the waypoint. Therefore, it is necessary to introduce the object type of the first object to ensure the accurate determination of the waypoint.

[0063] S140. Based on the target point on the first object of the target object, the object information of the target object, and the object type of the first object of the target object, determine the waypoint in the waypoint generation area; generate a UAV flight path according to the waypoint.

[0064] Among them, the target point on the first object may be the center point of the insulator string, the hanging point at the conductor end, and the hanging point at the cross-arm end.

[0065] Specifically, the present invention can determine the relative position information of the first object of the target object relative to the target object according to the object type of the first object of the target object, and further calculate the relative position information, the target point on the first object of the target object, and the object information of the target object to obtain the waypoint in the waypoint generation area, and then a UAV flight path can be generated based on multiple waypoints using a path planning strategy.

[0066] In this solution, determining the waypoint in the waypoint generation area based on the target point on the first object of the target object, the object information of the target object, and the object type of the first object of the target object includes steps B1 - B6:

[0067] Step B1. Determine the fifth vector, and the fifth vector is the direction vector from the center point position of the target object to the target point on the first object of the target object.

[0068] Step B2. Determine the first included angle between the fifth vector and the direction vector of the first line area.

[0069] Step B3: If the first included angle is less than or equal to the first preset angle, determine the target point on the first object of the target object as the first-side target point, and the first-side target point is located in the first line area.

[0070] Among them, the first preset angle can be set according to actual needs. In the present invention, the first preset angle can be 90°.

[0071] Step B4: If the first included angle is greater than the first preset angle, determine the target point on the first object of the target object as the second-side target point, and the second-side target point is located in the second line area.

[0072] Step B5: Based on the first-side target point, the object information of the target object, and the object type of the first object of the target object, determine the first waypoint in the waypoint generation area; the first waypoint is located in the first line area.

[0073] Step B6: Based on the second-side target point, the object information of the target object, and the object type of the first object of the target object, determine the second waypoint in the waypoint generation area; the second waypoint is located in the second line area.

[0074] In this solution, compare the first included angle formed by the fifth vector and the direction vector of the first line area with the first preset angle, accurately classify the target point on the first object through the comparison result, so as to accurately determine whether the target point is located in the first line area or the second line area, and thus accurately determine the waypoint in the waypoint generation area based on the first-side target point, the second-side target point, the object information of the target object, and the object type of the first object of the target object.

[0075] The technical solution of the embodiment of the present invention determines the object information of the target object; the object information includes the position information and the direction information of the target object; determines the line direction for the target object, and determines the waypoint generation area according to the line direction, so as to achieve an accurate division of the area corresponding to the waypoint. Further, determine the object type of the first object of the target object; the object type is determined according to the relative position relationship between the first object and the target object; the first object is the core component for realizing electrical insulation between the target object and the second object; the second object has a power transmission function; the first end of the first object is connected to the target object; the second end of the first object is connected to the second object; because the object types of the first object are different and the positions of the first object relative to the target object are different, if the object type is not introduced, situations such as the determined waypoint being too close to the first object may occur, affecting the flight of the unmanned aerial vehicle. Finally, based on the target point on the first object of the target object, the object information of the target object, and the object type of the first object of the target object, determine the waypoint in the waypoint generation area, considering multiple factors to achieve accurate determination of the waypoint, and further accurately generate the unmanned aerial vehicle route according to the waypoint, ensuring the safety of the unmanned aerial vehicle during flight and improving the inspection efficiency of the unmanned aerial vehicle.

[0076] Embodiment 2

[0077] Figure 4 It is a flowchart of another method for generating an unmanned aerial vehicle route provided by an embodiment of the present invention. The technical solution of this embodiment details "determining the first waypoint in the waypoint generation area based on the first-side target point, the object information of the target object, and the object type of the first object of the target object" on the basis of the above embodiment, and the object type of the first object of the target object in this embodiment is the first type. This embodiment can be combined with each optional solution in one or more of the above embodiments. As Figure 4 shown, the method for generating an unmanned aerial vehicle route includes the following processes:

[0078] S210. Determine the object information of the target object; the object information includes the position information and the direction information of the target object.

[0079] S220. Determine the line direction for the target object, and determine the waypoint generation area according to the line direction; the waypoint generation area includes a first line area and a second line area; the first line area is on the first side of the line direction; the second line area is on the second side of the line direction, and the directions of the first side and the second side are opposite.

[0080] Specifically, after determining the waypoint generation area according to the line direction, it further includes: determining the direction vectors of the waypoint generation area, and the direction vectors of the waypoint generation area include the direction vectors of the first line area and the second line area. The specific determination method has been described in detail in the foregoing embodiment and will not be elaborated here.

[0081] S230. Determine a first waypoint in the waypoint generation area based on the first-side target point, the object information of the target object, and the object type of the first object of the target object; the object type of the first object of the target object is the first type; the first waypoint is located in the first line area.

[0082] Specifically, taking the center point position of the target object as the starting point, intercept a first preset distance on the direction vector of the first line area to obtain a sixth vector; translate the starting point of the sixth vector to the first-side target point to obtain a seventh vector; use the position of the end point of the seventh vector as the first waypoint of the first-side target point.

[0083] Among them, the first preset distance can be the photographing distance determined according to the voltage level of the line where the pole tower is located.

[0084] Exemplarily, as Figure 5 shown, the left area is the first line area. Intercept a first preset distance on the direction vector (towerLeftVec) of the first line area to obtain a sixth vector (targetVec), translate the starting point of the sixth vector to the first-side target point to obtain a seventh vector, and use the position of the end point of the seventh vector as the first waypoint of the first-side target point.

[0085] S240. Determine a second waypoint in the waypoint generation area based on the second-side target point, the object information of the target object, and the object type of the first object of the target object; the object type of the first object of the target object is the first type; the second waypoint is located in the second line area.

[0086] Specifically, taking the center point position of the target object as the starting point, intercept a second preset distance on the direction vector of the second line area to obtain a reference sixth vector; translate the starting point of the reference sixth vector to the second-side target point to obtain a reference seventh vector; use the position of the end point of the reference seventh vector as the second waypoint of the second-side target point.

[0087] S250. Generate a UAV flight path based on the waypoints; the waypoints include the first waypoint and the second waypoint.

[0088] Optionally, use the direction pointing from the waypoint to the point on the perpendicular line where the center point position of the target object is located as the third direction, and use the angle between the third direction and the true north direction in the geodetic coordinate as the UAV's nose orientation. Among them, the nose orientation indicates that the nose of the UAV will always face the direction of the target point. The point on the perpendicular line where the center point position of the target object is located is at the same height as the waypoint.

[0089] The technical solution of the embodiment of the present invention determines the object information of the target object; the object information includes the position information and the direction information of the target object. Determine the line direction for the target object, and determine the waypoint generation area according to the line direction; the waypoint generation area includes a first line area and a second line area; the first line area is the first side of the line direction; the second line area is the second side of the line direction, and the directions of the first side and the second side are opposite. Further, starting from the center point position of the target object, intercept a first preset distance on the direction vector of the first line area to construct a sixth vector, and translate the starting point of the sixth vector to the target point on the first side to obtain a seventh vector; use the position of the end point of the seventh vector as the first waypoint of the target point on the first side. By accurately determining the first waypoint, the second waypoint is determined in the same way. By introducing the form of vectors, the quantitative determination of waypoints can be realized, which can be more accurate. Finally, determine the UAV flight path according to the waypoints to ensure the safety of the UAV during flight and improve the inspection efficiency of the UAV.

[0090] Embodiment III

[0091] Figure 6 The flowchart of another UAV flight path generation method provided by the embodiment of the present invention. The technical solution of this embodiment further describes in detail "determine the first waypoint in the waypoint generation area based on the target point on the first side, the object information of the target object, and the object type of the first object of the target object" on the basis of the above embodiment. In this embodiment, the object type of the first object of the target object is the second type. This embodiment can be combined with various optional solutions in one or more of the above embodiments. As Figure 6 shown, the UAV flight path generation method includes the following processes:

[0092] S310. Determine the object information of the target object; the object information includes the position information and the direction information of the target object.

[0093] S320. Determine the line direction for the target object, and determine the waypoint generation area according to the line direction; the waypoint generation area includes a first line area and a second line area; the first line area is the first side of the line direction; the second line area is the second side of the line direction, and the directions of the first side and the second side are opposite.

[0094] Specifically, after determining the waypoint generation area according to the line direction, it further includes: determining the direction vectors of the waypoint generation area, and the direction vectors of the waypoint generation area include the direction vectors of the first line area and the second line area. The specific determination method has been described in detail in the foregoing embodiments and will not be elaborated here.

[0095] S330. Determine a first waypoint in the waypoint generation area based on the target point on the first side, the object information of the target object, and the object type of the first object of the target object; the object type of the first object of the target object is the second type; the first waypoint is located in the first line area.

[0096] Specifically, determine the point position information of the target point on the first side; the point position information is used to describe the direction of the eighth vector pointing to the first object or the second object; the eighth vector is the vector from the first end to the second end of the first object corresponding to the target point on the first side; based on the point position information of the target point on the first side, the target point on the first side, the object information of the target object, and the object type of the first object of the target object, determine the first waypoint in the waypoint generation area.

[0097] Among them, the point position information can more accurately describe whether the target point on the first side is closer to the first object or the second object, and more truly reflect the azimuth information of the target point on the first side.

[0098] In this embodiment, optionally, to determine the point position information of the target point on the first side, it includes: determining the vector from the center point position of the target object to the target point on the first side as the ninth vector, and taking the cross product of the ninth vector and the direction vector of the first line area as the second result vector; if the second result vector is greater than the preset value, determine the target point on the first side as the first side point position; the first side point position is used to describe the direction of the eighth vector pointing to the first object. If the second result vector is less than the preset value, determine the target point on the first side as the second side point position; the second side point position is used to describe the direction of the eighth vector pointing to the second object. Among them, the preset value can be determined according to the actual situation, and the preset value of the present invention can be zero.

[0099] In this embodiment, optionally, after accurately determining the point position information of the target point on the first side, because different point position information also has different ways of determining the first waypoint, the specific process is as follows:

[0100] 1) If the target point on the first side is the second side point position, based on the point position information of the target point on the first side, the target point on the first side, the object information of the target object, and the object type of the first object of the target object, determine the first waypoint in the waypoint generation area, including steps C1 - C3:

[0101] Step C1. If the first line area is the third side of the target object, starting from the target point on the first side, rotate the eighth vector counterclockwise by a second preset angle to obtain the tenth vector; the third side is the side of the target object corresponding to the angle information greater than the preset angle value.

[0102] Specifically, the preset angle value can be set according to the actual situation. The preset angle value of the present invention can be 180°. The third side is the side of the target object corresponding to the angle information greater than the preset angle value, which can be understood as the outside of the target object. For example,Figure 7 As shown. The second preset angle can be set according to actual requirements, and the second preset angle of the present invention can be 90°.

[0103] Step C2: If the first line area is the fourth side of the target object, starting from the first-side target point, rotate the eighth vector clockwise by the second preset angle to obtain the tenth vector; the fourth side is the side of the target object corresponding to the angle information less than the preset angle value.

[0104] Among them, the fourth side is the side of the corresponding target object with angle information less than the preset angle value, which can be understood as the third side is the inner side of the target object; for example, Figure 7 As shown.

[0105] Step C3: Starting from the starting point of the tenth vector, intercept the second preset distance in the direction of the tenth vector to obtain the eleventh vector, and use the position of the end point of the eleventh vector as the first waypoint of the first-side target point.

[0106] Among them, the second preset distance can be the photographing distance determined according to the voltage level of the line where the pole tower is located.

[0107] For example, Figure 7 As shown, the first line area is the outer side of the target object. Starting from the first-side target point, rotate the eighth vector (lineVec) counterclockwise by the second preset angle to obtain the tenth vector (lineVec1). Starting from the starting point of the tenth vector, intercept the second preset distance in the direction of the tenth vector to obtain the eleventh vector, and use the position of the end point of the eleventh vector as the first waypoint of the first-side target point.

[0108] 2) If the first-side target point is the first-side point position, based on the point position information of the first-side target point, the first-side target point, the object information of the target object, and the object type of the first object of the target object, determine the first waypoint in the waypoint generation area, including steps D1 - D3:

[0109] Step D1: If the first line area is the third side of the target object, starting from the first-side target point, rotate the eighth vector clockwise by the third preset angle to obtain the twelfth vector; the third side is the side of the corresponding target object with angle information greater than the preset angle value.

[0110] Among them, the third preset angle can be set according to actual requirements, and the third preset angle of the present invention can be 90°.

[0111] Step D2: If the first line area is the fourth side of the target object, starting from the first-side target point, rotate the eighth vector counterclockwise by the third preset angle to obtain the twelfth vector; the fourth side is the side of the target object corresponding to the angle information less than the preset angle value.

[0112] Step D3: Intercept a second preset distance in the direction of the twelfth vector from the starting point of the twelfth vector to obtain a thirteenth vector, and use the position information of the end point of the thirteenth vector as the first waypoint of the first side target point.

[0113] In the technical solution of this embodiment, after accurately determining the position information of the first side target point, because different position information also has different ways of determining the first waypoint, the corresponding way to determine the first waypoint is matched for the first side target points with different position information, so as to accurately determine the first waypoint.

[0114] S340: Based on the second side target point, the object information of the target object, and the object type of the first object of the target object, determine a second waypoint in the waypoint generation area; the object type of the first object of the target object is the second type; the second waypoint is located in the second line area.

[0115] Specifically, determine the position information of the second side target point; the position information of the second side target point is used to describe that the direction of the reference eighth vector points to the first object or the second object; the reference eighth vector is the vector from the first end to the second end of the first object corresponding to the second side target point; based on the position information of the second side target point, the second side target point, the object information of the target object, and the object type of the first object of the target object, determine the second waypoint in the waypoint generation area. The idea of the specific process is the same as the determination process in step S330, and will not be elaborated here.

[0116] In this embodiment, optionally, determining the position information of the second side target point includes: determining the vector from the center point position of the target object to the second side target point as the reference ninth vector, and taking the cross product of the reference ninth vector and the direction vector of the second line area as the reference second result vector; if the reference second result vector is greater than the preset value, determine the second side target point as the second side position; the second side position is used to describe that the direction of the reference eighth vector points to the second object. If the reference second result vector is less than the preset value, determine the second side target point as the first side position; the first side position is used to describe that the direction of the reference eighth vector points to the second object. Among them, the preset value can be determined according to the actual situation, and the preset value of the present invention can be zero.

[0117] S350: Generate a UAV flight path based on the waypoints; the waypoints include the first waypoint and the second waypoint.

[0118] In the embodiment of the present invention, optionally, since the space inside the tower is small, and due to structural factors, the inner jumper will occupy the effective space and the risk of crashing the aircraft is relatively high, so a safety strategy is added to adjust the position of the waypoint. The specific process is as follows:

[0119] First, determine the distance information for the position of the updated waypoint, specifically including: if the waypoint generation area is the fourth side, there are two first objects on the preset crossbar of the target object, and the object type of the first object is the second type. The direction of the eighth vector points to the first object corresponding to the first object as the first reference object, and the direction of the eighth vector points to the first object corresponding to the second object as the second reference object. The second direction corresponding to the first reference object is symmetric to the second direction corresponding to the second reference object; construct a target triangle from the first ground wire point position, the first point position information, and the second point position information; the first ground wire point position is the ground wire point position corresponding to the waypoint generation area; the first point position information is the point position information of the second end of the first reference object; the second point position information is the point position information of the second end of the second reference object; the second end is the hanging point of the conductor end. The connection line between the first ground wire point position and the second point position information is the first side of the target triangle; the connection line between the first point position information and the second point position information is the second side of the target triangle. For example, as Figure 8 shown. Draw a first perpendicular line from the first ground wire point position to the second side of the target triangle, and the intersection point of the first perpendicular line and the second side of the target triangle is the first perpendicular point; for example, as Figure 8 shown by the perpendicular point. Draw a second perpendicular line from the first perpendicular point to the first side of the target triangle, determine the length of the second perpendicular line as the first length, for example, as Figure 8 shown, the first length verticalDis. Determine the intersection point of the first side of the target triangle and the second perpendicular line as the second perpendicular point, and determine the distance from the first ground wire point position to the second perpendicular point as the second length. For example, as Figure 8 shown, the second length offsetDis.

[0120] Furthermore, move the waypoint along the eighth vector by the second length to determine the updated waypoint. After moving the waypoint along the eighth vector by the second length to determine the updated waypoint, if the waypoint is the target waypoint, then the target waypoint moves vertically by the first length to determine the updated waypoint; when the target waypoint is the point position of the first end of the first object on the first object, it is the waypoint corresponding to the point position of the first end of the first object.

[0121] In the technical solution of this embodiment, because the space inside the tower is small and the inner jumper wire will occupy the effective space, by adding a safety strategy to adjust the position of the waypoint, the risk of collision is greatly reduced.

[0122] The technical solution of the embodiment of the present invention is to determine the object information of the target object; the object information includes the position information and direction information of the target object. Determine the line direction for the target object, and determine the waypoint generation area according to the line direction; the waypoint generation area includes a first line area and a second line area; the first line area is the first side of the line direction; the second line area is the second side of the line direction, and the directions of the first side and the second side are opposite. Further, determine the point position information of the first-side target point; the point position information is used to describe that the direction of the eighth vector points to the first object or the second object; the eighth vector is the vector from the first end to the second end of the first object corresponding to the first-side target point; based on the point position information of the first-side target point, the first-side target point, the object information of the target object, and the object type of the first object of the target object, determine the first waypoint in the waypoint generation area. For the accurate determination of the first waypoint, the second waypoint is determined in the same way. When the object type of the first object of the target object is the second type, due to the particularity of the first object, it is necessary to further judge the point position information of the first-side target point, so as to avoid inaccurate waypoints determined due to incorrect point position information, which affects the flight of the drone. Finally, generate the drone flight path according to the waypoints to ensure the safety of the drone during flight and improve the inspection efficiency of the drone.

[0123] Embodiment 4

[0124] Figure 9 It is a schematic structural diagram of a flight path generation device for a drone provided by an embodiment of the present invention. This embodiment is applicable to the situation of planning the flight path of a drone. The flight path generation device of this drone can be implemented in the form of hardware and / or software, and the flight path generation device of this drone can be configured in any electronic device with network communication functions. As Figure 9 shown, the flight path generation device of the drone of the present invention includes:

[0125] An information determination module 410, configured to determine the object information of the target object; the object information includes the position information and direction information of the target object;

[0126] A region determination module 420, configured to determine the line direction for the target object, and determine the waypoint generation region according to the line direction;

[0127] An object type determination module 430, configured to determine the object type of the first object of the target object; the object type is determined according to the relative position relationship between the first object and the target object; the first object is the core component for realizing electrical insulation between the target object and the second object; the second object has a power transmission function; the first end of the first object is connected to the target object; the second end of the first object is connected to the second object;

[0128] A route generation module 440 is configured to determine waypoints in the waypoint generation area based on the target points on the first object of the target object, the object information of the target object, and the object type of the first object of the target object; and generate a UAV route according to the waypoints.

[0129] The UAV route generation device provided by the embodiments of the present invention can execute the UAV route generation method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the method.

[0130] Embodiment 5

[0131] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0132] Figure 10 The structural schematic diagram of an electronic device that can be used to implement the UAV route generation method of the embodiments of the present invention is shown. The electronic device 10 includes at least one processor 11 and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. The memory stores a computer program executable by the at least one processor. The processor 11 can execute various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0133] A plurality of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disc, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0134] The processor 11 may be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 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 suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the route generation method for the drone.

[0135] In some embodiments, the route generation method for the drone may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the route generation method for the drone described above may be executed. Alternatively, in other embodiments, the processor 11 may be configured to execute the route generation method for the drone by any other suitable means (e.g., by means of firmware).

[0136] The various embodiments of the systems and techniques described above herein may 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 may include: implemented in one or more computer programs that may be executed and / or interpreted 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 a storage system, at least one input device, and at least one output device, and transmits the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0137] The computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus, such that when the computer programs are executed by the processor, the functions / operations specified in the flowchart and / or block diagram are implemented. The computer programs may be executed entirely on the machine, partially on the machine, as a stand-alone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0138] 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 the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer disk, 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.

[0139] The systems and techniques described herein can be implemented in a computing system that includes backend components (such as, for example, a data server), or a computing system that includes middleware components (such as, for example, an application server), or a computing system that includes frontend components (such as, for example, a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by any form or medium of digital data communication (such as, for example, a communication network). Examples of the communication network include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0140] The computing system can include a client and a server. The client and the server are generally remote from each other and typically interact through a communication network. The relationship between the client and the server is generated by computer programs that run on the respective computers and have 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.

[0141] It should be understood that the 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 imposed herein.

[0142] The above specific embodiments do not constitute a limitation to 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 principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for generating a flight path of an unmanned aerial vehicle, characterized in that, The method includes: Determining the object information of the target object; the object information includes the position information and the direction information of the target object; Determining the line direction for the target object, and determining the waypoint generation area according to the line direction; Determining the object type of the first object of the target object; the object type is determined according to the relative position relationship between the first object and the target object; the first object is the core component for realizing electrical insulation between the target object and the second object; the second object has a power transmission function; the first end of the first object is connected to the target object; the second end of the first object is connected to the second object; Based on the target point on the first object of the target object, the object information of the target object, and the object type of the first object of the target object, determining waypoints in the waypoint generation area; generating a UAV flight path according to the waypoints.

2. The method according to claim 1, wherein Determining the line direction for the target object includes: Determining a first object and a second object adjacent to the target object; the number of the first object is less than the number of the target object; the number of the second object is greater than the number of the target object; Determining the line direction for the target object according to the numbers of the first object and the second object.

3. The method according to claim 2, characterized in that, The object information of the target object includes a first vector and a second vector; the first vector is a vector from the center point position of the target object to the center point position of the first object; the second vector is a vector from the center point position of the target object to the center point position of the second object; Correspondingly, after determining the waypoint generation area according to the line direction, the method further includes: Constructing angle information according to the center point position of the target object, the center point position of the first object, and the center point position of the second object; the angle information is the angle value formed by a first ray and a second ray with the center point position of the target object as a common end point; the first ray is a ray connecting the center point position of the target object and the center point position of the first object; the second ray is a ray connecting the center point position of the target object and the center point position of the second object; Taking the reverse vector of the cross product of the first vector and the second vector as a first result vector; Determining the direction vector of the waypoint generation area based on the first result vector and the angle information.

4. The method according to claim 3, wherein The waypoint generation area includes a first line area and a second line area; the first line area is on the first side of the line direction; the second line area is on the second side of the line direction, and the directions of the first side and the second side are opposite; Determining the direction vector of the waypoint generation area based on the first result vector and the angle information includes: If the first result vector is greater than a preset value, rotating the second vector counterclockwise by a preset angle to obtain a third vector; the third vector is the direction vector of the first line area, and the direction of the third vector is reversed to obtain the direction vector of the second line area; the preset angle is a preset multiple of the angle information; If the first result vector is less than a preset value, rotate the second vector counterclockwise by a preset angle to obtain a fourth vector; the fourth vector is the direction vector of the second line area, and the direction of the fourth vector is reversed to obtain the direction vector of the first line area.

5. The method according to claim 4, wherein Based on the target point on the first object of the target object, the object information of the target object, and the object type of the first object of the target object, determine a waypoint in the waypoint generation area, including: Determine a fifth vector, where the fifth vector is the direction vector from the center point position of the target object to the target point on the first object of the target object; Determine a first included angle between the fifth vector and the direction vector of the first line area; If the first included angle is less than or equal to a first preset angle, determine the target point on the first object of the target object as a first-side target point, and the first-side target point is located in the first line area; If the first included angle is greater than the first preset angle, determine the target point on the first object of the target object as a second-side target point, and the second-side target point is located in the second line area; Based on the first-side target point, the object information of the target object, and the object type of the first object of the target object, determine a first waypoint in the waypoint generation area; the first waypoint is located in the first line area; Based on the second-side target point, the object information of the target object, and the object type of the first object of the target object, determine a second waypoint in the waypoint generation area; the second waypoint is located in the second line area.

6. The method according to claim 5, characterized in that, Determine the object type of the first object of the target object, including: Determine a first direction and a second direction; the first direction is the direction in which the target object is perpendicular to the ground; the second direction is the direction from the first end to the second end of the first object of the target object; If the first direction and the second direction meet a first preset condition, determine the object type of the first object of the target object as a first type; the first preset condition is that the first direction and the second direction are in the same direction within a first preset range; If the first direction and the second direction meet a second preset condition, determine the object type of the first object of the target object as a second type; the second preset condition is that the first direction and the second direction are perpendicular to each other within a second preset range.

7. The method according to claim 6, wherein The object type of the first object of the target object is the first type; based on the first-side target point, the object information of the target object, and the object type of the first object of the target object, determine a first waypoint in the waypoint generation area, including: Taking the center point position of the target object as the starting point, intercept a first preset distance on the direction vector of the first line area to obtain a sixth vector; Translate the starting point of the sixth vector to the first-side target point to obtain a seventh vector; Taking the position of the end point of the seventh vector as the first waypoint of the first-side target point.

8. The method according to claim 6, wherein The object type of the first object of the target object is the second type; determining a first waypoint in the waypoint generation area based on the first side target point, the object information of the target object, and the object type of the first object of the target object includes: Determining the position information of the first side target point; the position information is used to describe the direction of the eighth vector pointing to the first object or the second object; the eighth vector is a vector from the first end to the second end of the first object corresponding to the first side target point. Determining a first waypoint in the waypoint generation area based on the position information of the first side target point, the first side target point, the object information of the target object, and the object type of the first object of the target object.

9. The method according to claim 8, wherein Determining the position information of the first side target point includes: Determining the vector from the center point position of the target object to the first side target point as the ninth vector, and taking the cross product of the ninth vector and the direction vector of the first line area as the second result vector. If the second result vector is greater than a preset value, determining the first side target point as the first side position; the first side position is used to describe the direction of the eighth vector pointing to the first object. If the second result vector is less than a preset value, determining the first side target point as the second side position; the second side position is used to describe the direction of the eighth vector pointing to the second object.

10. The method according to claim 9, wherein If the first side target point is the second side position, determining a first waypoint in the waypoint generation area based on the position information of the first side target point, the first side target point, the object information of the target object, and the object type of the first object of the target object includes: If the first line area is the third side of the target object, taking the first side target point as the starting point, rotating the eighth vector counterclockwise by a second preset angle to obtain a tenth vector; the third side is the side of the target object corresponding to the angle information greater than the preset angle value. If the first line area is the fourth side of the target object, taking the first side target point as the starting point, rotating the eighth vector clockwise by a second preset angle to obtain a tenth vector; the fourth side is the side of the target object corresponding to the angle information less than the preset angle value. Intercepting a second preset distance in the direction of the tenth vector from the starting point of the tenth vector to obtain an eleventh vector, and taking the position of the end point of the eleventh vector as the first waypoint of the first side target point.

11. The method according to claim 9, wherein If the first side target point is the first side position, determining a first waypoint in the waypoint generation area based on the position information of the first side target point, the first side target point, the object information of the target object, and the object type of the first object of the target object includes: If the first line area is the third side of the target object, taking the first side target point as the starting point, rotating the eighth vector clockwise by a third preset angle to obtain a twelfth vector; the third side is the side of the target object corresponding to the angle information greater than the preset angle value. If the first line area is the fourth side of the target object, starting from the first side target point, rotate the eighth vector counterclockwise by a third preset angle to obtain a twelfth vector; the fourth side is the side of the target object corresponding to the angle information less than the preset angle value; Starting from the starting point of the twelfth vector, intercept a second preset distance in the direction of the twelfth vector to obtain a thirteenth vector, and use the position information of the end point of the thirteenth vector as the first waypoint of the first side target point.

12. An aircraft route generation device for a drone, characterized in that, The device includes: An information determination module, configured to determine the object information of the target object; the object information includes the position information and direction information of the target object; A region determination module, configured to determine the line direction for the target object, and determine a waypoint generation region according to the line direction; An object type determination module, configured to determine the object type of the first object of the target object; the object type is determined according to the relative position relationship between the first object and the target object; the first object is the core component for achieving electrical insulation between the target object and the second object; the second object has a power transmission function; the first end of the first object is connected to the target object; the second end of the first object is connected to the second object; A flight path generation module, configured to determine waypoints in the waypoint generation region based on the target points on the first object of the target object, the object information of the target object, and the object type of the first object of the target object; and generate a UAV flight path according to the waypoints.

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